Research
Research
Research
Research
39,379+ open-access research outputs.
Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models…
Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a nonlinear control technique that assigns a port-Hamiltonian (pH) structure to a controlled system using a state-feedback l…
For centuries, khalasi (Gujarati for sailor) have skillfully harnessed ocean currents to navigate vast waters with minimal effort. Emulating this intuition in autonomous systems remains a significant …
This study investigates whether adding ground compliance to visual feedback (VF) gait training is more effective at increasing push-off force (POF) compared to using VF alone, with implications for ga…
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential displacement but com…
Battery safety is paramount for electric vehicles. Early fault diagnosis remains a challenge due to the subtle nature of anomalies and the interference of dynamic operating noise. Existing data-driven…
Machine learning surrogate models have emerged as a promising approach for accelerating multiscale materials simulations while preserving predictive fidelity. Among them, the Orientation-aware Interac…
We present a three-dimensional foundation model for polycrystalline materials based on a masked autoencoder trained via large-scale self-supervised learning. The model is pretrained on $100{,}000$ vox…
Continuum manipulators offer intrinsic dexterity and safe geometric compliance for navigation within confined and obstacle-rich environments. However, their infinite-dimensional backbone deformation, …
Federated Learning (FL) enables collaborative training of autonomous driving (AD) models across distributed vehicles while preserving data privacy. However, FL encounters critical challenges such as p…
Autonomous driving (AD) scenarios are inherently complex and diverse, posing significant challenges for a single deep learning model to effectively cover all possible conditions, such as varying weath…
Power outages caused by tropical cyclones (TCs) pose serious risks to electric power systems and the communities they serve. Accurate, high-resolution outage forecasting is essential for enabling both…
Scalable embodied intelligence is constrained by the scarcity of diverse, long-horizon robotic manipulation data. Existing video world models in this domain are limited to synthesizing short clips of …
High-resolution range profiles (HRRPs) play a critical role in automatic target recognition (ATR) due to their richinformationregarding target scattering centers (SCs), which encapsulate the geometric…
Crowd navigation has garnered considerable research interest in recent years, especially with the proliferating application of deep reinforcement learning (DRL) techniques. Many studies, however, do n…
Power systems face increasing weather-driven variability and, therefore, increasingly rely on flexible but energy-limited storage resources. Energy storage can buffer this variability, but its value d…
Learning fast and robust ball-kicking skills is a critical capability for humanoid soccer robots, yet it remains a challenging problem due to the need for rapid leg swings, postural stability on a sin…
As robots enter human workspaces, there is a crucial need for them to comprehend embodied human instructions, enabling intuitive and fluent human-robot interaction (HRI). However, accurate comprehensi…
Artificially intelligent (AI) co-scientists must be able to sift through research literature cost-efficiently while applying nuanced scientific reasoning. We evaluate Small Language Models (SLMs, <= 8…
Learning is the basis of both biological and artificial systems when it comes to mimicking intelligent behaviors. From the classical PPO (Proximal Policy Optimization), there is a series of deep reinf…
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