Research
Research
Research
Research
412+ open-access research outputs.
We present a priority-aware intelligent lane change advisory system based on multi-agent federated reinforcement learning, namely PALCAS, for autonomous vehicles (AVs). While existing lane-change appr…
Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) are complex multi-step tasks that require continuous planning, sequential decision-making, and extended execution across domains to achieve the…
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt i…
We develop a wildfire simulation model that evolves the temperature scalar field using an energy balance equation accounting for heat generation, transport, and loss. For these equations, we develop q…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable obje…
We present a curated multi-platform LiDAR reference dataset from an instrumented ICOS forest plot, explicitly designed to support calibration, benchmarking, and integration of 3D structural data with …
In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can …
Vision-Language-Action (VLA) policies have emerged as a versatile paradigm for generalist robotic manipulation. However, precise object placement under compositional language instructions remains a ma…
Extranodal extension (ENE) is an emerging prognostic factor in human papillomavirus (HPV)-associated oropharyngeal cancer (OPC), although it is currently omitted as a clinical staging criteria. Recent…
Monocular 3D Gaussian Splatting SLAM suffers from critical limitations in time efficiency, geometric accuracy, and multi-view consistency. These issues stem from the time-consuming $\textit{Train-from…
Visuotactile sensors are indispensable for contact-rich robotic manipulation tasks. However, policy learning with tactile feedback in simulation, especially for online reinforcement learning (RL), rem…
Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challenging due to the sim-t…
Video-based gait analysis has become a promising approach for assessing motor impairment in children with cerebral palsy (CP). However, existing methods usually rely on either pose sequences or handcr…
Battery state-of-health (SOH) reported by on-board battery management systems (BMS) is the primary metric available to electric vehicle (EV) owners and regulators, yet no study has validated its relia…
Agricultural robotics is gaining increasing relevance in both research and real-world deployment. As these systems are expected to operate autonomously in more complex tasks, the availability of repre…
Velopharyngeal dysfunction (VPD) is characterized by inadequate velopharyngeal closure during speech and often causes hypernasality and reduced intelligibility. Although speech-based machine learning …
Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deformable and rigid eleme…
Teleoperation of low-cost robotic manipulators remains challenging due to the complexity of mapping human hand articulations to robot joint commands. We present an offline hand-shadowing and retargeti…
A 3 bit Analog to Digital Converter (ADC) is designed using perpendicular Spin Orbit Torque Magnetic Tunnel Junction (SOT MTJ). A sampled analog input signal is transmitted as a spin orbit torque curr…
Transporting heavy or oversized slung loads using rotorcraft has traditionally relied on single-aircraft systems, which limits both payload capacity and control authority. Cooperative multilift using …
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