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Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable…

Intracranial aneurysms remain a major cause of neurological morbidity and mortality worldwide, where rupture risk is tightly coupled to local hemodynamics particularly wall shear stress and oscillatory shear index. Conventional…

Current control algorithms for aerial robots struggle with robustness in dynamic environments and adverse conditions. Model-based reinforcement learning (RL) has shown strong potential in handling these challenges while remaining…

Endoluminal reconstruction using flow diverters represents a novel paradigm for the minimally invasive treatment of intracranial aneurysms. The configuration assumed by these very dense braided stents once deployed within the parent vessel…

Enabling robots to grasp and reposition human limbs can significantly enhance their ability to provide assistive care to individuals with severe mobility impairments, particularly in tasks such as robot-assisted bed bathing and dressing.…

Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simulation platforms have greatly enhanced task diversity to…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

We present RCareWorld, a human-centric simulation world for physical and social robotic caregiving designed with inputs from stakeholders, including care recipients, caregivers, occupational therapists, and roboticists. RCareWorld has…

Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence…

As surgical interventions trend towards minimally invasive approaches, Concentric Tube Robots (CTRs) have been explored for various interventions such as brain, eye, fetoscopic, lung, cardiac and prostate surgeries. Arranged concentrically,…

Simulation is a useful tool in situations where training data for machine learning models is costly to annotate or even hard to acquire. In this work, we propose a reinforcement learning-based method for automatically adjusting the…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Current challenges in developing foundational models for volumetric imaging data, such as magnetic resonance imaging (MRI), stem from the computational complexity of training state-of-the-art architectures in high dimensions and curating…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

Sequential decision making under uncertainty is central to many Process Systems Engineering (PSE) challenges, where traditional methods often face limitations related to controlling and optimizing complex and stochastic systems.…

Reinforcement Learning (RL) faces significant challenges in adaptive healthcare interventions, such as dementia care, where data is scarce, decisions require interpretability, and underlying patient-state dynamic are complex and causal in…

Execution algorithms are vital to modern trading, they enable market participants to execute large orders while minimising market impact and transaction costs. As these algorithms grow more sophisticated, optimising them becomes…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair…

Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…