Research
Research
Research
Research
3,601+ open-access research outputs.
In this paper, we develop and open-source, for the first time, a square-root filter (SRF)-based visual-inertial navigation system (VINS), termed sqrtVINS, which is ultra-fast, numerically stable, and …
Embodied agents face a fundamental limitation: once deployed in real-world environments, they cannot easily acquire new knowledge to improve task performance. In this paper, we propose Dejavu, a gener…
Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigo…
Long-term monitoring of numerous dynamic targets can be tedious for a human operator and infeasible for a single robot, e.g., to monitor wild flocks, detect intruders, search and rescue. Fleets of aut…
Perceptual optimization is widely recognized as essential for neural compression, yet balancing the rate-distortion-perception tradeoff remains challenging. This difficulty is especially pronounced in…
The Mar Menor, Europe's largest hypersaline coastal lagoon, located in southeastern Spain, has undergone severe eutrophication crises, with devastating impacts on biodiversity and water quality. Monit…
We propose a Geometry-aware Policy Imitation (GPI) approach that rethinks imitation learning by treating demonstrations as geometric curves rather than collections of state-action samples. From these …
Vision-Language-Action (VLA) models have advanced robotic capabilities but remain challenging to deploy on resource-limited hardware. Pruning has enabled efficient compression of large language models…
Liver disease is a major global health burden. While ultrasound is the first-line diagnostic tool, liver sonography requires locating multiple non-continuous planes from positions where target structu…
Neural radiance fields (NeRF) have transformed 3D reconstruction and rendering, facilitating photorealistic image synthesis from sparse viewpoints. This work introduces an explicit data reuse neural r…
The aging and increasing complexity of infrastructures make efficient inspection planning more critical in ensuring safety. Thanks to sampling-based motion planning, many inspection planners are fast.…
Embodied Visual Tracking (EVT) is a fundamental ability that underpins practical applications, such as companion robots, guidance robots and service assistants, where continuously following moving tar…
Kirigami, the traditional paper-cutting craft, holds immense potential for revolutionizing robotics by providing multifunctional, lightweight, and adaptable solutions. Kirigami structures, characteriz…
Accurate and real-time prediction of wireless channel conditions, particularly the Signal-to-Interference-plus-Noise Ratio (SINR), is a foundational requirement for enabling Ultra-Reliable Low-Latency…
Neural operators have emerged as powerful tools for learning nonlinear mappings between function spaces, enabling real-time prediction of complex dynamics in diverse scientific and engineering applica…
Unitary matrices are the basis of a large number of signal processing applications. In many of these applications, finding ways to efficiently store, and even transmit these matrices, can significantl…
One of the main challenges in modern control applications, particularly in robot and vehicle motion control, is achieving accurate, fast, and safe movement. To address this, optimal control policies h…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path l…
3D interconnects have emerged as a solution to address the scaling issues of interconnect bandwidth and the memory wall problem in high-performance computing (HPC), such as High-Bandwidth Memory (HBM)…
In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We introduce Seeing th…
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