Research
Research
Research
Research
3,926+ open-access research outputs.
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting c…
Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occ…
In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a novel sampling strategy…
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structur…
The escalating climate crisis and ecosystem degradation demand intelligent, low-cost sensors capable of robust, long-term monitoring in real-world environments. Absolute dissolved oxygen (DO) concentr…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in…
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint ch…
This study proposes an encrypted visual feedback control algorithm for regulating a one-dimensional stage using Ring Learning With Errors (RLWE) encryption. The proposed algorithm performs both featur…
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view perception. In this work, w…
We present a physics-driven framework for accurate evaluation of discrete spectral bands using a low-cost multispectral setup built from off-the-shelf RGB cameras and narrow multi-band optical filters…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The p…
Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions,…
Timely and accurate monitoring in geofencing scenarios is challenging when relying on ultra-low power Internet of Things devices (IoTDs) powered by energy harvesting (EH). This is mainly because frequ…
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantiall…
Beam training and prediction in real-world millimeter-wave (mmWave) communications systems are challenging due to rapidly time-varying channels and strong interference from surrounding objects. In thi…
Gaussian splatting has recently gained traction as a compelling map representation for SLAM systems, enabling dense and photo-realistic scene modeling. However, its application to monocular SLAM remai…
Autonomous drone racing demands robust real-time localization under extreme conditions: high-speed flight, aggressive maneuvers, and payload-constrained platforms that often rely on a single camera fo…
Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qualitatively distinct from those encountered in mines or tunnels: irregular geometry, reflectiv…
We present HRDexDB, a large-scale, multi-modal dataset of high-fidelity dexterous grasping sequences featuring both human and diverse robotic hands. Unlike existing datasets, HRDexDB provides a compre…
In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can …
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