Research
Research
Research
Research
181+ open-access research outputs.
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a coll…
The development of intelligent and diversified ser vices in urban rail transit (URT) has resulted in an increasing de mand for high-rate communication between vehicles and ground equipment. However, e…
Power system expansion depends on the equipment required to connect, convert, regulate, and condition electricity, yet grid-supporting equipment (GSE) is rarely modeled as an explicit constraint. We d…
The physicality of exercise makes the role of athletic trainers unique. Their physical presence allows them to guide a student through a motion, demonstrate an exercise, and give intuitive feedback. R…
In Vision-Language-Action (VLA) models, action chunking (i.e., executing a sequence of actions without intermediate replanning) is a key technique to improve robotic manipulation abilities. However, a…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generatio…
Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and suppo…
The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct m…
The rise of unmanned ``dark factories'' operating without human presence demands autonomous safety systems capable of detecting and responding to multiple hazard types. We present SafeGuard ASF (Agent…
The International Telecommunication Union (ITU) identifies "Artificial Intelligence (AI) and Communication" as one of six key usage scenarios for 6G. Agentic AI, characterized by its ca-pabilities in …
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objecti…
Physics-based humanoid control relies on training with motion datasets that have diverse data distributions. However, the fixed difficulty distribution of datasets limits the performance ceiling of th…
This paper proposes distributed omniscient observers for both heterogeneous and homogeneous linear multi-agent systems, such that each agent can correctly estimate the states of all agents. The observ…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper …
Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittle process of tuning …
Although text-to-audio generation has made remarkable progress in realism and diversity, the development of evaluation metrics has not kept pace. Widely-adopted approaches, typically based on embeddin…
Machine learning (ML) enables accurate and fast molecular property predictions, which are of interest in drug discovery and material design. Their success is based on the principle of similarity at it…
Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion from audio and then ret…
Maintaining stability during the single-support phase is a fundamental challenge in humanoid robotics, particularly in dance robots that require complex maneuvers and high mechanical freedom. Traditio…
Vision-Language-Action (VLA) models are driving a revolution in robotics, enabling machines to understand instructions and interact with the physical world. This field is exploding with new models and…
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