Research
Research
Research
Research
39,379+ open-access research outputs.
We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provi…
This paper presents a shared-control rehabilitation policy for a custom 6-degree-of-freedom (6-DoF) upper-limb robot that decomposes complex reaching tasks into decoupled spatial axes. The patient gov…
Accurate and robust wireless localization is a key enabler for a wide range of mobile computing applications. Fingerprint-based localization using channel state information (CSI) has attracted signifi…
This report presents a structured Robotics Physical Safety Framework based on explicit asset declaration, systematic vulnerability enumeration, and hazard-driven synthetic data generation. The approac…
Embodied navigation agents powered by large language models have shown strong performance on individual tasks but struggle to continually acquire new navigation skills, which suffer from catastrophic …
This paper explores secure communication in an underwater energy-harvesting (EH) relay network that supports hybrid optical-acoustic transmission. The optical hop is modeled using a Gamma-Gamma turbul…
Off-road autonomous driving poses significant challenges such as navigating unmapped, variable terrain with uncertain and diverse dynamics. Addressing these challenges requires effective long-horizon …
We present PROBE (PRobabilistic Occupancy BEV Encoding), a learning-free LiDAR place recognition descriptor that models each BEV cell's occupancy as a Bernoulli random variable. Rather than relying on…
The Crazyflie quadcopter is widely recognized as a leading platform for nano-quadcopter research. In early 2025, the Crazyflie Brushless was introduced, featuring brushless motors that provide around …
High-speed aerial grasping presents significant challenges due to the high demands on precise, responsive flight control and coordinated gripper manipulation. In this work, we propose Swooper, a deep …
While the shift from cascaded dialogue systems to end-to-end (E2E) speech Large Language Models (LLMs) improves latency and paralinguistic modeling, E2E models often exhibit a significant performance …
Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximati…
Autonomous driving involves multiple, often conflicting objectives such as safety, efficiency, and comfort. In reinforcement learning (RL), these objectives are typically combined through weighted sum…
Reinforcement learning has demonstrated significant potential in the field of autonomous driving. However, it suffers from defects such as training instability and unsafe action outputs when faced wit…
Legged manipulators offer high mobility and versatile manipulation. However, robust interaction with heterogeneous articulated objects, such as doors, drawers, and cabinets, remains challenging becaus…
Latent Action Models (LAMs) enable learning from actionless data for applications ranging from robotic control to interactive world models. However, existing LAMs typically focus on short-horizon fram…
High-quality teleoperated demonstrations are a primary bottleneck for imitation learning (IL) in dexterous manipulation. However, haptic feedback provides operators with real-time contact information,…
Real-world quadruped navigation is constrained by a scale mismatch between high-level navigation decisions and low-level gait execution, as well as by instabilities under out-of-distribution environme…
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conv…
Digital twins, virtual simulated replicas of physical scenes, are transforming system design across industries. However, their potential in radio frequency (RF) systems has been limited by the non-dif…
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