Research
Research
Research
Research
981+ open-access research outputs.
Computer architecture simulation is essential for evaluating new designs without the need for costly tapeout. The community has developed dozens of valuable simulators that have enabled significant ar…
Cuffless blood pressure (BP) estimation based on Pulse Transit Time (PTT) has emerged as a promising solution for continuous health monitoring. However, conventional models relying on the Moens-Kortew…
Continual offline reinforcement learning (CORL) aims to learn a sequence of tasks from datasets collected over time while preserving performance on previously learned tasks. This setting corresponds t…
We study the organization of channel-level importance in transformer feed-forward networks (FFNs). Using a Fisher-style loss proxy (LP) based on activation-gradient second moments, we show that loss s…
We prove that given two compact oriented $3$-manifolds $N$ and $M,$ with $M$ satisfying only a mild hypothesis, there is a hyperbolic $3$-manifold $N'$ arbitrarily ``closely related'' to $N,$ and such…
This paper presents the first study on Unsupervised Domain Adaptation (UDA) for multimodal 3D panoptic segmentation (mm-3DPS), aiming to improve generalization under domain shifts commonly encountered…
Practitioners have reported a directional pattern in AI-assisted code generation: AI-generated code tends to fail quietly, preserving the appearance of functionality while degrading or concealing guar…
Retrieval augmented generation (RAG) has transformed text based question answering, yet its extension to visual domains remains hindered by fundamental challenges: bridging the modality gap between im…
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency st…
Always-on converter health monitoring demands sub-mW edge inference, a regime inaccessible to GPU-based physics-informed neural networks. This work separates spiking temporal processing from physics e…
Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficien…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a …
In this work, we introduce a new perspective on comparative image assessment by representing an image pair as a structured composition of its regions. In contrast, existing methods focus on whole imag…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the compl…
Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or …
Integration-by-parts (IBP) reduction of Feynman integrals to master integrals is a key computational bottleneck in precision calculations in high-energy physics. Traditional approaches based on the La…
Database theory is exciting because it studies highly general and practically useful abstractions. Conjunctive query (CQ) evaluation is a prime example: it simultaneously generalizes graph pattern mat…
In robot control, planning, and learning, there is a need for rigid-body dynamics libraries that are highly performant, easy to use, and compatible with CPUs and accelerators. While existing libraries…
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