Research
Research
Research
Research
14,737+ open-access research outputs.
Autonomous vehicles are increasingly deployed in safety-critical applications, where sensing failures or cyberphysical attacks can lead to unsafe operations resulting in human loss and/or severe physi…
Global navigation information and local scene understanding are two crucial components of autonomous driving systems. However, our experimental results indicate that many end-to-end autonomous driving…
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The s…
Audio tokenization has emerged as a critical component in end-to-end audio language models, enabling efficient discrete representation learning for both audio understanding and generation tasks. Howev…
We present parameter-interpolated dynamic mode decomposition (piDMD), a parametric reduced-order modeling framework that embeds known parameter-affine structure directly into the DMD regression step. …
Recently, the robotics community has regained interest in radar-based perception and state estimation. A 2D imaging radar provides dense 360deg information about the environment. Despite the radar ant…
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typically obtained from …
Multi-robot systems hold significant promise for social environments such as homes and hospitals, yet existing multi-robot works treat robots as functionally identical, overlooking how robots individu…
In Model Predictive Control (MPC), world models predict the future outcomes of various action proposals, which are then scored to guide the selection of the optimal action. For visuomotor MPC, the sco…
Optical microrobots actuated by optical tweezers (OT) are important for cell manipulation and microscale assembly, but their autonomous operation depends on accurate 3D perception. Developing such per…
Accurate material recognition is a fundamental capability for intelligent perception systems to interact safely and effectively with the physical world. For instance, distinguishing visually similar o…
Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-obje…
This paper investigates the impact of practical features of the emerging antenna array technology of Dynamic Metasurface Antennas (DMAs) when used for wideband sensing. By adopting a realistic DMA res…
High-speed autonomous racing presents extreme perception challenges, including large relative velocities and substantial domain shifts from conventional urban-driving datasets. Existing benchmarks do …
Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a …
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their de…
Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous multimodal perceptio…
The rapid growth of the low-altitude economy (LAE) is making aerial systems an important part of future digital infrastructure. Although major advances have been achieved in unmanned aerial vehicle (U…
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on m…
Pretrained video generation models provide strong priors for robot control, but existing unified world action models still struggle to decode reliable actions without substantial robot-specific traini…
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