Research
Research
Research
Research
9,775+ open-access research outputs.
Modern robotic systems rely on hierarchical control, where a high-level "Brain" (Python) directs a lower-level "Spine" (C++ real-time controller). Despite its necessity, this hierarchy makes it diffic…
Networked low Earth orbit (LEO) satellite constellations enabled by inter-satellite links offer a promising path toward ubiquitous broadband non-terrestrial services. However, fast orbital motion indu…
Vision language action models (VLAs) are increasingly used for Physical AI, but deploying a pre-trained VLA model to unseen environments, embodiments, or tasks still requires adaptation. Parameter-eff…
Open Radio Access Network (RAN) enables flexible, AI-driven control of mobile networks through disaggregated, multi-vendor components. In this architecture, xApps handle real-time functions, whereas r…
Federated robotic task execution systems require bridging natural language instructions to distributed robot control while efficiently managing computational resources across heterogeneous edge device…
Vision-and-Language Navigation (VLN) increasingly relies on large vision-language models, but their inference cost conflicts with real-time deployment. Token caching is a promising training-free strat…
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key …
Efficient path following for mobile manipulators is often hindered by high-dimensional configuration spaces and kinematic constraints. This paper presents a robust two-stage configuration planning fra…
Signal Temporal Logic (STL) is expressive formal language that specifies spatio-temporal requirements in robotics. Its quantitative robustness semantics can be easily integrated with optimization-base…
Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approa…
Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long-horizon planning an…
Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modu…
End-user robot programming grants users the flexibility to re-task robots in situ, yet it remains challenging for novices due to the need for specialized robotics knowledge. Large Language Models (LLM…
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aerial interaction tasks…
Vision-Language Navigation (VLN) enables robots to follow natural-language instructions in visually grounded environments, serving as a key capability for embodied robotic systems. Recent Vision-Langu…
Prosodic differences in autism are well-documented, but cross-linguistic evidence remains limited. This study investigates prosody in autism across a multilingual corpus of Finnish, French, and Slovak…
We present a cross-linguistic study of speech in autistic and non-autistic children speaking Finnish, French, and Slovak. We combine supervised classification with within-language and cross-corpus tra…
Speech foundation models struggle with low-resource Pacific Indigenous languages because of severe data scarcity. Furthermore, full fine-tuning risks catastrophic forgetting. To address this gap, we p…
We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provi…
Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene unde…
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