Research
Research
Research
Research
151+ open-access research outputs.
Reinforcement Learning (RL) and Imitation Learning (IL) are the standard frameworks for policy acquisition in manipulation. While IL offers efficient policy derivation, it suffers from compounding err…
Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause sever…
Reachability analysis has become increasingly important in robotics to distinguish safe from unsafe states. Unfortunately, existing reachability and safety analysis methods often fall short, as they t…
Report-supervised (RSuper) learning seeks to alleviate the need for dense tumor voxel labels with constraints derived from radiology reports (e.g., volumes, counts, sizes, locations). In MRI studies o…
Aerial imagery provides essential global context for autonomous navigation, enabling route planning at scales inaccessible to onboard sensing. We address the problem of generating global costmaps for …
With the increasing deployment of Large Language Models (LLMs) in the finance domain, LLMs are increasingly expected to parse complex regulatory disclosures. However, existing benchmarks often focus o…
As robots become increasingly integrated into daily life, understanding responses to robot mistreatment carries important ethical and design implications. This mixed-methods study (N = 201) examined h…
Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it impractical for real-time …
In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show…
AV2 is the successor to the AV1 video coding standard developed by the Alliance for Open Media (AOMedia). Its primary objective is to deliver substantial compression gains and subjective quality impro…
Robots are typically described in software by specification files (e.g., URDF, SDF, MJCF, USD) that encode only basic kinematic, dynamic, and geometric information. As a result, downstream application…
In mobile robotics, coverage navigation refers to the deliberate movement of a robot with the purpose of covering a certain area or volume. Performing this task properly is fundamental for the executi…
Identity, accent, style, and emotions are essential components of human speech. Voice conversion (VC) techniques process the speech signals of two input speakers and other modalities of auxiliary info…
Recent progress in Vision-Language-Action (VLA) models has enabled embodied agents to interpret multimodal instructions and perform complex tasks. However, existing VLAs are mostly confined to short-h…
The proliferation of SQL for data processing has often occurred without the rigor of traditional software development, leading to siloed efforts, logic replication, and increased risk. This ad-hoc app…
The deployment of autonomous systems has experienced remarkable growth in recent years, driven by their integration into sectors such as industry, medicine, logistics, and domestic environments. This …
This paper proposes a reinforcement learning (RL)-aided cognitive framework for massive MIMO-based integrated sensing and communication (ISAC) systems employing a uniform planar array (UPA). The focus…
A major bottleneck in off-road autonomous driving research lies in the scarcity of large-scale, high-quality datasets and benchmarks. To bridge this gap, we present ORAD-3D, which, to the best of our …
Successfully solving long-horizon manipulation tasks remains a fundamental challenge. These tasks involve extended action sequences and complex object interactions, presenting a critical gap between h…
Learning visuomotor policies from expert demonstrations is an important frontier in modern robotics research, however, most popular methods require copious efforts for collecting teleoperation data an…
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