Research
Research
Research
Research
254+ open-access research outputs.
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random sh…
In this paper we present a radically new approach to design state observers for nonlinear systems, with particular emphasis on physical ones. Our objective is to obtain an algebraic relation between t…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic …
LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the superv…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terram…
Given the popularity of 360{\deg} images on social media platforms, 360{\deg} image compression becomes a critical technology for media storage and transmission. Conventional 360{\deg} image compressi…
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actu…
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks yet underexplored in r…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-to…
Distributed multi-target tracking (DMTT) in limited field-of-view (FoV) sensor networks commonly suffers from label inconsistency, whereby different nodes disagree on the identity of the same target. …
Long-tailed class distributions pose a significant challenge for multi-label chest X-ray (CXR) classification, where rare but clinically important findings are severely underrepresented. In this work,…
The digital twins (DTs) of physical systems and environments enable real-time remote tracking, control, and learning, but require low-latency transmission of updates and sensory data to maintain align…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with …
Objective. Reliable, continuous neural sensing on wearable edge platforms is fundamental to long-term health monitoring; however, for electroencephalography (EEG)-based sleep monitoring, dense high-fr…
The inherently complex-valued nature of Polarimetric SAR data necessitates using specialized algorithms capable of directly processing complex-valued representations. However, this aspect remains unde…
Vision-language-action models have advanced robotic manipulation but remain constrained by reliance on the large, teleoperation-collected datasets dominated by the static, tabletop scenes. We propose …
Learning \emph{latent actions} from diverse human videos enables scaling robot learning beyond embodiment-specific robot datasets, and these latent actions have recently been used as pseudo-action lab…
Patients suffering chronic severe pulmonary thromboembolism need Pulmonary Thromboendarterectomy (PTE) to remove the thromb and intima located inside pulmonary artery (PA). During the surgery, a surge…
Camera-based visible light positioning (VLP) is a promising technique for accurate and low-cost indoor camera pose estimation (CPE). To reduce the number of required light-emitting diodes (LEDs), adva…
This paper presents RosettaStone 2.0, an open benchmark translation and evaluation framework built on OpenROAD-Research. RosettaStone 2.0 provides complete RTL-to-GDS reference flows for both conventi…
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