Research
Research
Research
Research
39,379+ open-access research outputs.
The complexity of teaching humanoid robots new tasks is one of the major reasons hindering their widespread adoption in the industry. While Imitation Learning (IL), particularly Action Chunking with T…
Integrating social robots in our group-based society, beyond the technical challenges, requires considering the social group dynamics. Following the results from preliminary exploratory studies on the…
We present a computationally tractable framework for real-time predictive control of multi-chiller plants that involve both discrete and continuous control decisions coupled through nonlinear dynamics…
Electric endurance racing is characterized by severe energy constraints and strong aerodynamic interactions. Determining race-winning policies therefore becomes a fundamentally multi-agent, game-theor…
In this paper, we propose a cost-matching approach for optimal humanoid locomotion within a Model Predictive Control (MPC)-based Reinforcement Learning (RL) framework. A parameterized MPC formulation …
Beam alignment is a key challenge in directional mmWave and THz systems, where narrow beams require accurate yet low-overhead training. Existing learning-based approaches typically predict a single be…
Guiding collective motion in biological groups is a fundamental challenge in understanding social interaction rules and developing automated systems for animal management. In this study, we propose a …
Vision-language models (VLMs) are increasingly being adopted for end-to-end autonomous driving systems due to their exceptional performance in handling long-tail scenarios. However, current VLM-based …
Site-specific channel inference plays a critical role in the design and evaluation of next-generation wireless communication systems by considering the surrounding propagation environment. However, tr…
Combining different types of agents in uncrewed vehicle (UV) swarms has emerged as an approach to enhance mission resilience and operational capabilities across a wide range of applications. This stud…
The convergence of low-altitude economies, embodied intelligence, and air-ground cooperative systems creates growing demand for simulation infrastructure capable of jointly modeling aerial and ground …
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bo…
Individualized head-related impulse responses (HRIRs) enable binaural rendering, but dense per-listener measurements are costly. We address HRIR spatial up-sampling from sparse per-listener measuremen…
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we propose Iterative M…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with p…
Ensuring both safety and stability remains a fundamental challenge in learning-based control, where goal-oriented policies often neglect system constraints and closed-loop state convergence. To addres…
Next generation ISAC networks operating in the mmWave and THz bands must provide physical layer secrecy against potential eavesdroppers (mobile and static) while coordinating distributed hybrid edge n…
We consider the problem of learning-based man-in-the-middle (MITM) attacks in cyber-physical systems (CPS), and extend our previously proposed Bellman Deviation Detection (BDD) framework for model-fre…
Data-driven modeling is playing an increasing role in robotics and control, yet standard learning methods typically ignore the geometric structure of nonholonomic systems. As a consequence, the learne…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, o…
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