Research
Research
Research
Research
39,379+ open-access research outputs.
Autonomous robotic systems should reason about resource control and its impact on subsequent maneuvers, especially when operating with limited energy budgets or restricted sensing. Learning-based cont…
The sim-to-real gap, particularly in the inaccurate modeling of contact-rich dynamics like collisions, remains a primary obstacle to deploying robot policies trained in simulation. Conventional physic…
Mechanical thrombectomy (MT) is typically the optimal treatment for acute ischemic stroke involving large vessel occlusions, but access is limited due to geographic and logistical barriers. Reinforcem…
Most multi-robot task allocation methods rely on communication to resolve conflicts and reach consistent assignments. In environments with limited bandwidth, degraded infrastructure, or adversarial in…
Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and…
In dynamic wireless environments, accurate channel state information (CSI) prediction remains challenging due to non-stationary fading, mobility. This paper proposes an Uncertainty-Weighted Experience…
Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parameters-lookahead dista…
In this paper, constrained parameter update laws for adaptive control with convex equality constraint on the parameters are developed, one based on a gradient only update and the other incorporating c…
Robust cognitive radio development requires accurate 3D path loss models. Traditional empirical models often lack environment-awareness, while deep learning approaches are frequently constrained by th…
Recent research has shown that unsourced massive access (UMA) is naturally well-suited for over-the-air computation (AirComp), as it does not require knowledge of each individual signal, as demonstrat…
Reinforcement learning provides a framework for learning control policies that can reproduce diverse motions for simulated characters. However, such policies often exploit unnatural high-frequency sig…
Transcranial ultrasound imaging is limited by high skull absorption, limiting vascular imaging to only the largest vessels. Traditional clutter filters struggle with low signal-to-noise ratio (SNR) ul…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with f…
Accurate state estimation and multi-modal perception are prerequisites for autonomous legged robots in complex, large-scale environments. To date, no large-scale public legged-robot dataset captures t…
Histopathology, the current gold standard for cancer diagnosis, involves the manual examination of tissue samples after chemical staining, a time-consuming process requiring expert analysis. Raman spe…
In this paper, we present a framework for enabling autonomous vehicles to interact with cyclists in a manner that balances safety and optimality. The approach integrates Hamilton-Jacobi reachability a…
Humans can rearrange objects in cluttered environments using egocentric perception, navigating occlusions without global coordinates. Inspired by this capability, we study long-horizon multi-object no…
In many data-driven online decision systems, actions determine not only operational costs but also the data availability for future learning -- a phenomenon termed Prediction-Induced Censoring (PIC). …
Fully unsupervised deep generative modeling (FU-DGM) is promising for compressively sampled MRI (CS-MRI) when training data or compute are limited. Classical FU-DGMs such as DIP and INR rely on archit…
Repetitive motion tasks are common in robotics, but performance can degrade over time due to environmental changes and robot wear and tear. Iterative learning control (ILC) improves performance by usi…
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