Research
Research
Research
Research
39,379+ open-access research outputs.
In recent times, there has been considerable interest in fault detection within electrical power systems, garnering attention from both academic researchers and industry professionals. Despite the dev…
Traditional learning from demonstration (LfD) generally demands a cumbersome collection of physical demonstrations, which can be time-consuming and challenging to scale. Recent advances show that robo…
Large language models (LLMs) and multimodal models have become powerful general-purpose reasoning systems. However, radio-frequency (RF) signals, which underpin wireless systems, are still not nativel…
Deep learning-based respiratory auscultation is currently hindered by two fundamental challenges: (i) inherent information loss, as converting signals into spectrograms discards transient acoustic eve…
Designing a speech quality assessment (SQA) system for estimating mean-opinion-score (MOS) of multi-rate speech with varying sampling frequency (16-48 kHz) is a challenging task. The challenge arises …
Autonomous control of double-Ackermann-steering robots is essential in agricultural applications, where robots must execute precise and complex maneuvers within a limited space. Classical methods, suc…
We present a comprehensive overview of the Deep Image Prior (DIP) framework and its applications to image reconstruction in computed tomography. Unlike conventional deep learning methods that rely on …
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particul…
Proximity operations of rigid bodies, such as spacecraft rendezvous and docking, require precise tracking of both position and attitude over finite time intervals. These operations are often repeated …
The Dirac operator provides a unified framework for processing signals defined over different order topological domains, such as node and edge signals. Its eigenmodes define a spectral representation …
This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product…
Robotic knot-tying represents a fundamental challenge in robotics due to the complex interactions between deformable objects and strict topological constraints. We present TWISTED-RL, a framework that…
Quadruped robots are employed in various scenarios in building construction. However, autonomous stair climbing across different indoor staircases remains a major challenge for robot dogs to complete …
Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder policy acquisition. Exis…
This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delivery. Unlike prior imi…
This paper establishes a data-driven solution for infinite horizon linear quadratic Gaussian Mean Field Games with network-coupled heterogeneous agent populations where the dynamics of the agents are …
Industrial robots are increasingly deployed in contact-rich construction and manufacturing tasks that involve uncertainty and long-horizon execution. While learning-based visuomotor policies offer a p…
3D Gaussian Splatting (3DGS) has emerged as a powerful approach for novel view synthesis. However, the number of Gaussian primitives often grows substantially during training as finer scene details ar…
Articulated object manipulation is essential for various real-world robotic tasks, yet generalizing across diverse objects remains a major challenge. A key to generalization lies in understanding func…
This paper investigates secure downlink transmission in a UAV-assisted reconfigurable intelligent surface (RIS)-enabled multiuser multiple-input single-output network, where legitimate information-har…
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