Research
Research
Research
Research
514+ open-access research outputs.
Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vi…
In recent years, WiFi sensing has been recognized as a promising technology to bring respiratory monitoring into everyday homes, thanks to its contactless nature and ubiquitous availability. However, …
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic …
With the push toward 6G commercialization, Frequency Range 3 (FR3) bands, specifically 7.125-8.4 GHz and 14.8-15.3 GHz, have become focal points for achieving wide-area, high-capacity coverage. Howeve…
ROI (Region of Interest) video selective encryption based on H.265/HEVC is a technology that protects the sensitive regions of videos by perturbing the syntax elements associated with target areas. Ho…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can res…
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload…
Grasping target objects is a fundamental skill for robotic manipulation, but in cluttered environments with stacked or occluded objects, a single-step grasp is often insufficient. To address this, pre…
A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-roa…
Industrial laparoscopic graspers use multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the design and proof-of-concep…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asym…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a …
Deploying visuomotor robots at scale is challenging due to the potential for anomalous failures to degrade performance, cause damage, or endanger human life. Bimanual manipulators are no exception; th…
Offline reinforcement learning (RL) allows robots to learn from offline datasets without risky exploration. Yet, offline RL's performance often hinges on a brittle trade-off between (1) return maximiz…
Digital twins promise to enhance robotic manipulation by maintaining a consistent link between real-world perception and simulation. However, most existing systems struggle with the lack of a unified …
The digital twins (DTs) of physical systems and environments enable real-time remote tracking, control, and learning, but require low-latency transmission of updates and sensory data to maintain align…
Motorsport has historically driven technological innovation in the automotive industry. Autonomous racing provides a proving ground to push the limits of performance of autonomous vehicle (AV) systems…
A novel non-orthogonal multiple access (NOMA) based low-delay service framework is proposed for fog radio access networks (F-RANs). Fog access points (FAPs) leverage NOMA for local delivery of cached …
Accurate per-branch 3D reconstruction is a prerequisite for autonomous UAV-based tree pruning; however, dense disparity maps from modern stereo matchers often remain too noisy for individual branch an…
As one of the simplest non-prehensile manipulation skills, pushing has been widely studied as an effective means to rearrange objects. Existing approaches, however, typically rely on multi-step push p…
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