Research
Research
Research
Research
9,775+ open-access research outputs.
Vision-Language-Action (VLA) models typically map visual observations and linguistic instructions directly to robotic control signals. This "black-box" mapping forces a single forward pass to simultan…
Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a pr…
We present Triple Zero Path Planning (TZPP), a collaborative framework for heterogeneous multi-robot systems that requires zero training, zero prior knowledge, and zero simulation. TZPP employs a coor…
A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spatial modeling and lin…
Large Language Models (LLMs), deep learning architectures with typically over 10 billion parameters, have recently begun to be integrated into various cyber-physical systems (CPS) such as robotics, in…
Vision-language Navigation (VLN) requires an agent to understand visual observations and language instructions to navigate in unseen environments. Most existing approaches rely on static scene assumpt…
Robots operating in dynamic, unstructured environments must balance safety and efficiency under potentially limited sensing. While control barrier functions (CBFs) provide principled collision avoidan…
We present an approximate dynamic programming framework for designing degradation-aware market participation policies for battery energy storage systems. The approach employs a tailored value function…
Information-bearing reconfigurable intelligent surfaces (IB-RIS) provide a promising solution to self-sustainable and green communications by harvesting ambient radio frequency energy while embedding …
This paper proposes a Koopman-based linear model predictive control (LMPC) framework for safety-critical control of nonlinear discrete-time systems. Existing MPC formulations based on discrete-time co…
View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual representations in …
We present Swim2Real, a pipeline that calibrates a 16-parameter robotic fish simulator from swimming videos using vision-language model (VLM) feedback, requiring no hand-designed search stages. Calibr…
The development of embodied AI systems is increasingly constrained by the availability and structure of physical interaction data. Despite recent advances in vision-language-action (VLA) models, curre…
Language models (LMs) are increasingly applied to robotic navigation; however, existing benchmarks primarily emphasize navigation success rates while paying limited attention to social compliance. Mor…
Large scale pre-training on text and image data along with diverse robot demonstrations has helped Vision Language Action models (VLAs) to generalize to novel tasks, objects and scenes. However, these…
Large Language Models (LLMs) have advanced audio generation through discrete representation learning. However, most existing neural codecs focus on speech and emphasize reconstruction fidelity, overlo…
Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world …
Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driv…
The solutions to many sequential decision-making problems are characterized by dynamic programming and Bellman's principle of optimality. However, due to the inherent complexity of solving Bellman's e…
Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localizati…
Free open-access publishing with Google Scholar indexing.
Submission Guide →