Research
Research
Research
Research
3,601+ open-access research outputs.
Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception…
This work introduces LIMOncello, a tightly coupled LiDAR-Inertial Odometry system that models 6-DoF motion on the $\mathrm{SGal}(3)$ manifold within an iterated error-state Kalman filter backend. Comp…
Robot manipulation has increasingly adopted data-driven generative policy frameworks, yet the field faces a persistent trade-off: diffusion models suffer from high inference latency, while flow-based …
In this study, we address the problem of open-vocabulary mobile manipulation, where a robot is required to carry a wide range of objects to receptacles based on free-form natural language instructions…
This work presents a 28nm 13.93mm2 CNN-Transformer accelerator for semantic segmentation, achieving 3.86-to-10.91x energy reduction over previous designs. It features a hybrid attention unit, layer-fu…
Medical image classification is a critical task in healthcare, enabling accurate and timely diagnosis. However, deploying deep learning models on resource-constrained edge devices presents significant…
Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs)…
With the rapid development of distributed renewable energy, multi-microgrids play an increasingly important role in improving the flexibility and reliability of energy supply. Reinforcement learning h…
As agriculture faces increasing pressure from water scarcity, especially in regions like Tunisia, innovative, resource-efficient solutions are urgently needed. This work explores the integration of in…
This paper proposes two new algorithms for the lane keeping system (LKS) in autonomous vehicles (AVs) operating under snowy road conditions. These algorithms use deep reinforcement learning (DRL) to h…
This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures from the computer grap…
Streaming video large language models (LLMs) are increasingly used for real-time multimodal tasks such as video captioning, question answering, conversational agents, and augmented reality. However, t…
Training large language models (LLMs) imposes extreme demands on computation, memory capacity, and interconnect bandwidth, driven by their ever-increasing parameter scales and intensive data movement.…
Mobile robots in large-scale indoor environments, such as hospitals and logistics centers, require accurate 3D spatial representations. However, 3D maps consume substantial memory, making it difficult…
The realization of intelligent robots, operating autonomously and interacting with other intelligent agents, human or artificial, requires the integration of environment perception, reasoning, and act…
Structured Cartesian grids are a fundamental component in numerical simulations. Although these grids facilitate straightforward discretization schemes, their na\"{i}ve use in sparse domains leads to …
Autonomous drone navigation in confined tubular environments remains a major challenge due to the constraining geometry of the conduits, the proximity of the walls, and the perceptual limitations inhe…
In our work we implicitly suggest that it is a misconception to think that humans learn fast. The learning process takes time. Babies start learning to move in the restricted fluid environment of the …
Visual navigation has emerged as a practical alternative to traditional robotic navigation pipelines that rely on detailed mapping and path planning. However, constructing and maintaining 3D maps is o…
Continuously learning new classes without catastrophic forgetting is a challenging problem for on-device acoustic event classification given the restrictions on computation resources (e.g., model size…
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