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Chain-of-thought (CoT) prompting enables reasoning in language models but requires explicit verbalization of intermediate steps. Looped transformers offer an alternative by iteratively refining representations within hidden states. This…
This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance…
We are developing an adaptive secondary mirror (ASM) that uses a new actuator technology created by the Netherlands Organization for Applied Scientific Research (TNO). The TNO hybrid variable reluctance actuators have more than an order of…
Optical cavities are frequently used in quantum technologies to enhance light matter interactions, with applications including single photon generation and entanglement of distant emitters. The Fabry-P\'{e}rot resonator is a popular choice…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…
One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently it has been shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over…
High-Performance Adaptive Optics systems are rapidly spreading as useful applications in the fields of astronomy, ophthalmology, and telecommunications. This technology is critical to enable coronagraphic direct imaging of exoplanets…
Vision-language models (VLMs) such as CLIP exhibit strong zero-shot generalization but remain sensitive to domain shifts at test time. Test-time prompt tuning (TPT) mitigates this issue by adapting prompts with fixed augmentations, which…
Previous research has shown that the principal singular vectors of a pre-trained model's weight matrices capture critical knowledge. In contrast, those associated with small singular values may contain noise or less reliable information. As…
Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeon's tactile…
The task of image captioning demands an algorithm to generate natural language descriptions of visual inputs. Recent advancements have seen a convergence between image captioning research and the development of Large Language Models (LLMs)…
In this paper we present a Deformable Mirror (DM) based on the continuous voltage distribution over a resistive layer. This DM can correct the low order aberrations (defocus, astigmatism, coma and spherical aberration) using three…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Coupling an emitter to a Fabry-P\'{e}rot optical cavity can provide a coherent and strong light-matter interface whose performance in a variety of applications depends critically on the emitter-photon coupling strength. Altering the…
Amplification underlies the operation of many biological and engineering systems. Simple electrical, optical, and mechanical amplifiers are reciprocal: the backward coupling of the output to the input equals the forward coupling of the…
Large Audio-Language Models (LALMs) often suffer from audio-textual attention imbalance, prioritizing text over acoustic information, particularly in the multi-modal fusion layers of the Transformer architecture. This bias hinders their…
The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machine learning. The kinematic parameters pertaining to the…
The VIRGO superattenuator (SA) is effective in depressing the seismic noise below the thermal noise level above 4 Hz. On the other hand, the residual mirror motion associated to the SA normal modes can saturate the dynamics of the…
Adaptive optics normally concerns the feedback correction of phase aberrations. Such correction has been of benefit in various optical systems, with applications ranging in scale from astronomical telescopes to super-resolution microscopes.…