Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...
For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...
Photorealistic synthetic data and novel rendering techniques significantly advanced computer vision research. However, datasets focused on computer vision applications cannot be easily applied to robotics because they typically lack physics-related informa ...
The human sense of touch converts skin deformations into electrical impulses, enabling functional tasks such as object recognition and manipulation. Providing haptic information is crucial for improving usability in applications like prosthetics. Soft actu ...
Developing agents that can reliably act on our behalf is central to artificial intelligence (AI). These agents must seamlessly interact with tools, like search engines and databases, and collaborate. In this thesis, we study the abstractions, methods, and ...
Early work has found that large language models (LLMs) can generate persuasive content. However, evidence on whether they can also personalize arguments to individual attributes remains limited, despite being crucial for assessing misuse. This preregistere ...
Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...
Given a ground-level query image and a geo-referenced aerial image that covers the query’s local surroundings, fine-grained cross-view localization aims to estimate the location of the ground camera inside the aerial image. Recent works have focused on dev ...
Springer Science and Business Media Deutschland GmbH2025
State-of-the-art results in large language models (LLMs) often rely on scale, which becomes computationally expensive. This has sparked a research agenda to reduce these models' parameter counts and computational costs without significantly impacting their ...
The recent advance of large language models (LLMs) demonstrates that these large-scale foundation models achieve remarkable capabilities across a wide range of language tasks and domains. The success of the statistical learning approach challenges our unde ...
By supporting the access of multiple memory words at the same time, Bit-line Computing (BC) architectures allow the parallel execution of bit-wise operations in-memory. At the array periphery, arithmetic operations are then derived with little additional o ...
Reed-Muller (RM) codes achieve the capacity of general binary-input memoryless symmetric channels and are conjectured to have a comparable performance to that of random codes in terms of scaling laws. However, such results are established assuming maximum- ...
Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...
Large language models (LLMs) have demonstrated human-level performance on a vast spectrum of natural language tasks. However, it is largely unexplored whether they can better internalize knowledge from a structured data, such as a knowledge graph, or from ...
Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...
