Research
Research
Research
Research
46,809+ open-access research outputs.
Video is a scalable observation of physical dynamics: it captures how objects move, how contact unfolds, and how scenes evolve under interaction -- all without requiring robot action labels. Yet trans…
Robot teleoperation is critical for applications such as remote maintenance, fleet robotics, search and rescue, and data collection for robot learning. Effective teleoperation requires intuitive 3D vi…
User-defined keyword spotting (KWS) without resorting to domain-specific pre-labeled training data is of fundamental importance in building adaptable and personalized voice interfaces. However, such s…
Surgical video segmentation is fundamental to computer-assisted surgery. In practice, surgeons need to dynamically specify targets throughout extended procedures, using heterogeneous cues such as visu…
End-to-end planning has emerged as a dominant paradigm for autonomous driving, where recent models often adopt a scoring-selection framework to choose trajectories from a large set of candidates, with…
P300-based brain-computer interfaces (BCIs) are widely used for communication, but population heterogeneity may alter the neural patterns available for decoding. Prior work has mainly examined such di…
Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. E…
Robot reinforcement learning from demonstrations (RLfD) assumes that expert data is abundant; this is usually unrealistic in the real world given data scarcity as well as high collection cost. Further…
Topology optimization is used for the design of high-performance structures but remains fundamentally limited by its iterative nature, requiring repeated finite element analyses that prevent real-time…
This paper proposes a method for estimating a surface that contains a given set of points from noisy measurements. More precisely, by assuming that the surface is described by the zero set of a functi…
Sensor spoofing analysis in cyber-physical systems is predominantly confined to linear state spaces, where attack transferability is trivial. On Lie groups, however, the noncommutativity of the dynami…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentional…
ARES OS 2.0 (hereinafter ARES OS) is an open-source software suite to enable laboratory automation and closed-loop autonomous experimentation. Its function is to orchestrate experimental actions and d…
Smartphone cameras have gained immense popularity with the adoption of high-resolution and high-dynamic range imaging. As a result, high-performance camera Image Signal Processors (ISPs) are crucial i…
In guidance literature, Pure Proportional Navigation (PPN) guidance is widely used for aerodynamically driven vehicles. A two-phase extension of PPN (2pPPN), which uses different navigation gains for …
Safety-critical autonomous systems must satisfy hard state constraints under tight computational and sensing budgets, yet learning-based controllers are often far more complex than safe operation requ…
Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular de…
A growing portion of operators workload is dedicated to Tertiary Voltage Control (TVC), namely the regulation of voltages by means of adjusting a series of setpoints and connection status. TVC may be …
In environments with uncertainties or undesirable influences, control systems can require additional energy to achieve their task while remaining resilient to these influences. In this paper, we prese…
A hyperbolic observer canonical form (HOCF) for linear hyperbolic PDEs with boundary dynamics is presented. The transformation to the HOCF is based on a general procedure that uses so-called observabi…
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