Research
Research
Research
Research
39,379+ open-access research outputs.
The rapid advancement of generative AI has made it increasingly challenging to distinguish between deepfake audio and authentic human speech. To overcome the limitations of passive detection methods, …
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both …
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering …
Koopman operator theory is a key tool in data assimilation of complex dynamical systems, with the potential to be applied to multimodal data. We formulate the problem of learning Koopman eigenfunction…
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
Reinforcement learning (RL) can be a powerful alternative to classical control methods when standard model-based control is insufficient, e.g., when deriving a suitable model is intractable or impossi…
For the past decades medical robotic solutions were mostly based on the concept of tele-manipulation. While their design was extremely intelligent, allowing for better access, improved dexterity, redu…
The integration of first-principles models with learning-based components, i.e., model augmentation, has gained increasing attention, as it offers higher model accuracy and faster convergence properti…
Wind farm wake steering optimization is challenging due to complex flow physics and changing conditions. This paper presents a hierarchical framework that combines reinforcement learning with model pr…
This study presents a multi-agent reinforcement learning (MARL) framework for load-constrained wind farm flow control (WFFC). While wake steering can enhance total wind farm power, it often introduces…
Reinforcement learning (RL) offers a promising approach for adaptive wind farm flow control, yet its practical deployment is hindered by slow training convergence and poor initial performance, factors…
Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a …
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial…
Imitation learning is a powerful paradigm for training robotic policies, yet its performance is limited by compounding errors: minor policy inaccuracies could drive robots into unseen out-of-distribut…
Accurate dynamic models for racket-ball bounces are essential for reliable control in robotic table tennis. Existing models typically assume simple linear models and are restricted to inverted rubbers…
Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous multimodal perceptio…
Spectrum sharing and dynamic spectrum reuse are becoming increasingly critical in modern wireless networks to address spectrum scarcity. However, these techniques inevitably increase Cross-Technology …
Conventional microwave engineering education relies heavily on analytical methods, canonical circuit topologies, and intuition-driven design, which have proven effective at microwave frequencies. Howe…
Training language-conditioned whole-body controllers for humanoid robots demands large-scale motion-language datasets. Existing approaches based on motion capture are costly and limited in diversity, …
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on m…
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