Research
Research
Research
Research
337+ open-access research outputs.
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt i…
We present a curated multi-platform LiDAR reference dataset from an instrumented ICOS forest plot, explicitly designed to support calibration, benchmarking, and integration of 3D structural data with …
In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can …
Vision-Language-Action (VLA) policies have emerged as a versatile paradigm for generalist robotic manipulation. However, precise object placement under compositional language instructions remains a ma…
Extranodal extension (ENE) is an emerging prognostic factor in human papillomavirus (HPV)-associated oropharyngeal cancer (OPC), although it is currently omitted as a clinical staging criteria. Recent…
Visuotactile sensors are indispensable for contact-rich robotic manipulation tasks. However, policy learning with tactile feedback in simulation, especially for online reinforcement learning (RL), rem…
Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challenging due to the sim-t…
Battery state-of-health (SOH) reported by on-board battery management systems (BMS) is the primary metric available to electric vehicle (EV) owners and regulators, yet no study has validated its relia…
Agricultural robotics is gaining increasing relevance in both research and real-world deployment. As these systems are expected to operate autonomously in more complex tasks, the availability of repre…
Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deformable and rigid eleme…
Teleoperation of low-cost robotic manipulators remains challenging due to the complexity of mapping human hand articulations to robot joint commands. We present an offline hand-shadowing and retargeti…
Transporting heavy or oversized slung loads using rotorcraft has traditionally relied on single-aircraft systems, which limits both payload capacity and control authority. Cooperative multilift using …
This paper presents a biomechanically interpretable framework for gait analysis using 3D human reconstruction from video data. Unlike conventional keypoint based approaches, the proposed method extrac…
Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring…
Neural control of grasping arises from nonlinear interactions across multiple brain rhythms, yet EEG-based motor decoding has largely relied on linear, second-order spectral features. Here, we examine…
Ground reaction forces (GRFs) provide fundamental insight into human gait mechanics and are widely used to assess joint loading, limb symmetry, balance control, and motor function. Despite their clini…
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the ti…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor perfor…
We introduce Fiducial Exoskeletons, an image-based reformulation of 3D robot state estimation that replaces cumbersome procedures and motor-centric pipelines with single-image inference. Traditional a…
Free open-access publishing with Google Scholar indexing.
Submission Guide →