7 papers
Automated Discovery of Operable Dynamics from Videos
Kuang Huang, Dong Heon Cho, Boyuan Chen
Dynamical systems form the foundation of scientific discovery, traditionally modeled with predefined state variables such as the angle and angular velocity, and differential equati…
Temporal Self-Imitation Learning
Yinsen Jia, Boyuan Chen
Long-horizon robot manipulation policies trained with reward shaping can still achieve high return through inefficient interactions, while rare efficient behaviors discovered durin…
Scensory: Real-Time Robotic Olfactory Perception for Joint Identification and Source Localization
Yanbaihui Liu, Erica Babusci, Claudia K. Gunsch +1
While robotic perception has advanced rapidly in vision and touch, enabling robots to reason about indoor fungal contamination from weak, diffusion-dominated chemical signals remai…
HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
Dongting Li, Xingyu Chen, Qianyang Wu +10
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated o…
Time as a Control Dimension in Robot Learning
Yinsen Jia, Boyuan Chen
Temporal awareness plays a central role in intelligent behavior by shaping how actions are paced, coordinated, and adapted to changing goals and environments. In contrast, most rob…
TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Guangshen Ma, Ravi Prakash, Beatrice Schleupner +10
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surro…