Research
Research
Research
Research
39,379+ open-access research outputs.
Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gai…
This paper presents a new dynamic integral quadratic constraint (IQC) for the repeated Rectified Linear Unit (ReLU). These dynamic IQCs can be used to analyze stability and induced $\ell_2$-gain perfo…
Nonlinear parameter-varying (NPV) systems are a class of nonlinear systems whose dynamics explicitly depend on time-varying external parameters, making them suitable for modeling real-world systems wi…
Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inert…
Quality assessment of brain structural MR images is critical for large-scale neuroimaging studies, where motion artifacts can significantly bias clinical estimates. While visual rating remains the gol…
Sim-to-real transfer of locomotion policies often leads to performance degradation due to the inevitable sim-to-real gap. Naively fine-tuning these policies directly on hardware is problematic, as it …
Human listeners exhibit the remarkable ability to segregate a desired sound from complex acoustic scenes through selective auditory attention, motivating the study of Targeted Sound Detection (TSD). T…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for dynamical systems, but solving high-dimensional HJ partial differential equations limits its use in real-time planning. This pap…
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve p…
Learning in simulation provides a useful foundation for scaling robotic manipulation capabilities. However, this paradigm often suffers from a lack of data-generation-ready digital assets, in both sca…
A prevailing view in robot learning is that simulation alone is not enough; effective sim-to-real transfer is widely believed to require at least some real-world data collection or task-specific fine-…
Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their l…
To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment …
Long-tailed image classification remains a long-standing challenge, as real-world data typically follow highly imbalanced distributions where a few head classes dominate and many tail classes contain …
We investigate three distinct methods of incorporating all-sky imager (ASI) images into deep learning (DL) irradiance nowcasting. The first method relies on a convolutional neural network (CNN) to ext…
Mobile robots are increasingly deployed for inspection, patrol, and search-and-rescue operations, relying on computer vision for perception, navigation, and autonomous decision-making. However, execut…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse…
Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level reasoning, planning, and decision-making during interactions with the environment. However, …
Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has demonstrated the fea…
Urban traffic congestion is a key challenge for the development of modern cities, requiring advanced control techniques to optimize existing infrastructures usage. Despite the extensive availability o…
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