Research
Research
Research
Research
39,379+ open-access research outputs.
Triangular tethered formation system (TTFS) provide a promising platform for deep space exploration and distributed sensing due to its intrinsic spatial-orientation stability and capability of adjusti…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneo…
This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space inertia into the obser…
Modulation effects such as phasers, flangers and chorus effects are heavily used in conjunction with the electric guitar. Machine learning based emulation of analog modulation units has been investiga…
The demand for high-resolution, non-invasive imaging continues to drive innovation in magnetic resonance imaging (MRI), yet prolonged acquisition times hinder accessibility and real-time applications.…
This study focuses on optimizing path planning for unmanned ground vehicles (UGVs) in precision agriculture using deep reinforcement learning (DRL) techniques in continuous action spaces. The research…
This paper proposes an automatic speech recognition (ASR) model for hate speech using large language models (LLMs). The proposed method integrates the encoder of the ASR model with the decoder of the …
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich d…
Multiagent reinforcement learning, as a prominent intelligent paradigm, enables collaborative decision-making within complex systems. However, existing approaches often rely on explicit action exchang…
Machine learning (ML) enables accurate and fast molecular property predictions, which are of interest in drug discovery and material design. Their success is based on the principle of similarity at it…
Bioelectrical properties of cells such as relative permittivity, conductivity, and characteristic time constants vary significantly between healthy and malignant cells across different frequencies. Th…
Conventional optimization-based metering depends on strict adherence to precomputed schedules, which limits the flexibility required for the stochastic operations of Advanced Air Mobility (AAM). In co…
Bayesian inference is a popular approach to calibrating uncertainties, but it can underpredict such uncertainties when model misspecification is present, impacting its reliability to inform decision m…
Contact-rich manipulation requires reliable estimation of extrinsic contacts-the interactions between a grasped object and its environment which provide essential contextual information for planning, …
This paper presents a learning-based guidance-and-control approach that couples a reasoning-enabled Large Language Model (LLM) with Group Relative Policy Optimization (GRPO). A two-stage procedure con…
Emergency vehicles require rapid passage through congested traffic, yet existing strategies fail to adapt to dynamic conditions. We propose a novel hierarchical graph neural network (GNN)-based multi-…
Congenital Heart Disease (CHD) remains a significant global health concern affecting approximately 1\% of births worldwide. Phonocardiography has emerged as a supplementary tool to diagnose CHD cost-e…
We consider energy-efficient multi-user hybrid downlink beamforming (BF) and power allocation under imperfect channel state information (CSI) and probabilistic outage constraints. In this domain, clas…
Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to levera…
Recent Vision-Language Models (VLMs) have demonstrated significant potential in robotic planning. However, they typically function as semantic reasoners, lacking an intrinsic understanding of the spec…
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