Research
Research
Research
Research
81+ open-access research outputs.
In deployment of the VLA models to real-world robotic tasks, execution speed matters. In previous work arXiv:2510.26742 we analyze how to make neural computation of VLAs on GPU fast. However, we leave…
Data-efficient training of robust robot policies is the key to unlocking automation in a wide array of novel tasks. Current systems require large volumes of demonstrations to achieve robustness, which…
Private lunar missions are faced with the challenge of robust autonomous navigation while operating under stringent constraints on mass, power, and computational resources. This work proposes a motion…
Vision-based control systems, such as image-based visual servoing (IBVS), have been extensively explored for precise robot manipulation. A persistent challenge, however, is maintaining robust target t…
This paper presents the development and validation of a digital twin for a scaled-down electric vehicle (EV) emulator, designed to replicate longitudinal vehicle dynamics under diverse operating condi…
Autonomous skill discovery aims to enable robots to acquire diverse behaviors without explicit supervision. Learning such behaviors directly on physical hardware remains challenging due to safety and …
Retinal fundus images provide valuable insights into the human eye's interior structure and crucial features, such as blood vessels, optic disk, macula, and fovea. However, accurate segmentation of re…
With the increasing presence of automated vehicles on open roads under driver supervision, disengagement cases are becoming more prevalent. While some data-driven planning systems attempt to directly …
Imitation learning has shown great promise in robotic manipulation, but the policy's execution is often unsatisfactorily slow due to commonly tardy demonstrations collected by human operators. In this…
Soil organic carbon (SOC) is a critical indicator of soil health, but its accurate estimation from satellite imagery is hindered in vegetated regions due to spectral contamination from plant cover, wh…
Efficient compression of 360-degree video content requires the application of advanced motion models for interframe prediction. The Motion Plane Adaptive (MPA) motion model projects the frames on mult…
With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater tech…
Cross-embodiment robotic manipulation synthesis for complicated tasks is challenging, partially due to the scarcity of paired cross-embodiment datasets and the impediment of designing intricate contro…
Due to their affordable, low mass, and small dimensions, uncooled microbolometer-based thermal focal plane arrays (UC-FPAs) are useful for long-wave infrared (LWIR)imaging applications. However, in ou…
Diabetic macular ischemia (DMI), marked by the loss of retinal capillaries in the macular area, contributes to vision impairment in patients with diabetes. Although color fundus photographs (CFPs), co…
This paper presents the design, implementation, and performance evaluation of LUCAS, a low-power, ultra-low jitter ASIC optimized for SiPM readout in Time-of-Flight Computed Tomography (ToF-CT) applic…
Stroke is globally a major cause of mortality and morbidity, and hence accurate and rapid diagnosis of stroke is valuable. Retinal fundus imaging reveals the known markers of elevated stroke risk in t…
In this paper, we propose "SoundSpring", a cutting-edge error-resilient audio transceiver that marries the robustness benefits of joint source-channel coding (JSCC) while also being compatible with cu…
Purpose: Diabetic retinopathy (DR) is a major cause of vision loss, particularly in India, where access to retina specialists is limited in rural areas. This study aims to evaluate the Artificial Inte…
As foundation models increasingly permeate sensitive domains such as healthcare, finance, and mental health, ensuring their behavior meets desired outcomes and social expectations becomes critical. Gi…
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