Research
Research
Research
Research
39,379+ open-access research outputs.
QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perc…
Industrial cyber physical systems operate under heterogeneous sensing, stochastic dynamics, and shifting process conditions, producing data that are often incomplete, unlabeled, imbalanced, and domain…
Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation provides physically grou…
This paper proposes a reinforcement learning-based framework for optimizing the operation of electric arc furnaces (EAFs) under volatile electricity prices. We formulate the deterministic version of t…
We present Masked Generative Policy (MGP), a novel framework for visuomotor imitation learning. We represent actions as discrete tokens, and train a conditional masked transformer that generates token…
Deep learning models for medical image segmentation suffer significant performance drops due to distribution shifts, but the causal mechanisms behind these drops remain poorly understood. We extend ca…
A remote robot operator's affective state can significantly impact the resulting robot's motions leading to unexpected consequences, even when the user follows protocol and performs permitted tasks. T…
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, a…
Multi-Agent Reinforcement Learning (MARL) is commonly deployed in settings where agents are trained via self-play with homogeneous teammates, often using parameter sharing and a single policy architec…
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in generalizing across diverse robotic manipulation tasks. However, deploying these models in unstructured environments re…
Minimizing transmission delay in wireless multi-hop networks is a fundamental yet challenging task due to the complex coupling among interference, queue dynamics, and distributed control. Traditional …
Simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) has emerged as a promising technology to realize full-space coverage and boost spectral efficiency in next-gene…
Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deploym…
Preliminary mission design of low-thrust spacecraft trajectories in the Circular Restricted Three-Body Problem is a global search characterized by a complex objective landscape and numerous local mini…
This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety constraints while pur…
Scaled model experiments are commonly used in various engineering fields to reduce experimentation costs and overcome constraints associated with full-scale systems. The relevance of such experiments …
Holonomic autonomous underwater vehicles (AUVs) have the hardware ability for agile maneuvering in both translational and rotational degrees of freedom (DOFs). However, due to challenges inherent to u…
Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical ac…
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing method…
This article addresses the challenge of optimizing handover (HO) in next-generation wireless networks by integrating Reconfigurable Intelligent Surfaces (RIS), predicting received signal power, and ut…
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