Research
Research
Research
Research
43+ open-access research outputs.
Object extraction tasks often occur in disassembly problems, where bolts, screws, or pins have to be removed from tight, narrow spaces. In such problems, the distance to the environment is often on th…
Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., ani…
Open-vocabulary keyword spotting (KWS) with text-based enrollment has emerged as a flexible alternative to fixed-phrase triggers. Prior utterance-level matching methods, from an embedding-learning sta…
Understanding the economic intent of Ethereum transactions is critical for user safety, yet current tools expose only raw on-chain data or surface-level intent, leading to widespread "blind signing" (…
Imitation Learning (IL) holds great potential for learning repetitive manipulation tasks, such as those in industrial assembly. However, its effectiveness is often limited by insufficient trajectory p…
Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Soft robots, with their…
Reasoning is central to purposeful action, yet most robotic foundation models map perception and instructions directly to control, which limits adaptability, generalization, and semantic grounding. We…
This paper presents our contributions to the Speech Emotion Recognition in Naturalistic Conditions (SERNC) Challenge, where we address categorical emotion recognition and emotional attribute predictio…
With the advancement of modern medicine and the development of technologies such as MRI, CT, and cellular analysis, it has become increasingly critical for clinicians to accurately interpret various d…
Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we des…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of …
Soft robotic actuators can simplify the design of controllers when operating in contact-rich environments. Importantly, their passive compliance fundamentally alters contact mechanics by smoothing imp…
In the event of a critical system failures in auto-mated vehicles, fail-operational or fail-safe measures provide minimum guarantees for the vehicle's performance, depending on which of its subsystems…
Chronic subdural hematoma (cSDH) is a common neurological condition characterized by the accumulation of blood between the brain and the dura mater. This accumulation of blood can exert pressure on th…
Congestion pricing offers a promising traffic management policy for regulating congestion, but has also been criticized for placing outsized financial burdens on low-income users. Credit-based congest…
We report on our effort to create a corpus dataset of different social context situations in an office setting for further disciplinary and interdisciplinary research in computer vision, psychology, a…
Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies automatic rapid LEGO pr…
Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and accuracy requirement…
Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and dep…
This paper studies automatic prototyping using LEGO. To satisfy individual needs and self-sustainability, this paper presents a framework that learns the assembly and disassembly sequences from human …
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