Research
Research
Research
Research
21+ open-access research outputs.
To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment …
Mutual information (MI) is a principled and widely used objective for robotic information gathering (RIG), providing strong theoretical guarantees for sensor placement (SP) and informative path planni…
Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions, degrade inertial ob…
We present an adaptive Finite State Projection (FSP) method for efficiently solving the Chemical Master Equation (CME) with rigorous error control. Our approach integrates time-stepping with dynamic s…
Grasp planning is an important task for robotic manipulation. Though it is a richly studied area, a standalone, fast, and differentiable grasp planner that can work with robot grippers of different DO…
Reinforcement learning (RL) has progressed substantially over the past decade, with much of this progress being driven by benchmarks. Many benchmarks are focused on video or board games, and a large n…
A novel model was recently proposed by Schulze-Forster et al. in [1] for unsupervised music source separation. This model allows to tackle some of the major shortcomings of existing source separation …
Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based …
This paper presents the method for the localization and grabbing of the long straight conductor based only on the magnetic field generated by the alternating current flowing through the conductor. The…
Achieving real-time capability is an essential prerequisite for the industrial implementation of nonlinear model predictive control (NMPC). Data-driven model reduction offers a way to obtain low-order…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require huma…
Data collected at Hurricane Ian (2022) quantifies the demands that small uncrewed aerial systems (UAS), or drones, place on the network communication infrastructure and identifies gaps in the field. D…
This paper proposes a novel two-stage hybrid domain decomposition algorithm to speed up the dynamic simulations and the analysis of power systems that can be computationally demanding due to the high …
In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparency is affected by str…
We develop a hybrid model-based data-driven seizure detection algorithm called Mutual Information-based CNNAided Learned factor graphs (MICAL) for detection of eclectic seizures from EEG signals. Our …
The WMMSE beamforming algorithm is a popular approach to address the NP-hard weighted sum rate (WSR) maximization beamforming problem. Although it efficiently finds a local optimum, it requires matrix…
For model-based control, an accurate and in its complexity suitable representation of the real system is a decisive prerequisite for high and robust control quality. In a structured step-by-step proce…
Automated chemical synthesis carries great promises of safety, efficiency and reproducibility for both research and industry laboratories. Current approaches are based on specifically-designed automat…
The capacity to predict and control bioprocesses is perhaps one of the most important objectives of biotechnology. Computational simulation is an established methodology for the design and optimizatio…
When designing genetic circuits, the typical primitives used in major existing modelling formalisms are gene interaction graphs, where edges between genes denote either an activation or inhibition rel…
Free open-access publishing with Google Scholar indexing.
Submission Guide →