Research
Research
Research
Research
11,037+ open-access research outputs.
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body co…
Vision-Language-Action (VLA) models inherit rich world knowledge from vision-language backbones and acquire executable skills via action demonstrations. However, existing evaluations largely focus on …
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verif…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interacti…
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model…
Multi-robot systems hold significant promise for social environments such as homes and hospitals, yet existing multi-robot works treat robots as functionally identical, overlooking how robots individu…
Closed-loop cooperative driving requires planners that generate realistic multimodal multi-agent trajectories while improving safety and traffic efficiency. Existing diffusion planners can model multi…
Reinforcement learning (RL) offers a promising approach for adaptive wind farm flow control, yet its practical deployment is hindered by slow training convergence and poor initial performance, factors…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial…
Conventional microwave engineering education relies heavily on analytical methods, canonical circuit topologies, and intuition-driven design, which have proven effective at microwave frequencies. Howe…
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on m…
Simulation trained legged locomotion policies often exhibit performance loss on hardware due to dynamics discrepancies between the simulator and the real world, highlighting the need for approaches th…
We investigate estimating a human's world belief state using a robot's observations in a dynamic, 3D, and partially observable environment. The methods are grounded in mental model theory, which posit…
End-to-End (E2E) autonomous driving models are usually trained and evaluated with a fixed ego-vehicle, even though their driving policy is implicitly tied to vehicle dynamics. When such a model is dep…
Large, spatially flexible electricity consumers such as data centers can reallocate demand across locations, influencing dispatch and prices in wholesale electricity markets. While flexible load is of…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, inc…
Flow Matching (FM) policies have emerged as an efficient backbone for robotic control, offering fast and expressive action generation that underpins recent large-scale embodied AI systems. However, FM…
Open-loop (OL) to closed-loop (CL) gap (OL-CL gap) exists when OL-pretrained policies scoring high in OL evaluations fail to transfer effectively in closed-loop (CL) deployment. In this paper, we unve…
Weaving ramps are critical bottlenecks in highway networks due to conflicting traffic flows and complex interactions among heterogeneous vehicle types. In mixed-autonomy settings, the presence of cont…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physica…
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