Research
Research
Research
Research
744+ open-access research outputs.
Microwave linear analog computing (MiLAC) has recently emerged as a promising architecture for analog-domain beamforming. In particular, a hybrid digital-MiLAC architecture was proposed and was shown …
In large antenna arrays, hardware power consumption becomes a dominant design constraint, making energy efficiency (EE) a first-class objective alongside spectral efficiency (SE). Microwave linear ana…
Microwave linear analog computer (MiLAC)-aided transmit beamforming, which processes transmitted symbols entirely in the analog domain, has recently emerged as a promising alternative to fully digital…
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…
We address language-conditioned robotic manipulation using flow-based trajectory generation, which enables training on human and web videos of object manipulation and requires only minimal embodiment-…
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…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requi…
This paper introduces Galactic Bioware's Life Support System, a semi-closed-circuit breathing apparatus designed for integration into a positive-pressure firefighting suit and governed by an AI contro…
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