Research
Research
Research
Research
561+ open-access research outputs.
Whole-body Positron Emission Tomography (PET) registration is essential for multi-parametric tumor characterization and assessment of metastatic disease progression. In deep learning-based deformable …
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantiall…
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly a…
Fungal protein materials exhibit inherently anisotropic microstructures formed by networks of hyphae, which suggest a natural pathway to replicate the fibrous texture of animal meat. We probe whether …
Sub-Terahertz radio-stripe and distributed MIMO architectures promise extreme spatial reuse and multi-GHz bandwidths, but the cascaded fiber front-haul and RF hardware impairments strongly shape end-t…
Digital Subtraction Angiography (DSA) is a clinically significant imaging technique for diagnosing cerebrovascular disease, as gold-standard. However, the artifacts caused by motion of high-attenuatio…
This lecture note addresses the common misconception that the Gaussian distribution always yields the largest Cram\'er-Rao Bound (CRB). We show that this property only holds under restrictive conditio…
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…
Stable and reliable supplies of rare-Earth minerals and critical raw materials (CRMs) are essential for the development of the European Union. Since a large share of these materials enters the Union f…
Training perceptive humanoid locomotion policies that traverse complex terrains with natural gaits remains an open challenge, typically demanding multi-stage training pipelines, adversarial objectives…
In locomotion control tasks, Deep Reinforcement Learning (DRL) has demonstrated high performance; however, the decision-making process of the learned policy remains a black box, making it difficult fo…
To prepare students for upcoming trends and challenges, it is important to teach them about the helpful and important aspects of modern technologies, such as robotics. However, classic study programs …
Accurate estimation of the tire-road friction coefficient (TRFC) is critical for ensuring safe vehicle control, especially under adverse road conditions. However, most existing methods rely on natural…
Off-road autonomous driving poses significant challenges such as navigating unmapped, variable terrain with uncertain and diverse dynamics. Addressing these challenges requires effective long-horizon …
Autonomous aerial robots operating in GPS-denied or communication-degraded environments frequently lose access to camera metadata and telemetry, leaving onboard perception systems unable to recover th…
Despite rapid commercialization of surgical robots, their autonomy and real-time decision-making remain limited in practice. To address this gap, we propose ArthroCut, an autonomous policy learning fr…
Building speech deepfake detection models that are generalizable to unseen attacks remains a challenging problem. Although the field has shifted toward a pre-training and fine-tuning paradigm using sp…
Robotic ultrasound (US) has recently attracted increasing attention as a means to overcome the limitations of conventional US examinations, such as the strong operator dependence. However, the decisio…
This paper introduces an online inspection algorithm that enables an autonomous UAV to fly around a transmission tower and obtain detailed inspection images without a prior map of the tower. Our algor…
Carsickness has gained significant attention with the rise of automated vehicles, prompting extensive research across on-road, test-track, and driving simulator environments to understand its occurren…
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