Research
Research
Research
Research
11,037+ open-access research outputs.
This paper presents a field-based evaluation of Long Range Wide Area Network (LoRaWAN) signal propagation conducted at two locations within the Aerial Experimentation and Research Platform for Advance…
While the ASAM OpenSCENARIO 2.1 Domain-Specific Language (DSL) enables declarative, intent-driven authoring for Scenario-Based Testing (SBT), its integration into open-source simulators like CARLA rem…
The decarbonisation of heavy-duty railway networks requires maximising the capacity of existing electrical infrastructure. Integrating heavy freight alongside fast passenger services exposes the hard …
In network congestion games, system operators often utilize latency models, estimated from real-world traffic flow and travel time data, to design monetary incentives which steer equilibrium user beha…
We provide a practical relaxation of Willems' fundamental lemma for discrete-time linear time-invariant (single-input-single-output) systems. Instead of maintaining conventional Willems' persistency o…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human…
Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and R…
Robotic and embodied-AI systems have the potential to improve accessibility and quality of care in clinical settings, but their deployment in close physical contact with vulnerable patients introduces…
Vision-Language-Action (VLA) models have achieved remarkable success in robotic manipulation. However, their robustness to linguistic nuances remains a critical, under-explored safety concern, posing …
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robo…
The World Action Model (WAM) can jointly predict future world states and actions, exhibiting stronger physical manipulation capabilities compared with traditional models. Such powerful physical intera…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this …
Mobile manipulators are increasingly deployed in human-centered environments to perform tasks. While completing such tasks, they should also be able to communicate their intent to the people around th…
In this paper, we propose applying semantic embedding to learn the range of behaviors exhibited by molecular swarms, thereby providing a richer set of features to optimize such systems. Specifically, …
Evaluation of robotic manipulation systems has largely relied on fixed benchmarks authored by a small number of experts, where task instances, constraints, and success criteria are predefined and diff…
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these set…
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical systems with switching b…
Building generalist embodied agents requires integrating perception, language understanding, and action, which are core capabilities addressed by Vision-Language-Action (VLA) approaches based on multi…
In this work, we propose an adaptive robust loss function framework for MHE, integrating an adaptive robust loss function to reduce the impact of outliers with a regularization term that avoids naive …
The unscented Kalman filter (UKF) is a commonly used algorithm capable of estimating the states of nonlinear dynamic systems. It carefully chooses a set of sample points, called sigma points that capt…
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