Research
Research
Research
Research
612+ open-access research outputs.
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan exec…
Traditional Task and Motion Planning (TAMP) systems depend on physics models for motion planning and discrete symbolic models for task planning. Although physics model are often available, symbolic mo…
Physical Layer Authentication (PLA) exploits the spatial uniqueness of wireless channel characteristics in order to authenticate devices without recourse to higher-layer cryptographic protocols, which…
The coexistence of heterogeneous cellular standards (2G-5G) in shared spectrum demands sophisticated RF source separation techniques, yet no public dataset exists for data-driven research on this prob…
Densely deployed base stations are responsible for the majority of the energy consumed in Radio access network (RAN). While these deployments are crucial to deliver the required data rate in busy hour…
Many multi-robot applications require tasks to be completed efficiently and in the correct order, so that downstream operations can proceed at the right time. Multi-agent path finding with precedence …
In the context of containment of default contagion in financial networks, we here study a regulator that allocates pre-shock capital or liquidity buffers across banks connected by interbank liabilitie…
We present AutoSiMP, an autonomous pipeline that transforms a natural-language structural problem description into a validated, binary topology without manual configuration. The pipeline comprises fiv…
Coordinating teams of aerial robots in cluttered three-dimensional (3D) environments requires a principled integration of discrete mission planning-deciding which robot serves which goals and in what …
We evaluate whether factor-wise auxiliary dynamics supervision produces useful latent structure or improved robustness in simulated humanoid locomotion. DynaMITE -- a transformer encoder with a factor…
Longlshort-term memory (LSTM) is a deep learning model that can capture long-term dependencies of wireless channel models and is highly adaptable to short-term changes in a wireless environment. This …
A major bottleneck in Computer-Assisted Preoperative Planning (CAPP) for fracture reduction is the limited availability of annotated data. While annotated datasets are now available for evaluating bon…
Sequences of interdependent geometric constraints are central to many multi-agent Task and Motion Planning (TAMP) problems. However, existing methods for handling such constraint sequences struggle wi…
Parallel-wound no-insulation (PW-NI) high-temperature superconducting (HTS) coils significantly reduce charging delay while maintaining excellent self-protection capability, demonstrating great potent…
Extremely large antenna arrays (ELAAs) are widely adopted in mmWave/THz communications to compensate for the severe path loss, wherein the channel estimation remains a significant challenge since the …
Timing degradation in SRAM-based FPGAs arises from multiple physical mechanisms that manifest differently in the routing fabric, most notably power-distribution-network (PDN) marginality and configura…
We present TiPToP, an extensible modular system that combines pretrained vision foundation models with an existing Task and Motion Planner (TAMP) to solve multi-step manipulation tasks directly from i…
Open Radio Access Network (RAN) enables flexible, AI-driven control of mobile networks through disaggregated, multi-vendor components. In this architecture, xApps handle real-time functions, whereas r…
Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Marko…
Recently, affine frequency division multiplexing (AFDM) has gained traction as a robust solution for doubly selective channels. In this paper, we present a novel low-complexity one-tap equalizer for z…
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