Research
Research
Research
Research
39,379+ open-access research outputs.
This paper presents the first probabilistic Digital Twin of operational en route airspace, developed for the London Area Control Centre. The Digital Twin is intended to support the development and rig…
We develop a structure-aware reinforcement learning (RL) approach for delay- and energy-aware flow allocation in 5G User Plane Functions (UPFs). We consider a dynamic system with $K$ heterogeneous UPF…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual qu…
This paper proposes a machine learning (ML) based method for channel prediction in high mobility orthogonal time frequency space (OTFS) channels. In these scenarios, rapid variations caused by Doppler…
The rapid proliferation of wireless devices makes robust identity authentication essential. Radio Frequency Fingerprinting (RFF) exploits device-specific, hard-to-forge physical-layer impairments for …
Vision-language-action (VLA) models achieve strong generalization through large-scale pre-training, but real-world deployment requires expert-level task proficiency in addition to broad generality. Ex…
A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information. In these challenging environments…
Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world se…
Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Integral (PRMPPI) contro…
Accurate and automated lesion segmentation in Positron Emission Tomography / Computed Tomography (PET/CT) imaging is essential for cancer diagnosis and therapy planning. This paper presents a Swin Tra…
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid metal-plastic structu…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where …
The coordination of Embodied Multi-Agent Systems in constrained physical environments requires a rigorous balance between safety, scalability, and efficiency. Traditional decentralized approaches, e.g…
Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-r…
Assistive electric-powered wheelchairs (EPWs) have become essential mobility aids for people with disabilities such as amyotrophic lateral sclerosis (ALS), post-stroke hemiplegia, and dementia-related…
Precise control in modern robotic applications is always an open issue due to unknown time-varying disturbances. Existing meta-learning-based approaches require a shared representation of environmenta…
This paper discusses the task of face-based speech synthesis, a kind of personalized speech synthesis where the synthesized voices are constrained to perceptually match with a reference face image. Du…
Real-world physics can only be analytically modeled with a certain level of precision for modern intricate robotic systems. As a result, tracking aggressive trajectories accurately could be challengin…
Loop closure is crucial for maintaining the accuracy and consistency of visual SLAM. We propose a method to improve loop closure performance in DPV-SLAM. Our approach integrates AnyLoc, a learning-bas…
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional safety frameworks tr…
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