Research
Research
Research
Research
39,379+ open-access research outputs.
Ensemble control aims to steer a population of dynamical systems using a shared control input. This paper introduces a constrained ensemble control framework for parameterized, heterogeneous robotic s…
In modern power systems, frequency regulation is a fundamental prerequisite for ensuring system reliability and assessing the robustness of expansion projects. Conventional feedback control schemes, h…
The evolution toward sixth-generation wireless systems positions intelligence as a native network capability, fundamentally transforming the design of radio access networks (RANs). Within this vision,…
Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capac…
Recent advances in large multimodal models have enabled new opportunities in embodied AI, particularly in robotic manipulation. These models have shown strong potential in generalization and reasoning…
This work investigates the joint learning of pinching antenna (PA) positions and transmit beamforming for PA-aided integrated sensing and communication (ISAC) in the low-altitude wireless networks. By…
We study how to exploit dense simulator-defined rewards in vision-based autonomous driving without inheriting their misalignment with deployment metrics. In realistic simulators such as CARLA, privile…
This paper introduces a direct comparative study of Physics-Informed Neural Networks (PINNs) and Long Short-Term Memory (LSTM) networks for adaptive steam temperature control in Heat Recovery Steam Ge…
Vortex-Induced Vibrations (VIVs) of cylindrical structures present significant challenges in various engineering applications, including marine risers, tall buildings, and renewable energy systems. He…
Prior Vision-Language-Action (VLA) models are typically trained on teleoperated successful demonstrations, while discarding numerous failed attempts that occur naturally during data collection. Howeve…
We present an end-to-end pipeline for deploying reinforcement learning (RL) trained Artificial Neural Networks (ANNs) on neuromorphic hardware by converting them into spiking Sigma-Delta Neural Networ…
Active suspension systems are critical for enhancing vehicle comfort, safety, and stability, yet their performance is often limited by fixed hardware designs and control strategies that cannot adapt t…
Dexterous grasp generation aims to produce grasp poses that align with task requirements and human interpretable grasp semantics. However, achieving semantically controllable dexterous grasp synthesis…
This paper presents a novel fault-tolerant control framework for steam temperature regulation in Heat Recovery Steam Generators (HRSGs) subject to actuator faults. Addressing the critical challenge of…
The growing demand for robust, scalable wireless networks in the 5G-and-beyond era has led to the deployment of Unmanned Aerial Vehicles (UAVs) as mobile base stations to enhance coverage in dense urb…
Autonomous Driving (AD) vehicles still struggle to exhibit human-like behavior in highly dynamic and interactive traffic scenarios. The key challenge lies in AD's limited ability to interact with surr…
Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control pr…
Policy gradient algorithms are widely used in reinforcement learning and belong to the class of approximate dynamic programming methods. This paper studies two key policy gradient algorithms - the Nat…
Reinforcement learning (RL) offers transformative potential for robotic control in space. We present the first on-orbit demonstration of RL-based autonomous control of a free-flying robot, the NASA As…
The US Naval Research Laboratory's (NRL's) Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) experiment pioneers the use of reinforcement learning (RL) for control of fr…
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