Research
Research
Research
Research
39,379+ open-access research outputs.
We formulate a method to co-optimize power system capacity planning decisions and policy investments that shape electricity load patterns. To this end, we leverage a gradient-based solution technique …
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots ne…
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data…
Highly compressible solids, such as foams, exhibit complex responses, including pronounced tension-compression asymmetry. Capturing such behaviors within unified hyperelastic frameworks remains challe…
Satellite constellations are transforming space systems from isolated spacecraft into networked, software-defined platforms capable of on-orbit perception, decision making, and adaptation. Yet much of…
Oil spills represent a severe threat, making early-stage thickness estimation crucial for guiding remediation efforts. Unmanned Aerial Vehicles (UAVs) are an attractive platform for environmental moni…
Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured…
The growing proliferation of unmanned aerial vehicles (UAVs) poses major challenges for reliable airspace surveillance, as drones are typically small, have low radar cross-sections, and often move slo…
Embodied AI research is increasingly moving beyond single-task, single-environment policy learning toward multi-task, multi-scene, and multi-model settings. This shift substantially increases the engi…
Imitation learning (IL) policies in robotics deliver strong performance in controlled settings but remain brittle in real-world deployments: rare events such as hardware faults, defective parts, unexp…
Mobile robots joining public spaces like sidewalks must care for pedestrian comfort. Many studies consider pedestrians' objective safety, for example, by developing collision avoidance algorithms, but…
The abundance of process operating data in modern industries, along with the rapid advancement of learning techniques, has led to a paradigm shift towards data-centric analysis and control. However, i…
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human command…
This paper proposes an improved approach for open-set speaker identification based on pretrained speaker foundation models. Building upon the previous Speaker Reciprocal Points Learning framework (V1)…
We present UNRIO, an uncertainty-aware radar-inertial odometry system that estimates ego-velocity directly from raw mmWave radar IQ signals rather than processed point clouds. Existing radar-inertial …
Achieving general-purpose robotics requires empowering robots to adapt and evolve based on their environment and feedback. Traditional methods face limitations such as extensive training requirements,…
In this paper, we introduce GatherMOS, a novel framework that leverages large language models (LLM) as meta-evaluators to aggregate diverse signals into quality predictions. GatherMOS integrates light…
This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels ex…
Semantic segmentation of histopathology images under class imbalance is typically addressed through frequency-based loss reweighting, which implicitly assumes that rare classes are difficult. However,…
Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path planning. However, these graphs grow rapidly, accumulating redundant information and impact…
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