Research
Research
Research
Research
9,775+ open-access research outputs.
Video-Action Models (VAMs) have emerged as a promising framework for embodied intelligence, learning implicit world dynamics from raw video streams to produce temporally consistent action predictions.…
Generative AI is envisioned to have a crucial impact on next generation mobile networking, making the sixth generation (6G) system considerably more autonomous, flexible, and adaptive than its predece…
Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated de…
Text-to-Speech (TTS) models are significantly more numerically fragile than Large Language Models (LLMs) due to their continuous waveform generation and perceptual sensitivity to small numerical pertu…
Audio-Language Models (ALMs) are making strides in understanding speech and non-speech audio. However, domain-specialist Foundation Models (FMs) remain the best for closed-ended speech processing task…
Due to the ever-changing nature of construction, many tasks on sites occur in an improvisational manner. Existing mobile construction robot studies remain limited in addressing improvisational tasks, …
Deploying Vision-Language-Action (VLA) models on resource-constrained edge platforms encounters a fundamental conflict between high-latency semantic inference and the high-frequency control required f…
Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synt…
The rapid expansion of distributed rooftop photovoltaic (PV) systems introduces increasing uncertainty in distribution grid planning, hosting capacity assessment, and voltage regulation. Reliable esti…
Navigating unstructured environments requires assessing traversal risk relative to a robot's physical capabilities, a challenge that varies across embodiments. We present CATNAV, a cost-aware traversa…
Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene l…
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF…
Robots learn reward functions from user demonstrations, but these rewards often fail to generalize to new environments. This failure occurs because learned rewards latch onto spurious correlations in …
Large language models (LLMs) are increasingly deployed as autonomous agents in financial trading. However, they often exhibit a hazardous behavioral bias that we term uniform trust, whereby retrieved …
"Code-as-Policy" considers how executable code can complement data-intensive Vision-Language-Action (VLA) methods, yet their effectiveness as autonomous controllers for embodied manipulation remains u…
Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data, the heterogeneity of hand embodiments, and the high dimensionality of control. We present UniDex…
We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loo…
Deploying learned robot manipulation policies in industrial settings requires rigorous pre-deployment validation, yet exhaustive testing across high-dimensional parameter spaces is intractable. We pre…
We use fused deposition modeling (FDM) 3D printing as a case study of how manufacturing robots can use imperfect AI to acquire process expertise. In FDM, print configuration strongly affects output qu…
Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-…
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