Research
Research
Research
Research
58,982+ open-access research outputs.
Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and t…
This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopma…
Reliable perception for robotics depends on large-scale labeled data, yet real-world datasets rely on heavy manual annotation and are time-consuming to produce. We present FalconApp, an iPhone app wit…
The rapid advancement of Audio Large Language Models (ALMs), driven by Neural Audio Codecs (NACs), has led to the emergence of highly realistic speech deepfakes, commonly referred to as CodecFakes (CF…
Optical wireless communication (OWC) has emerged as a promising candidate for future high-capacity indoor wireless networks, driven by its large unregulated spectrum, high spatial reuse, and ability t…
Scaling humanoid foundation models is bottlenecked by the scarcity of robotic data. While massive egocentric human data offers a scalable alternative, bridging the cross-embodiment chasm remains a fun…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
Challenging indoor and urban environments with severe multipath propagation and obstructed LoS (OLoS) degrade classical radio frequency (RF) positioning. Multipath-based simultaneous localization and …
World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling i…
AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intu…
Modern world models are becoming too complex to admit explicit dynamical descriptions. We study safety-critical contextual control, where a Planner must optimize a task objective using only feasibilit…
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicles provide a flexibl…
Wireless agentic systems enable agents to autonomously perceive, reason, and act. However, existing works neglect the tight coupling between sensing and control in closed-loop integrated sensing and c…
Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe, compliant physical interaction - a challenge that end-to-end models approach opaquely and c…
Clinicians lack a principled framework to quantify diagnostic utility in ultrasound reconstructions. Existing standards like PSNR and VGG-LPIPS are inadequate, failing to account for modality-specific…
Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains larg…
Reliable harmonization of heterogeneous magnetic resonance~(MR) image datasets, especially those acquired in pragmatic clinical trials, is critical to advance multi-center neuroimaging studies and tra…
We present a physics-driven framework for accurate evaluation of discrete spectral bands using a low-cost multispectral setup built from off-the-shelf RGB cameras and narrow multi-band optical filters…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics…
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