Research
Research
Research
Research
9,775+ open-access research outputs.
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human command…
Achieving general-purpose robotics requires empowering robots to adapt and evolve based on their environment and feedback. Traditional methods face limitations such as extensive training requirements,…
In this paper, we introduce GatherMOS, a novel framework that leverages large language models (LLM) as meta-evaluators to aggregate diverse signals into quality predictions. GatherMOS integrates light…
We study the asymptotic optimality of abstraction-based control synthesis algorithms. Specifically, we consider uncertain MDP (UMDP) abstraction, and investigate whether refinement leads to optimal re…
Recent advances in speech-aware language models have coupled strong acoustic encoders with large language models, enabling systems that move beyond transcription to produce richer outputs. Among these…
Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on explicit, closed-form…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial re…
Indoor fire disasters pose severe challenges to autonomous search and rescue due to dense smoke, high temperatures, and dynamically evolving indoor environments. In such time-critical scenarios, multi…
This study addresses the stochastic Model Predictive Control (MPC) problem for linear time-invariant systems subjected to unknown disturbance distributions. By leveraging the most recent disturbance d…
Recent advances in reasoning models have driven significant progress in text and multimodal domains, yet audio reasoning remains relatively limited. Only a few Large Audio Language Models (LALMs) inco…
Long-horizon collaborative vision-language navigation (VLN) is critical for multi-robot systems to accomplish complex tasks beyond the capability of a single agent. CoNavBench takes a first step by in…
Zero-shot voice conversion (VC) aims to convert a source utterance into the voice of an unseen target speaker while preserving its linguistic content. Although recent systems have improved conversion …
Vision-Language-Action (VLA) models inherit rich world knowledge from vision-language backbones and acquire executable skills via action demonstrations. However, existing evaluations largely focus on …
Real-time speech synthesis requires balancing inference latency and acoustic fidelity for interactive applications. Conventional continuous text-to-speech pipelines require computationally intensive n…
Speech-aware LLMs (SLLMs) have recently achieved state-of-the-art ASR performance; however, they still fail to accurately transcribe bias words that appear rarely or never in the training data. Contex…
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The s…
Audio tokenization has emerged as a critical component in end-to-end audio language models, enabling efficient discrete representation learning for both audio understanding and generation tasks. Howev…
Multi-robot systems hold significant promise for social environments such as homes and hospitals, yet existing multi-robot works treat robots as functionally identical, overlooking how robots individu…
Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for building general-purpose robotic agents. However, the VLA landscape remains highly fragmented and complex: as exis…
In Model Predictive Control (MPC), world models predict the future outcomes of various action proposals, which are then scored to guide the selection of the optimal action. For visuomotor MPC, the sco…
Free open-access publishing with Google Scholar indexing.
Submission Guide →