Research
Research
Research
Research
39,379+ open-access research outputs.
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
Deep learning has enabled highly realistic synthetic speech, raising concerns about fraud, impersonation, and disinformation. Despite rapid progress in neural detectors, transparent baselines are need…
Cross-facility knowledge transfer in Controlled Environment Agriculture (CEA) can reduce HVAC energy consumption by 30-38% and accelerate new facility commissioning from months to days. However, facil…
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance depends on informati…
This paper investigates the problem of data-driven modeling of port-Hamiltonian systems while preserving their intrinsic Hamiltonian structure and stability properties. We propose a novel neural-netwo…
We study sequential decision-making in time-varying Markov decision processes (TVMDPs) under limited update rates, where the decision-maker observes the system and updates its model only intermittentl…
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity…
Learner satisfaction is a critical quality signal in massive open online courses (MOOCs), directly influencing retention, engagement, and platform reputation. Most existing methods infer satisfaction …
Speech deepfake detection (SDD) systems perform well on standard benchmarks datasets but often fail to generalize to expressive and emotional spoofing attacks. Many methods rely on spoof-heavy trainin…
AI-enhanced interference rejection in radio frequency (RF) transmissions has recently attracted interest because deep learning approaches trained on both the signal of interest (SOI) and the signal mi…
The motion planning problem requires finding a collision-free path between start and goal configurations in high-dimensional, cluttered spaces. Recent learning-based methods offer promising solutions,…
Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on explicit, closed-form…
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware in…
The acquisition of high-quality, action-aligned demonstration data remains a fundamental bottleneck in scaling foundation models for dexterous robot manipulation. Although robot-free human demonstrati…
Multimodal federated learning enables privacy-preserving collaborative model training across healthcare institutions. However, a fundamental challenge arises from modality heterogeneity: many clinical…
Open Radio Access Network (O-RAN) architectures enhance flexibility for 6G and NextG networks. However, it also brings significant challenges in O-RAN testing with evaluating abundant, high-dimensiona…
Training and transferring learning-based policies for quadrotors from simulation to reality remains challenging due to inefficient visual rendering, physical modeling inaccuracies, unmodeled sensor di…
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in e…
Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated …
Wireless communications in intelligent rail transit face harsh propagation conditions, including severe penetration loss, frequent blockages, and amplified large-scale fading. Existing leaky coaxial c…
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