Research
Research
Research
Research
1,429+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
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…
Skill libraries in deployed robotic systems are continually updated through fine-tuning, fresh demonstrations, or domain adaptation, yet existing typed-composition methods (BLADE, SymSkill, Generative…
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asy…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. …
Industrial robotic manipulation demands reliable long-horizon execution across embodiments, tasks, and changing object distributions. While Vision-Language-Action models have demonstrated strong gener…
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset…
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, which a fixed observati…
Safety filters have been shown to be effective tools to ensure the safety of control systems with unsafe nominal policies. To address scalability challenges in traditional synthesis methods, learning-…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality…
Collecting embodied interaction data at scale remains costly and difficult due to the limited accessibility of conventional interfaces. We present a gamified data collection framework based on Unity t…
Regrasp planning is often required when one pick-and-place cannot transfer an object from an initial pose to a goal pose while maintaining grasp feasibility. The main challenge is to reason about shar…
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance depends on informati…
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC relies on the diffusion being proportional to the control channel …
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The s…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physica…
Ensuring safety and reliability in human-robot interaction (HRI) requires the timely detection of unexpected events that could lead to system failures or unsafe behaviours. Anomaly detection thus play…
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least $r$ (out of $p$) alternative sites if condit…
This paper considers output reachability analysis for linear time-invariant systems with unknown state-space matrices and unknown observation map, given only noisy input-output measurements. The Cayle…
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