Research
Research
Research
Research
276+ open-access research outputs.
Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empiri…
Crowd-sourced cooperative mapping from monocular cameras promises scalable 3D reconstruction without specialized sensors, yet remains hindered by two scale-specific failure modes: abrupt scale collaps…
Traditional Active Noise Control (ANC) systems are mostly based on FxLMS algorithms, but such algorithms rely on linear assumptions and are often limited in handling broadband non-stationary noise or …
Prediction markets are starting to look less like crowd polls and more like electronic markets. The central question is therefore no longer only whether these markets forecast well, but what happens w…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steer…
Evaluation of robotic manipulation systems has largely relied on fixed benchmarks authored by a small number of experts, where task instances, constraints, and success criteria are predefined and diff…
Personalized or target speech extraction (TSE) typically needs a clean enrollment -- hard to obtain in real-world crowded environments. We remove the essential need for enrollment by predicting, from …
Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty.…
In this paper, we show a stochastic approach to generate a 3D model of a foliage, which is then used for deterministic ray-tracing channel modeling. This approach is verified by a measurement campaign…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer un…
Autonomous navigation requires a broad spectrum of skills, from static goal-reaching to dynamic social traversal, yet evaluation remains fragmented across disparate protocols. We introduce DynBench, a…
Crowd-sourced mapping offers a scalable alternative to creating maps using traditional survey vehicles. Yet, existing methods either rely on prior high-definition (HD) maps or neglect uncertainties in…
This paper presents PISHYAR, a socially intelligent smart cane designed by our group to combine socially aware navigation with multimodal human-AI interaction to support both physical mobility and int…
Autonomous mobile robots offer promising solutions for labor shortages and increased operational efficiency. However, navigating safely and effectively in dynamic environments, particularly crowded ar…
In robot-assisted minimally invasive surgery (RMIS), reduced haptic feedback and depth cues increase reliance on expert visual perception, motivating gaze-guided training and learning-based surgical p…
Safe and computationally efficient local planning for mobile robots in dense, unstructured human crowds remains a fundamental challenge. Moreover, ensuring that robot trajectories are similar to how a…
Navigating through dense human crowds remains a significant challenge for mobile robots. A key issue is the freezing robot problem, where the robot struggles to find safe motions and becomes stuck wit…
High-fidelity 3D tooth models are essential for digital dentistry, but must capture both the detailed crown and the complete root. Clinical imaging modalities are limited: Cone-Beam Computed Tomograph…
Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative locali…
Generalization of imitation-learned navigation policies to environments unseen in training remains a major challenge. We address this by conducting the first large-scale study of how data quantity and…
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