Research
Research
Research
Research
9,775+ open-access research outputs.
Large Audio Language Models (LALMs) are increasingly capable of reasoning over audio. However, existing benchmarks provide limited coverage of reasoning in polyphonic audio, where multiple sound event…
Imitation Learning (IL) enables robots to acquire manipulation skills from expert demonstrations. Diffusion Policy (DP) models multi-modal expert behaviors but suffers performance degradation as obser…
Navigation in cluttered environments often requires robots to tolerate contact with movable or deformable objects to maintain efficiency. Existing contact-tolerant motion planning (CTMP) methods rely …
Imitation learning from human demonstrations has achieved significant success in robotic control, yet most visuomotor policies still condition on single-step observations or short-context histories, m…
In this paper we discuss a classical geometrical problem of estimating an unknown point's location in $\Real{n}$ from several noisy measurements of the Euclidean distances from this point to a set of …
Embodied foundation models are increasingly performant in real-world domains such as robotics or autonomous driving. These models are often deployed in interactive or assistive settings, where it is i…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective o…
To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding, but they lack a pr…
Python bindings are a critical bridge between high-performance C++ libraries and the flexibility of Python, enabling rapid prototyping, reproducible experiments, and integration with simulation and le…
Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily occluded. Recent visi…
Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- the robot can break co…
Decoding continuous speech from intracortical recordings is a central challenge for brain-computer interfaces (BCIs), with transformative potential for individuals with conditions that impair their ab…
This work presents a general framework for the operationally driven optimal siting and sizing of battery energy storage systems in power transmission networks, aimed at enhancing their resource adequa…
Garment manipulation has attracted increasing attention due to its critical role in home-assistant robotics. However, the majority of existing garment manipulation works assume an initial state consis…
Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviour…
Foundation models have demonstrated impressive capabilities across diverse domains, while imitation learning provides principled methods for robot skill adaptation from limited data. Combining these a…
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on …
Recent progress in vision-language-action (VLA) models has demonstrated strong potential for dual-arm manipulation, enabling complex behaviors and generalization to unseen environments. However, mains…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA)…
Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Marko…
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