Research
Research
Research
Research
41+ open-access research outputs.
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A human provided high-…
Enhancing the generalization capability of robotic learning to enable robots to operate effectively in diverse, unseen scenes is a fundamental and challenging problem. Existing approaches often depend…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used t…
3D Cone-Beam CT (CBCT) is widely used in radiotherapy but suffers from motion artifacts due to breathing. A common clinical approach mitigates this by sorting projections into respiratory phases and r…
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple valid actions if the…
This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the paper, wh…
Current deep learning-based models typically analyze medical images in either 2D or 3D albeit disregarding volumetric information or suffering sub-optimal performance due to the anisotropic resolution…
In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtle…
This paper introduces and compares the various techniques for identification and analysis of low frequency oscillations in a power system. Inter-area electromechanical oscillations are the focus of th…
We study the problem of hanging a wide range of grasped objects on diverse supporting items. Hanging objects is a ubiquitous task that is encountered in numerous aspects of our everyday lives. However…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Th…
A large portion of volumetric medical data, especially magnetic resonance imaging (MRI) data, is anisotropic, as the through-plane resolution is typically much lower than the in-plane resolution. Both…
Wellbore friction is one of the biggest concerns when drilling due to its relation to the total cost. The catenary concept was introduced to reduce wellbore friction, but it requires detailed analyses…
Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions t…
Characteristics such as low contrast and significant organ shape variations are often exhibited in medical images. The improvement of segmentation performance in medical imaging is limited by the gene…
Cooperative localization (CL) is an important technology for innovative services such as location-aware communication networks, modern convenience, and public safety. We consider wireless networks wit…
A network based on complementary consistency training, called CC-Net, has been proposed for semi-supervised left atrium image segmentation. CC-Net efficiently utilizes unlabeled data from the perspect…
State estimation for nonlinear systems, especially in high dimensions, is a generally intractable problem, despite the ever-increasing computing power. Efficient algorithms usually apply a finite-dime…
An analysis of infinite horizon linear quadratic Gaussian (LQG) Mean Field Games is given within the general framework of Graphon Mean Field Games (GMFG) on dense infinite graphs (or networks) introdu…
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