Research
Research
Research
Research
3,277+ open-access research outputs.
Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is a growing trend of …
Proprietary Autonomous Driving Systems are typically evaluated through disengagements, unplanned manual interventions to alter vehicle behavior, as annually reported by the California Department of Mo…
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses the problem of outl…
Engineering system design -- whether mechatronic, control, or embedded -- often proceeds in an ad hoc manner, with requirements left implicit and traceability from intent to parameters largely absent.…
Multipaths, reflections, diffractions, and material interactions complicate indoor wireless propagation modelling. More than 80% of wireless data is consumed indoors; hence, planning successful deploy…
We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-w…
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in n…
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actu…
Mobile robots are increasingly deployed for inspection, patrol, and search-and-rescue operations, relying on computer vision for perception, navigation, and autonomous decision-making. However, execut…
Automated process control systems (APCS) are widely used in modern industrial enterprises. They address three key objectives: ensuring the required quality of manufactured products, ensuring process s…
Mid-band spectrum between 2 and 8 GHz is a critical resource for sixth-generation (6G) systems as it uniquely balances favorable propagation characteristics with scalable bandwidth. Recent U.S. policy…
Euler-Lagrange (EL) simulations provide a direct and robust framework for modeling disperse multiphase flows. However, they are computationally expensive. While various approaches have attempted to le…
The Finite element method (FEM) has long served as the computational backbone for topology optimization (TO). However, for designing structures undergoing large deformations, conventional FEM-based TO…
To prepare students for upcoming trends and challenges, it is important to teach them about the helpful and important aspects of modern technologies, such as robotics. However, classic study programs …
Robotic ultrasound offers advantages over free-hand scanning, including improved reproducibility and reduced operator dependency. In clinical practice, US acquisition relies heavily on the sonographer…
We propose a contact-explicit hierarchical architecture coupling Reinforcement Learning (RL) and Model Predictive Control (MPC), where a high-level RL agent provides gait and navigation commands to a …
The extension of 5G connectivity through Low-Earth Orbit satellite systems introduces significant technical challenges, particularly due to time-varying propagation delays and high Doppler shifts resu…
Gripper-in-hand data collection decouples demonstration acquisition from robot hardware, but whether a trajectory is executable on the target robot remains unknown until a separate replay-and-validate…
Modern robotic systems rely on hierarchical control, where a high-level "Brain" (Python) directs a lower-level "Spine" (C++ real-time controller). Despite its necessity, this hierarchy makes it diffic…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-leve…
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