Research
Research
Research
Research
39,379+ open-access research outputs.
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload…
Current vision-language navigation methods face substantial bottlenecks regarding heterogeneous robot compatibility, real-time performance, and navigation safety. Furthermore, they struggle to support…
Safety-critical autonomous systems must satisfy hard state constraints under tight computational and sensing budgets, yet learning-based controllers are often far more complex than safe operation requ…
Existing cyberattack detection methods for smart grids such as Artificial Neural Networks (ANNs) and Deep Reinforcement Learning (DRL) often suffer from limited adaptability, delayed response, and ina…
This work establishes a rigorous bridge between infinite-dimensional delay dynamics and finite-dimensional Koopman learning, with explicit and interpretable error guarantees. While Koopman analysis is…
Long-horizon robotic manipulation remains challenging for reinforcement learning (RL) because sparse rewards provide limited guidance for credit assignment. Practical policy improvement thus relies on…
Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often …
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer f…
Aligning physiological parameter labels with large-scale photoplethysmographic (PPG) data for deep learning is challenging and resource-intensive. While self-supervised representation learning (SSRL) …
In this study, we have explored an application of deep learning architecture of the U-Net model, originally designed for biomedical image segmentation, in a regression analysis aimed at predicting flu…
Achieving quadruped robot locomotion across diverse and dynamic terrains presents significant challenges, primarily due to the discrepancies between simulation environments and real-world conditions. …
The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quadrotor Uncrewed Aerial Vehicles (UAVs) by calibration flight data. RPs are modeled either as …
This paper presents a learning-based approach for all-pairs motion planning, where the initial and goal states are allowed to be arbitrary points in a safe set. We construct smooth goal-conditioned ne…
Vision-language models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor polic…
We present QuadAgent, a training-free agent system for agile quadrotor flight guided by vision-language inputs. Unlike prior end-to-end or serial agent approaches, QuadAgent decouples high-level reaso…
-Navigation through narrow and irregular gaps is an essential skill in autonomous drones for applications such as inspection, search-and-rescue, and disaster response. However, traditional planning an…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placemen…
We study data-driven computation of probabilistic controlled invariant sets (PCIS) for safety-critical reinforcement learning under unknown dynamics. Assuming a linear MDP model, we use regularized le…
Sensor-based Human Activity Recognition (HAR) underpins many ubiquitous and wearable computing applications, yet current models remain limited by scarce labels, sensor heterogeneity, and weak generali…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid rob…
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