Research
Research
Research
Research
20,911+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
This work presents ThermoMesh, a passive thin-film thermoelectric mesh sensor designed to detect and characterize spatio-temporally sparse heat sources through conduction-based thermal imaging. The de…
This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinator…
We introduce LRS-VoxMM, an in-the-wild benchmark for audio-visual speech recognition (AVSR). The benchmark is derived from VoxMM, a dataset of diverse real-world spoken conversations with human-annota…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric sub…
Despite the rise of token communication (TokCom) as a new paradigm beyond traditional bit communication, existing approaches have primarily adopted artificial intelligence (AI)-centric designs that re…
Multi-talker automatic speech recognition (ASR) in conversational recordings remains an open problem, particularly in scenarios with large portion of overlapping speech where identifying and transcrib…
The pressure for Water Resource Recovery Facilities (WRRF) operators to efficiently treat wastewater is greater than ever because of the water crisis, produced by the climate change effects and more r…
We propose a knowledge-driven approach to speech target extraction in the presence of background sound effects already recorded in cinematic audio. The specific knowledge sources studied are manners o…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncert…
Automatic Emergency Braking (AEB) systems represent a safety-critical national interest, with the National Highway Traffic Safety Administration (NHTSA) Federal Motor Vehicle Safety Standard (FMVSS No…
Automatic feature recognition (AFR) on B-Rep 3D-CAD models is central to CAD/CAM automation, yet most learning-based methods are complex, data-hungry, and evaluate instance grouping and semantic label…
Time-of-arrival (TOA)-based localization in mixed line-of-sight (LOS) and non-line-of-sight (NLOS) environments is challenging because conventional Euclidean range models do not capture diffraction-do…
We propose X-WAM, a Unified 4D World Model that unifies real-time robotic action execution and high-fidelity 4D world synthesis (video + 3D reconstruction) in a single framework, addressing the critic…
Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing ann…
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and posture adaptation to t…
Dynamical systems (DS) methods for Learning-from-Demonstration (LfD) provide stable, continuous policies from few demonstrations. First-order dynamical systems (DS) are effective for many point-to-poi…
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
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