Research
Research
Research
Research
4,155+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occ…
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entiti…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric sub…
Automatic Emergency Braking (AEB) systems represent a safety-critical national interest, with the National Highway Traffic Safety Administration (NHTSA) Federal Motor Vehicle Safety Standard (FMVSS No…
We propose X-WAM, a Unified 4D World Model that unifies real-time robotic action execution and high-fidelity 4D world synthesis (video + 3D reconstruction) in a single framework, addressing the critic…
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
Dynamical systems (DS) methods for Learning-from-Demonstration (LfD) provide stable, continuous policies from few demonstrations. First-order dynamical systems (DS) are effective for many point-to-poi…
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
Cross-lingual speaker verification suffers from severe language-speaker entanglement. This causes systematic degradation in the hardest scenario: correctly accepting utterances from the same speaker a…
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between daytime RGB maps and nig…
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this bran…
We consider the one-dimensional quasilinear heat equation with state-dependent heat capacity and thermal conductivity, and design a boundary-output observer based on the backstepping design for a line…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process …
Weak constitutive fluctuations in dispersive subsurface media can induce distributed clutter that reshapes the observation structure of ground-penetrating radar (GPR). This paper analyzes this effect …
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asy…
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structur…
The escalating data rate demands of future wireless communications necessitate the deployment of extremely large aperture arrays (ELAA) at base stations. In such configurations, wireless channel chara…
In large antenna arrays, hardware power consumption becomes a dominant design constraint, making energy efficiency (EE) a first-class objective alongside spectral efficiency (SE). Microwave linear ana…
Resource allocation in integrated sensing and communication (ISAC) systems needs to be optimized to balance the requirements of the communication and sensing modules considering complicated cross-laye…
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