Research
Research
Research
Research
122+ open-access research outputs.
We introduce asRoBallet, to the best of our knowledge, the first successful deployment of reinforcement learning (RL) on a humanoid ballbot hardware. Historically, ballbots have served as a canonical …
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…
Sleep disturbances are tightly linked to cardiovascular risk, yet polysomnography (PSG)-the clinical reference standard-remains resource-intensive and poorly suited for multi-night, home-based, and la…
In this paper, we present a hardware-control co-design approach that enables efficient and versatile roller skating on quadrupedal robots equipped with passive wheels. Passive-wheel skating reduces le…
Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: …
Electrified heating systems with thermal storage, such as electric boilers and heat pumps, represent a major source of demand-side flexibility. Under current electricity market designs, balance respon…
Data transmission from superconducting digital electronics such as single flux quantum (SFQ) logic to semiconductor (CMOS) circuits is subject to bit errors due to, e.g., flux trapping, process parame…
We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continu…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneo…
Casing collar locator (CCL) measurements are widely used as reliable depth markers for positioning downhole instruments in cased-hole operations, enabling accurate depth control for operations such as…
This paper deals with the design of a cost effective automated tape laying system (ATL system) with integrated uniaxial force control to ensure the necessary compaction forces as well as with an accur…
Magnetic resonance imaging (MRI) inpainting supports numerous clinical and research applications. We introduce the first generative model that conditions on voxel-level, continuous tumor concentration…
Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existin…
Despite the widespread adoption of endoscopic devices for several cancer screening procedures, manual control of these devices still remains challenging for clinicians, leading to several critical iss…
Nowadays, the majority of wearable thermal feedback systems designed for use in virtual reality applications are not compatible or not integrated to standard controllers and are based on temperature c…
Accurate depth measurement is essential for optimizing oil and gas resource development, as it directly impacts production efficiency. However, achieving precise depth and perforating at the correct l…
This work presents a novel reinforcement learning (RL) algorithm based on Y-wise Affine Neural Networks (YANNs). YANNs provide an interpretable neural network which can exactly represent known piecewi…
Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deployment. Existing accele…
Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) off…
The integration of renewable sources is essential for decarbonizing heat production in district energy networks. Beyond biomass-based solutions, solar thermal energy, with or without heat pumps, prese…
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