Research
Research
Research
Research
23+ open-access research outputs.
In this work, we propose a meta-learning-based Koopman modeling and predictive control approach for nonlinear systems with parametric uncertainties. An adaptive deep meta-learning-based modeling appro…
This paper addresses the challenges of automating vibratory sieve shaker operations in a materials laboratory, focusing on three critical tasks: 1) dual-arm lid manipulation in 3 cm clearance spaces, …
Music source separation aims to extract individual sound sources (e.g., vocals, drums, guitar) from a mixed music recording. However, evaluating the quality of separated audio remains challenging, as …
A key challenge in reward learning from human input is that desired agent behavior often changes based on context. For example, a robot must adapt to avoid a stove once it becomes hot. We observe that…
We present a system for non-intrusive prediction of speech quality in noisy and enhanced speech, developed for Track 3 of the VoiceMOS 2024 Challenge. The task required estimating the ITU-T P.835 metr…
This paper addresses the issue of motion planning in dynamic environments by extending the concept of Velocity Obstacle and Nonlinear Velocity Obstacle to Acceleration Obstacle AO and Nonlinear Accele…
Endovascular interventions are a life-saving treatment for many diseases, yet suffer from drawbacks such as radiation exposure and potential scarcity of proficient physicians. Robotic assistance durin…
Cervical disc herniation (CDH) is a prevalent musculoskeletal disorder that significantly impacts health and requires labor-intensive analysis from experts. Despite advancements in automated detection…
Search and rescue operations require mobile robots to navigate unstructured indoor and outdoor environments. In particular, actively stabilized multirotor drones need precise movement data to balance …
Training generalist agents capable of solving diverse tasks is challenging, often requiring large datasets of expert demonstrations. This is particularly problematic in robotics, where each data point…
Objectives: To present a publicly available deep learning-based torso segmentation model that provides comprehensive voxel-wise coverage, including delineations that extend to the boundaries of anatom…
Purpose: To develop and evaluate a deep learning model for multi-organ segmentation of MRI scans. Materials and Methods: The model was trained on 1,200 manually annotated 3D axial MRI scans from the…
Home robots intend to make their users lives easier. Our work assists in this goal by enabling robots to inform their users of dangerous or unsanitary anomalies in their home. Some examples of these a…
Cooking tasks are characterized by large changes in the state of the food, which is one of the major challenges in robot execution of cooking tasks. In particular, cooking using a stove to apply heat …
Virtual Super-resolution Optics with Reconfigurable Swarms (VISORS) is a distributed telescope mission for high-resolution imaging of the Sun using two 6U CubeSats flying in formation in a Sun-synchro…
Environmental pollution is a factor that represents a significant health risk. In El Salvador, The entity in charge of monitoring air quality is the ministry of Environment and Natural Resources, curr…
The Deep Noise Suppression (DNS) challenge is designed to foster innovation in the area of noise suppression to achieve superior perceptual speech quality. This is the 4th DNS challenge, with the prev…
The control of pneumatically driven soft robots typically requires electronics. Microcontrollers are connected to power electronics that switch valves and pumps on and off. As a recent alternative, fl…
Human subjective evaluation is the gold standard to evaluate speech quality optimized for human perception. Perceptual objective metrics serve as a proxy for subjective scores. We have recently develo…
Spectral imaging is a fundamental diagnostic technique with widespread application. Conventional spectral imaging approaches have intrinsic limitations on spatial and spectral resolutions due to the p…
Free open-access publishing with Google Scholar indexing.
Submission Guide →