Research
Research
Research
Research
39,379+ open-access research outputs.
Clinical MRI frequently acquires anisotropic volumes with high in-plane resolution and low through-plane resolution to reduce acquisition time. Multiple orientations are therefore acquired to provide …
The adversarial subproblem in two-stage adaptive robust optimization (ARO), which identifies the worst-case uncertainty realization, is a major computational bottleneck. This difficulty is exacerbated…
Affective computing aims to understand and model human emotions for computational systems. Within this field, speech emotion recognition (SER) focuses on predicting emotions conveyed through speech. W…
Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies …
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Function…
"Code-as-Policy" considers how executable code can complement data-intensive Vision-Language-Action (VLA) methods, yet their effectiveness as autonomous controllers for embodied manipulation remains u…
Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three challenges in isolat…
We develop a pragmatic multi-user (MU) massive multiple-input multiple-output (MIMO) channel model tailored to the THz band, encompassing factors such as molecular absorption, reflection losses and mu…
This paper presents SelfTTS, a text-to-speech (TTS) model designed for cross-speaker style transfer that eliminates the need for external pre-trained speaker or emotion encoders. The architecture achi…
Humanoid robots require diverse motor skills to integrate into complex environments, but bridging the kinematic and dynamic embodiment gap from human data remains a major bottleneck. We demonstrate th…
This paper presents a cross-modal learning framework that exploits complementary information from depth and grayscale images for robust navigation. We introduce a Cross-Modal Wasserstein Autoencoder t…
We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loo…
This paper studies obstacle avoidance under translation invariant dynamics using an avoid-side travel cost Hamilton Jacobi formulation. For running costs that are zero outside an obstacle and strictly…
Wi-Fi sensing has emerged as a promising technique for gesture recognition, yet its practical deployment is hindered by environmental sensitivity and device placement challenges. To overcome these lim…
The high energy consumption of buildings presents a critical need for advanced control strategies like Demand Response (DR). Differentiable Predictive Control (DPC) has emerged as a promising method f…
Learning-based Model Predictive Control (MPC) has emerged as a powerful strategy for building demand response. However, its practical deployment is often hindered by the non-convex optimization proble…
Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-…
Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We present a systematic study quantifying the performance gains, scaling behavior, and underlyi…
Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challenging due to the sim-t…
Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is a growing trend of …
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