Research
Research
Research
Research
89+ open-access research outputs.
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terram…
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A human provided high-…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require…
The dual challenge of decarbonizing the economy and meeting rising global energy demand underscores the need for scalable and cost-effective carbon dioxide removal technologies. Direct air capture (DA…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used t…
Long-horizon robotic manipulation tasks require executing multiple interdependent subtasks in strict sequence, where errors in detecting subtask completion can cascade into downstream failures. Existi…
3D Cone-Beam CT (CBCT) is widely used in radiotherapy but suffers from motion artifacts due to breathing. A common clinical approach mitigates this by sorting projections into respiratory phases and r…
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple valid actions if the…
This paper presents SHTNet, a lightweight spherical harmonic transform (SHT) based framework, which is designed to address cross-array generalization challenges in multi-channel automatic speech recog…
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-b…
GenGrid is a novel comprehensive open-source, distributed platform intended for conducting extensive swarm robotic experiments. The modular platform is designed to run swarm robotics experiments that …
Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introdu…
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they …
This study presents an Actor-Critic Cooperative Compensated Model Predictive Controller (AC3MPC) designed to address unknown system dynamics. To avoid the difficulty of modeling highly complex dynamic…
In the modern agricultural industry, technology plays a crucial role in the advancement of cultivation. To increase crop productivity, soil require some specific characteristics. For watermelon cultiv…
This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the paper, wh…
Rescue robotics sets high requirements to perception algorithms due to the unstructured and potentially vision-denied environments. Pivoting Frequency-Modulated Continuous Wave radars are an emerging …
This paper presents a Time-Domain Transmissometry Soil Moisture Sensor (TDT-SMS) using a Dispersive Phase Shifter (DPS), consisting of an interdigital capacitor that is loaded with a stacked 4-turn Co…
This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terrains. Addressing the …
Current deep learning-based models typically analyze medical images in either 2D or 3D albeit disregarding volumetric information or suffering sub-optimal performance due to the anisotropic resolution…
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