Research
Research
Research
Research
3,601+ open-access research outputs.
Recently, generative semantic communication models have proliferated as they are revolutionizing semantic communication frameworks, improving their performance, and opening the way to novel applicatio…
Videos can be an effective way to deliver contextualized, just-in-time medical information for patient education. However, video analysis, from topic identification and retrieval to extraction and ana…
Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks and lack features crit…
Neural networks (NNs) are becoming increasingly popular in the design of control pipelines for autonomous systems. However, since the performance of NNs can degrade in the presence of out-of-distribut…
Effective environment perception is crucial for enabling downstream robotic applications. Individual robotic agents often face occlusion and limited visibility issues, whereas multi-agent systems can …
We propose a novel approach to end-to-end automatic speech recognition (ASR) to achieve efficient speech in-context learning (SICL) for (i) long-form speech decoding, (ii) test-time speaker adaptation…
Detecting anomalies in brain MRI scans using supervised deep learning methods presents challenges due to anatomical diversity and labor-intensive requirement of pixel-level annotations. Generative mod…
Reconstructing 3D cone beam computed tomography (CBCT) images from a limited set of projections is an important inverse problem in many imaging applications from medicine to inertial confinement fusio…
In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configura…
Currently, there is an urgent demand for scalable multivariate and high-dimensional false discovery rate (FDR)-controlling variable selection methods to ensure the repro-ducibility of discoveries. How…
With the increasing complexity and size of capacity expansion models, temporal aggregation has emerged as a common method to improve computational tractability. However, this approach inherently compl…
We present a new millimeter-scale bimorph actuator for microrobotic applications, driven by feedforward controlled shape-memory alloy (SMA) wires. The device weighs 10 mg, measures 14 mm in length, an…
We introduce a new low-power 13-mg microactuator driven by shape-memory alloy (SMA) wires for underwater operation. The development of this device was motivated by the recent creation of microswimmers…
Unsupervised domain adaptation (UDA) is essential for medical image segmentation, especially in cross-modality data scenarios. UDA aims to transfer knowledge from a labeled source domain to an unlabel…
There is no limit to how much a robot might explore and learn, but all of that knowledge needs to be searchable and actionable. Within language research, retrieval augmented generation (RAG) has becom…
Verbalization of robot experience, i.e., summarization of and question answering about a robot's past, is a crucial ability for improving human-robot interaction. Previous works applied rule-based sys…
This paper introduces FlowMAC, a novel neural audio codec for high-quality general audio compression at low bit rates based on conditional flow matching (CFM). FlowMAC jointly learns a mel spectrogram…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception …
Physical reservoir computing (PRC) is a computing framework that harnesses the intrinsic dynamics of physical systems for computation. It offers a promising energy-efficient alternative to traditional…
Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG anno…
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