Research
Research
Research
Research
11,037+ open-access research outputs.
Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodi…
Real-time control of distribution networks requires accurate information about the system state. In practice, however, such information is difficult to obtain because real-time measurements are availa…
Model-based multi-agent control requires agents to possess a model of the behavior of others to make strategic decisions. Solution concepts from game theory are often used to model the emergent collec…
We present $\phi-$DeepONet, a physics-informed neural operator designed to learn mappings between function spaces that may contain discontinuities or exhibit non-smooth behavior. Classical neural oper…
Embodied agents are increasingly expected to improve over time by updating their executable capabilities rather than rewriting the agent itself. Prior work has separately studied modular capability pa…
Multi-Agent Path Finding (MAPF) is a fundamental coordination problem in large-scale robotic and cyber-physical systems, where multiple agents must compute conflict-free trajectories with limited comp…
Broadband oscillations in wind farms have been widely reported in recent years. Past studies have examined various types of oscillations in wind farms, relating small-signal stability to control setti…
This paper focuses on embodied task planning, where an agent acquires visual observations from the environment and executes atomic actions to accomplish a given task. Although recent Vision-Language M…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich…
While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-o…
The rapid growth of generative artificial intelligence (AI) has introduced unprecedented computational demands, driving significant increases in the energy footprint of data centers. However, existing…
Understanding and modeling animal behavior is essential for studying collective motion, decision-making, and bio-inspired robotics. Yet, evaluating the accuracy of behavioral models still often relies…
Synchronization in networks of coupled oscillators is classically studied via the Kuramoto model, whose intrinsic nonlinearity limits analytical tractability and complicates control design. Complex-va…
Isogeometric analysis was proposed to bridge the gap between computer-aided design and numerical discretization. However, standard multi-patch isogeometric analysis mandates conformal discretizations …
Existing short term voltage stability (STVS) methods typically address either voltage oscillations or delayed voltage recovery; however, the coexistence of both phenomena has not been adequately cover…
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, and failures such as e…
The rapid proliferation of data centers is reshaping modern power system dynamics. Unlike legacy industrial loads, data centers have power-electronic interfaces whose multi-timescale dynamics can inte…
Autonomous vehicles in interactive traffic environments are often limited by the scarcity of safety-critical tail events in static datasets, which biases learned policies toward average-case behaviors…
Multiscale topology optimization (TO) of hyperelastic materials remains computationally prohibitive due to the repeated solution of microscale boundary value problems. In this work, we present a concu…
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