Research
Research
Research
Research
970+ open-access research outputs.
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…
Power electronic converters are fundamental building blocks of both AC and DC microgrids, enabling the integration of renewable energy sources, energy storage systems, electronic loads, and electric v…
Supervised contrastive learning (SupCon) is widely used to shape representations, but has seen limited targeted study for audio deepfake detection. Existing work typically combines contrastive terms w…
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structur…
Vision-Language-Action (VLA) models are emerging as a unified substrate for embodied intelligence. This shift raises a new class of safety challenges, stemming from the embodied nature of VLA systems,…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human,…
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…
Autonomous mechanical thrombectomy (MT) presents substantial challenges due to highly variable vascular geometries and the requirements for accurate, real-time control. While reinforcement learning (R…
This paper provides novel insights into channel and subspace codes in nonadaptive channel sensing with a single RF chain. Observing that this problem naturally maps to a noncoherent decoding problem, …
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural contro…
Language-guided unmanned aerial vehicles (UAVs) often fail not from bad reasoning or perception, but from execution mismatch: the gap between a planned trajectory and the controller's ability to tra…
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper…
Reliable communication in confined environments, such as blood vessels or industrial pipelines, remain challenging due to signal attenuation and limited sensor accessibility. Therefore, this work inve…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
High-speed autonomous racing presents extreme perception challenges, including large relative velocities and substantial domain shifts from conventional urban-driving datasets. Existing benchmarks do …
As embodied robots move toward fleet-scale operation, multi-robot coordination is becoming a central systems challenge. Existing approaches often treat this as motivation for increasing internal multi…
Vision language action (VLA) models enable generalist robotic agents but often exhibit language ignorance, relying on visual shortcuts and remaining insensitive to instruction changes. We present Pros…
Integrating pretrained speech encoders with large language models (LLMs) is promising for ASR, but performance and data efficiency depend on the speech-language interface. A common choice is a learned…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain param…
Autoregressive neural codec language models have shown strong zero-shot voice cloning ability, but decoder-only architectures treat input text as a prefix that competes with the growing audio sequence…
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