Research
Research
Research
Research
252+ open-access research outputs.
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency st…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a …
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the compl…
Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or …
In robot control, planning, and learning, there is a need for rigid-body dynamics libraries that are highly performant, easy to use, and compatible with CPUs and accelerators. While existing libraries…
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level co…
Motor kinematics prediction (MKP) from electroencephalography (EEG) is an important research area for developing movement-related brain-computer interfaces (BCIs). While traditional methods often rely…
Robots learn reward functions from user demonstrations, but these rewards often fail to generalize to new environments. This failure occurs because learned rewards latch onto spurious correlations in …
Deploying learned robot manipulation policies in industrial settings requires rigorous pre-deployment validation, yet exhaustive testing across high-dimensional parameter spaces is intractable. We pre…
We present an active tactile exploration framework for joint object recognition and 6D pose estimation. The proposed method integrates wrist force/torque sensing, GelSight tactile sensing, and free-sp…
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-env…
In human-robot collaboration, a robot's expression of hesitancy is a critical factor that shapes human coordination strategies, attention allocation, and safety-related judgments. However, designing h…
Autonomous robot-assisted surgery demands reliable, high-precision platforms that strictly adhere to the safety and kinematic constraints of minimally invasive procedures. Existing research platforms,…
Interactive perception (IP) enables robots to extract hidden information in their workspace and execute manipulation plans by physically interacting with objects and altering the state of the environm…
Three-dimensional (3D) ultrasound promises various medical applications for abdominal, obstetrics, and breast imaging. However, ultrasound matrix arrays have extremely high element counts limiting the…
We consider how model-based solvers can be leveraged to guide training of a universal policy to control from any feasible start state to any feasible goal in a contact-rich manipulation setting. While…
Embodied Chain-of-Thought (CoT) reasoning has significantly enhanced Vision-Language-Action (VLA) models, yet current methods rely on rigid templates to specify reasoning primitives (e.g., objects in …
Robotic deep anterior lamellar keratoplasty (DALK) requires accurate real time depth feedback to approach Descemet's membrane (DM) without perforation. M-mode intraoperative optical coherence tomograp…
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