Research
Research
Research
Research
213+ open-access research outputs.
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data…
The acquisition of high-quality, action-aligned demonstration data remains a fundamental bottleneck in scaling foundation models for dexterous robot manipulation. Although robot-free human demonstrati…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physica…
This paper presents a detailed measurement campaign and a comprehensive analysis of 15 GHz ultra-massive multiple-input multiple-output (UM-MIMO) channels tailored for the urban microcell (UMi) enviro…
Driven by the MagNet Challenge 2025 (MC2), increased research interest is directed towards modeling transient magnetic fields within ferrite material. An accurate time-resolved and temperature-aware H…
Vision-language models (VLMs) are increasingly being adopted for end-to-end autonomous driving systems due to their exceptional performance in handling long-tail scenarios. However, current VLM-based …
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) autonomously collects …
Beyond-diagonal reconfigurable intelligent surface (BD-RIS) generalizes the conventional diagonal RIS (D-RIS) by introducing tunable inter-element connections, offering enhanced wave manipulation capa…
Opening sterile medical packaging is routine for healthcare workers but remains challenging for robots. Learning from demonstration enables robots to acquire manipulation skills directly from humans, …
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. W…
The pinching-antenna systems (PASS) enable blockage mitigation in urban micro (UMi) networks through flexible antenna placement. However, the joint optimization of antenna positions and beamforming pr…
In dynamic wireless environments, accurate channel state information (CSI) prediction remains challenging due to non-stationary fading, mobility. This paper proposes an Uncertainty-Weighted Experience…
Diffusion-based policies show limited generalization in semantic manipulation, posing a key obstacle to the deployment of real-world robots. This limitation arises because relying solely on text instr…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineer…
Vision-Language-Action (VLA) models hold promise for generalist robotics but currently struggle with data scarcity, architectural inefficiencies, and the inability to generalize across different hardw…
Autonomous drone racing represents a major frontier in robotics research. It requires an Artificial Intelligence (AI) that can run on board light-weight flying robots under tight resource and time con…
Task decomposition is critical for understanding and learning complex long-horizon manipulation tasks. Especially for tasks involving rich physical interactions, relying solely on visual observations …
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial for…
The computational power of autonomous mobile robots under the Look-Compute-Move (LCM) model has been widely studied through an extensive hierarchy of robot models defined by the presence of memory, co…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual per…
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