Research
Research
Research
Research
2,228+ open-access research outputs.
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing ma…
Skill libraries in deployed robotic systems are continually updated through fine-tuning, fresh demonstrations, or domain adaptation, yet existing typed-composition methods (BLADE, SymSkill, Generative…
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a coll…
Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing app…
Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Sim…
Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which ped…
While Vision-Language-Action (VLA) models have been demonstrated possessing strong zero-shot generalization for robot control, their massive parameter sizes typically necessitate cloud-based deploymen…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Autonomous driving systems often infer pedestrian yielding behavior from geometric and kinematic cues alone, limiting their ability to reason about visual scene context and age-dependent behavioral va…
In high-conflict mixed-traffic scenarios involving human-driven and autonomous vehicles, most existing autonomous driving systems default to overly conservative behaviors, lack proactive interaction, …
Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored lever…
Bridging high-level semantic understanding with low-level physical control remains a persistent challenge in embodied intelligence, stemming from the fundamental spatiotemporal scale mismatch between …
Cloud-hosted LLM inference for autonomous driving adds round-trip delay and depends on stable connectivity, while purely local edge models struggle under occlusion. We present SwarmDrive, a semantic V…
Recent disruptions at major maritime chokepoints have exposed the structural fragility of liner shipping networks. Existing indicators measure connectivity, but none quantify its structural vulnerabil…
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…
Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted for…
This experimental dataset presents both module-level and cell-level characterization data for lithium-ion battery modules composed of three parallel-connected inhomogeneous cells across a wide range o…
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