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High polarization selective Si/SiO2 mid-infrared sub-wavelength grating mirrors with large bandwidth adapted to VCSEL integration are compared. These mirrors have been automatically designed for operation at \lambda = 2.3 $\mu$m by an…

Adaptive optics (AO) offers an opportunity to stabilize an image and maximize the spatial resolution achievable by ground based telescopes by removing the distortions due to the atmosphere. Typically, the deformable mirror in an AO system…

Recent studies have indicated that Large Language Models (LLMs) harbor an inherent understanding of truthfulness, yet often fail to consistently express it and generate false statements. This gap between "knowing" and "telling" poses a…

Recent advancements in open-world robot manipulation have been largely driven by vision-language models (VLMs). While these models exhibit strong generalization ability in high-level planning, they struggle to predict low-level robot…

Adapting trajectories to dynamic situations and user preferences is crucial for robot operation in unstructured environments with non-expert users. Natural language enables users to express these adjustments in an interactive manner. We…

We introduce RE-Adapt, an approach to fine-tuning large language models on new domains without degrading any pre-existing instruction-tuning. We reverse engineer an adapter which isolates what an instruction-tuned model has learned beyond…

For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…

Segmenting vocal tract articulators in real-time MRI (rtMRI) is a challenging dynamic image segmentation problem characterized by low contrast, rapid motion, and limited spatial resolution. However, while rtMRI acquisitions may provide…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

We investigated the opto-mechanical properties of a Fabry-Perot cavity with a mirror mounted on a spring. Such a structure allows the cavity length to change elastically under the effect of light induced forces. This opto-mechanical…

The MMT Adaptive Optics exoPlanet Characterization System (MAPS) is a comprehensive update to the first generation MMT adaptive optics system (MMTAO), designed to produce a facility class suite of instruments whose purpose is to image…

The Glottal Source is an important component of voice as it can be considered as the excitation signal to the voice apparatus. Nowadays, new techniques of speech processing such as speech recognition and speech synthesis use the glottal…

The problem of modeling ropes arises in many applications, including providing haptic feedback to surgeons who are using surgical robots to realign the distal and proximal ends of split bones. Here, we consider a simplified, 2D variant of…

Animals can accomplish many incredible behavioral feats across a wide range of operational environments and scales that current robots struggle to match. One explanation for this performance gap is the extraordinary properties of the…

Masked language modeling (MLM) is one of the key sub-tasks in vision-language pretraining. In the cross-modal setting, tokens in the sentence are masked at random, and the model predicts the masked tokens given the image and the text. In…

An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…

The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…

Large Language Models (LLMs) have been transformative. They are pre-trained foundational models that are self-supervised and can be adapted with fine tuning to a wide range of natural language tasks, each of which previously would have…

Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is…

We introduce an all-optical system, termed the "lying mirror", to hide input information by transforming it into misleading, ordinary-looking patterns that effectively camouflage the underlying image data and deceive the observers. This…