Research
Research
Research
Research
48+ open-access research outputs.
The rapid progress of large Vision-Language Models (VLMs) has enabled a wide range of applications, such as image understanding and Visual Question Answering (VQA). Query images are often uploaded to …
Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and…
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face pro…
Cadaveric studies have provided important insights into the mechanics of the human foot arch and plantar fascia. However, repeatedly probing posture-dependent viscoelastic responses immediately after …
Myofascial pain (MP) is a leading cause of chronic low back pain, yet its tissue-level drivers remain poorly defined and lack reliable image biomarkers. Existing studies focus predominantly on muscle …
Vision Language Action (VLA) models are widely used in Embodied AI, enabling robots to interpret and execute language instructions. However, their robustness to natural language variability in real-wo…
We present a sensor-fusion framework for rapid, non-destructive classification and quality control of organic substances, built on a standard Arduino Mega 2560 microcontroller platform equipped with t…
Deformable continuum robots (DCRs) present unique planning challenges due to nonlinear deformation mechanics and partial state observability, violating the Markov assumptions of conventional reinforce…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedica…
Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain d…
Can your humanoid walk up and hand you a full cup of beer, without spilling a drop? While humanoids are increasingly featured in flashy demos like dancing, delivering packages, traversing rough terrai…
Objectives Accurate MRI-based identification of extramural vascular invasion (EVI) and mesorectal fascia invasion (MFI) is crucial for risk-stratified rectal cancer treatment. However, subjective visu…
GARCH-type time series (characterized by Generalized Autoregressive Conditional Heteroskedasticity) exhibit pronounced volatility, autocorrelation, and heteroskedasticity. To address these challenges …
Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and robot calibration err…
Rigid robots were extensively researched, whereas soft robotics remains an underexplored field. Utilizing soft-legged robots in performing tasks as a replacement for human beings is an important strid…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics …
Recently, gravity has been highlighted as a crucial constraint for state estimation to alleviate potential vertical drift. Existing online gravity estimation methods rely on pose estimation combined w…
This study investigates the impact of electrode shift and sensor reapplication on common surface electromyography (sEMG) features in lower limb muscles, factors which have, thus far, precluded clinici…
Financial models have increasingly become popular in recent times, and the focus of researchers has been to find the perfect model which fits all circumstances; however, this has not been thoroughly a…
In this work, we present SuFIA, the first framework for natural language-guided augmented dexterity for robotic surgical assistants. SuFIA incorporates the strong reasoning capabilities of large langu…
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