Research
Research
Research
Research
121+ open-access research outputs.
Universal speech enhancement (USE) aims to restore speech signals from diverse distortions across multiple sampling rates. We propose UniPASE, an extension of the low-hallucination PASE framework tail…
We introduce GAP-URGENet, a generative-predictive fusion framework developed for Track 1 of the ICASSP 2026 URGENT Challenge. The system integrates a generative branch, which performs full-stack speec…
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped wi…
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A human provided high-…
Achieving high perceptual quality without hallucination remains a challenge in generative speech enhancement (SE). A representative approach, PASE, is robust to hallucination but has limited perceptua…
The rapid advancement of Embodied Intelligence has opened transformative opportunities in healthcare, particularly in physical therapy and rehabilitation. However, critical challenges remain in develo…
Scaling up datasets is highly effective in improving the performance of deep learning models, including in the field of robot learning. However, data collection still proves to be a bottleneck. Approa…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack o…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key c…
We propose a novel Unmanned Aerial Vehicles (UAV) assisted creative capture system that leverages diffusion models to interpret high-level natural language prompts and automatically generate optimal f…
Most skydiving accidents occur during the parafoil-piloting and landing stages and result from human lapses in judgment while piloting the parafoil. Training of novice pilots is protracted due to the …
Wildlife monitoring with drones must balance competing demands: approaching close enough to capture behaviorally-relevant video while avoiding stress responses that compromise animal welfare and data …
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used t…
Conventional Wi-Fi received signal strength indicator (RSSI) fingerprinting cannot meet the growing demand for accurate indoor localization and navigation due to its lower accuracy, while solutions ba…
Non-prehensile manipulation, encompassing ungraspable actions such as pushing, poking, pivoting, and wrapping, remains underexplored due to its contact-rich and analytically intractable nature. We rev…
Thermal-Hydraulic (TH) experiments provide valuable insight into the physics of heat and mass transfer and qualified data for code development, calibration and validation. However, measurements are ty…
Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of rob…
This study addresses the problem of occluded grasping, where primary grasp configurations of an object are not available due to occlusion with environment. Simple parallel grippers often struggle with…
3D Cone-Beam CT (CBCT) is widely used in radiotherapy but suffers from motion artifacts due to breathing. A common clinical approach mitigates this by sorting projections into respiratory phases and r…
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