Research
Research
Research
Research
1,332+ open-access research outputs.
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…
Recent advances in open-vocabulary mobile manipulation have brought robots into real domestic environments. In such settings, reliable long-horizon execution under open-set object references and frequ…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. …
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been…
AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intu…
Reliable harmonization of heterogeneous magnetic resonance~(MR) image datasets, especially those acquired in pragmatic clinical trials, is critical to advance multi-center neuroimaging studies and tra…
Robotic parkour provides a compelling benchmark for advancing locomotion over highly challenging terrain, including large discontinuities such as elevated steps. Recent approaches have demonstrated im…
Robotic manipulation tasks exhibit varying memory requirements, ranging from Markovian tasks that require no memory to non-Markovian tasks that depend on historical information spanning single or mult…
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantiall…
Low-altitude communication networks (LACNs) serve as the critical infrastructure of the emerging low-altitude economy (LAE), supporting services such as drone delivery and infrastructure inspection. H…
Multi-UAV inspection missions require spare drones to replace active drones during recharging cycles. Existing fleet-sizing approaches often assume steady-state operating conditions that do not apply …
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While contro…
We present HRDexDB, a large-scale, multi-modal dataset of high-fidelity dexterous grasping sequences featuring both human and diverse robotic hands. Unlike existing datasets, HRDexDB provides a compre…
We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to…
Mobile robots joining public spaces like sidewalks must care for pedestrian comfort. Many studies consider pedestrians' objective safety, for example, by developing collision avoidance algorithms, but…
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verif…
Recent progress in embodied AI has produced a growing ecosystem of robot policies, foundation models, and modular runtimes. However, current evaluation remains dominated by task success metrics such a…
Energy infrastructure planning under uncertainty has become increasingly complex as electrification, interdependence between energy carriers, decarbonization, and extreme weather events reshape long-t…
Electroencephalography provides a non-invasive and cost-effective approach for analyzing neural patterns associated with alcohol dependence. However, reported classification performance in EEG-based a…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to …
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