Research
Research
Research
Research
329+ open-access research outputs.
Nasotracheal intubation (NTI) is a critical clinical procedure for establishing and maintaining patient airway patency. Machine-assisted NTI has emerged as a pivotal approach for optimizing procedural…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot pro…
Vision-Language-Action (VLA) models for autonomous driving must integrate diverse textual inputs, including navigation commands, hazard warnings, and traffic state descriptions, yet current systems of…
We study the problem of identifying an optimal coupling between input-output distributional data generated by a causal dynamical system. The coupling is required to satisfy prescribed marginal distrib…
Generating safety-critical driving scenarios requires understanding why dangerous interactions arise, rather than merely forcing collisions. However, existing methods rely on heuristic adversarial age…
Descriptor systems arise naturally in applications governed by algebraic constraints, such as power networks and chemical processes. The singular system matrix in descriptor systems may introduce non-…
Impaction of the mandibular third molar in proximity to the mandibular canal increases the risk of inferior alveolar nerve injury. Panoramic radiography is routinely used to assess this relationship. …
The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loo…
As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging…
Learning-based signal processing systems increasingly support high-stakes medical decisions using heterogeneous biomedical signals, including medical images, physiological time series, and clinical re…
Rapid infarct assessment on non-contrast CT (NCCT) is essential for acute ischemic stroke management. Most deep learning methods perform pixel-wise segmentation without modeling the structured anatomi…
Despite the success of deep learning in dermoscopy image analysis, its inherent black-box nature hinders clinical trust, motivating the use of prototypical networks for case-based visual transparency.…
Causal discovery problems use a set of observations to deduce causality between variables in the real world, typically to answer questions about biological or physical systems. These observations are …
Partial Differential Equations are precise in modelling the physical, biological and graphical phenomena. However, the numerical methods suffer from the curse of dimensionality, high computation costs…
Modern cyber-physical systems (CPS) integrate physics, computation, and learning, demanding modeling frameworks that are simultaneously composable, learnable, and verifiable. Yet existing approaches t…
Neuroimaging studies of psychiatric disorders often correlate imaging patterns with diagnostic labels or composite symptom scores, yielding diffuse associations that obscure underlying mechanisms. We …
In this paper, we introduce an autonomous Ultrasonic Sacral Osteotomy (USO) robotic system that integrates an ultrasonic osteotome with a seven-degree-of-freedom (DoF) robotic manipulator guided by an…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based contr…
Enhancing the performance of trajectory planners for lane - changing vehicles is one of the key challenges in autonomous driving within human - machine mixed traffic. Most existing studies have not in…
We propose a fundamental-lemma-free data-driven predictive control (DDPC) scheme for synthesizing model predictive control (MPC)-like policies directly from input-output data. Unlike the well-known De…
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