Research
Research
Research
Research
3,601+ open-access research outputs.
In this work, we propose HE-VPR, a visual place recognition (VPR) framework that incorporates height estimation. Our system decouples height inference from place recognition, allowing both modules to …
Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical architectures improve tem…
Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory m…
Early and accessible detection of Alzheimer's disease (AD) remains a major challenge, as current diagnostic methods often rely on costly and invasive biomarkers. Speech and language analysis has emerg…
In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language model…
Legged robots with egocentric forward-facing depth cameras can couple exteroception and proprioception to achieve robust forward agility on complex terrain. When these robots walk backward, the forwar…
Vision-Language Navigation (VLN) aims to empower robots with the ability to perform long-horizon navigation in unfamiliar environments based on complex linguistic instructions. Its success critically …
Post-stroke rehabilitation is often necessary for patients to regain proper walking gait. However, the typical therapy process can be exhausting and physically demanding for therapists, potentially re…
Sub-30g nano-sized aerial robots can leverage their agility and form factor to autonomously explore cluttered and narrow environments, like in industrial inspection and search and rescue missions. How…
Navigating to out-of-sight targets from human instructions in unfamiliar environments is a core capability for service robots. Despite substantial progress, most approaches underutilize reusable, pers…
In visually ambiguous manipulation such as detecting button click tactile feedback is often the sole source of ground truth. However, fusing tactile data poses a significant challenge due to a spatiot…
Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that …
The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imba…
Accurate fault detection and localization in electrical distribution systems is crucial, especially with the increasing integration of distributed energy resources (DERs), which inject greater variabi…
Precise volumetric delineation of hippocampal structures is essential for quantifying neurodevelopmental trajectories in pre-term and term infants, where subtle morphological variations may carry prog…
Vision-Language Navigation (VLN) agents often struggle with long-horizon reasoning in unseen environments, particularly when facing ambiguous, coarse-grained instructions. While recent advances use kn…
Reliable navigation systems are not available indoors, such as in campuses and small areas. Users must depend on confusing, time-consuming static signage or floor maps. In this paper, an AR-based tech…
Memory-augmented Large Language Models (LLMs) have demonstrated remarkable capability for complex and long-horizon embodied planning. By keeping track of past experiences and environmental states, mem…
Medical image segmentation models are typically optimised with voxel-wise losses that constrain predictions only in the output space. This leaves latent feature representations largely unconstrained, …
Multi-channel speech separation in dynamic environments is challenging as time-varying spatial and spectral features evolve at different temporal scales. Existing methods typically employ sequential a…
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