Research
Research
Research
Research
11,037+ open-access research outputs.
Vision-language-action (VLA) models have achieved great success on general robotic tasks, but still face challenges in fine-grained spatiotemporal manipulation. Typically, existing methods mainly embe…
Most autonomous driving safety benchmarks use time-to-collision (TTC) to assess risk and guide safe behaviour. However, TTC-based methods treat risk as a one-dimensional closing problem, despite the i…
This paper studies scalable conjugate beamforming (CB) variants for physical-layer multicasting in cell-free massive multiple-input multiple-output (CF-mMIMO) systems. Focusing on fully distributed pr…
Financial Transmission Rights (FTRs) enable electricity market participants to hedge congestion risk in Day Ahead Market (DAM) operations, but for the market to be solvent, Independent System Operator…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information ab…
This paper presents a stochastic delayed differential model for rumor propagation during infodemic that incorporates human behavioral response, public skepticism and fact-checking mechanisms. A discre…
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly a…
High-DOF dexterous hands require compact actuation, rich sensing, and reliable thermal behavior, but conventional designs often occupy valuable in-hand space, increase end-effector mass, and suffer fr…
In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion cons…
Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted for…
An inherent assumption of perfect tracking in iterative learning control (ILC) is that there exists an ILC input such that the generated output can track the desired trajectory reference. This assumpt…
Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empiri…
Linear-threshold networks (LTNs) capture the mesoscale behavior of interacting populations of neurons and are of particular interest to control theorists due to their dynamical richness and relative e…
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper…
Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration and cause agents to g…
Artificial Intelligence (AI), especially cloud platforms and large language models (LLMs), is changing how engineering is taught by making learning more interactive and flexible. However, in electrica…
Fungal protein materials exhibit inherently anisotropic microstructures formed by networks of hyphae, which suggest a natural pathway to replicate the fibrous texture of animal meat. We probe whether …
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduction and leads to ove…
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provide Doppler velocity m…
Network Digital Twins (NDTs) enable safe what-if analysis for 6G cloud-edge infrastructures, but adoption is often limited by fragmented workflows from telemetry to validation. We present a data-drive…
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