Research
Research
Research
Research
703+ open-access research outputs.
Large language models are increasingly being explored as interfaces between humans and robotic systems, yet there remains limited evidence on how such technologies can be used not only for interaction…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the…
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and …
In the field of medical image segmentation, the scarcity of labeled data poses a major challenge for existing models to accurately perceive target regions. Compared with manual annotation, gaze data i…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steer…
Shock waves in high-speed fluid dynamics produce near-discontinuities in the fluid momentum, density, and energy. Most contemporary works use artificial viscosity or limiters as numerical mitigation o…
In the last ten years, medical robotics has moved from the margins to the mainstream. Since the Engineering Research Center for Computer-Integrated Surgical Systems and Technology was Launched in 1998…
Evaluation of robotic manipulation systems has largely relied on fixed benchmarks authored by a small number of experts, where task instances, constraints, and success criteria are predefined and diff…
One of the biggest challenges in the optimization of micro-scale fluid transport phenomena is the prediction of unsteady fluid flow in the presence of rough channel walls. Even though the accuracy of …
Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes the…
Physics-informed neural networks (PINNs) have shown promise for solving partial differential equations (PDEs) by directly embedding them into the loss function. Despite their notable success, existing…
We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-w…
Super-resolution ultrasound via microbubble (MB) localisation and tracking, also known as ultrasound localisation microscopy (ULM), can resolve microvasculature beyond the acoustic diffraction limit. …
With the availability of open APIs in social robots, it has become easier to customize general-purpose tools to meet users' needs. However, interpreting high-level user instructions, selecting and con…
We present a real-time monocular thermal-inertial odometry system designed for high-velocity, GPS-denied flight on embedded hardware. The system fuses measurements from a FLIR Boson+ 640 longwave infr…
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the multi-quadrotor-load dy…
Numerical simulations of contaminant dispersion, as after a gas leakage incident on a chemical plant, can provide valuable insights for both emergency response and preparedness. Simulation approaches …
Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object interaction (HOI) str…
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