Research
Research
Research
Research
431+ open-access research outputs.
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between differen…
The combination of control barrier functions (CBFs) and adaptive control -- a framework referred to as adaptive safety -- has proven to be a powerful paradigm for safety-critical control of nonlinear …
Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-O…
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks s…
Accurate vehicular localization in Global Navigation Satellite System (GNSS)-denied environments, such as road tunnels, remains a key challenge for cooperative intelligent transport systems (C-ITS). T…
Generative artificial intelligence offers a new paradigm to design matter in high-dimensional spaces. However, its underlying mechanisms remain difficult to interpret and limit adoption in computation…
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freed…
The number of spatial degrees of freedom (NDoF) and channel strength in antenna systems are examined within a geometric framework. Starting from a correlation-operator representation of the channel be…
Calibrating chemical kinetics in a reaction-diffusion system is challenging because of complex dynamics governed by tightly coupled chemistry and transport, while experimental observations are often s…
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bo…
Getting a real cybersecurity risk assessment for a small organization is expensive -- a NIST CSF-aligned engagement runs $15,000 on the low end, takes weeks, and depends on practitioners who are genui…
Space-filling experimental designs are widely used in engineering computer experiments, where only a limited number of expensive model evaluations can be afforded. Distance-based designs such as Maxim…
Sufficient testing under corner cases is critical for the long-term operation of vehicle-infrastructure cooperation systems (VICS). However, existing corner-case generation methods are primarily AI-dr…
This preprint presents a neural network tuner for the finite state model predictive control of an induction motor. The tuner deals with the parameters of the controllers in the speed loop and in the s…
As social robots take on increasingly complex roles like game masters (GMs) in multi-party games, the expectation that physicality universally enhances user experience remains debated. This study chal…
Generating safety-critical scenarios is essential for validating the robustness of autonomous driving systems, yet existing methods often struggle to produce collisions that are both realistic and div…
To improve generalization and resilience in human-robot collaboration (HRC), robots must handle the combinatorial diversity of human behaviors and contexts, motivating multi-agent reinforcement learni…
Experimentalists often use wind tunnels to study aerodynamic turbulence, but most wind tunnel imaging techniques are limited in their ability to take non-invasive 3D density measurements of turbulence…
Accurate cascaded channel state information is pivotal for extremely large-scale intelligent reflecting surfaces (XL-IRS) in next-generation wireless networks. However, the large XL-IRS aperture induc…
Around-the-corner radar sensing offers an opportunity for the radar to exploit multipath scattering along walls to detect targets beyond blockages. However, the radar detection performance is limited …
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