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Autonomous magnetic catheter systems are emerging as a promising approach for the future of minimally invasive interventions. This study presents a novel approach that begins by modeling the nonlinear and hysteretic dynamics of a…
Inferring spatial-temporal properties from data is important for many complex systems, such as additive manufacturing systems, swarm robotic systems and biological networks. Such systems can often be modeled as a labeled graph where labels…
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
The picking of one or more objects from an unsorted pile continues to be non-trivial for robotic systems. This is especially so when the pile consists of a granular material (GM) containing individual items that tangle with one another,…
One of the primary research interests adhering to next-generation fiber-wireless access networks is human-to-machine/robot (H2M/R) collaborative communications facilitating Industry 5.0. This paper discusses scalable H2M/R communications…
Entanglement is one of the key resources of quantum information science which makes identification of entangled states essential to a wide range of quantum technologies and phenomena. This problem is however both computationally and…
As digital twins (DTs) to physical communication systems, network simulators can aid the design and deployment of communication networks. However, time-consuming simulations must be run for every new set of network configurations. Learnable…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
We present a fiber-based continuous-variable quantum key distribution system. In the scheme, a quantum signal of two non-orthogonal weak optical coherent states is sent through a fiber-based quantum channel. The receiver simultaneously…
We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over time and are initially unknown. We use weighted Bayesian…
Speculative decoding is a powerful technique for reducing the latency of Large Language Models (LLMs), offering a fault-tolerant framework that enables the use of highly compressed draft models. In this work, we introduce Self-Distilled…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This paper introduces Grasp the Graph 2.0 (GtG 2.0) method, a…
Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…
Multi-task learning (MTL) has emerged as a successful strategy in industrial-scale recommender systems, offering significant advantages such as capturing diverse users' interests and accurately detecting different behaviors like ``click" or…
To enhance robotic grasping capabilities, we are developing new contactless fingertip sensors to measure distance in close proximity and simultaneously detect the type of material and the interior structure. These sensors are referred to as…
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact…