Research
Research
Research
Research
2,223+ open-access research outputs.
Design Structure Matrix (DSM) modularization, the task of partitioning system elements into cohesive modules, is a fundamental combinatorial challenge in engineering design. Traditional methods treat …
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popul…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
With the shift towards decentralized energy generation, the increasing complexity of power systems renders physics-based modeling challenging. At the same time the growing amount of available measurem…
This paper presents a deep unfolding-supported coordinated multipoint beam pattern synthesis (DUCoMP-BPS) scheme to overcome the high complexity, poor adaptability, and limited scalability of traditio…
Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage…
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturban…
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observabil…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In…
Realizing active visual tracking with a single unified model across diverse robots is challenging, as the physical constraints and motion dynamics vary drastically from one platform to another. Existi…
Image transmission for vehicle-to-vehicle collaborative perception in autonomous driving faces challenges including limited on-board terminal resources, time-varying wireless channel fading, and poor …
Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and t…
The rapid advancement of Audio Large Language Models (ALMs), driven by Neural Audio Codecs (NACs), has led to the emergence of highly realistic speech deepfakes, commonly referred to as CodecFakes (CF…
This paper provides novel insights into channel and subspace codes in nonadaptive channel sensing with a single RF chain. Observing that this problem naturally maps to a noncoherent decoding problem, …
Traditional policy learning methods in cooperative pursuit face fundamental challenges in biomimetic underwater robots, where long-horizon decision making, partial observability, and inter-robot coord…
This work investigates a full-duplex (FD)-enhanced Rate-Splitting Multiple Access (RSMA) system under practical constraints, including imperfect channel state information (CSI) and successive interfer…
In this work, we introduce a paralinguistic supervision paradigm for low-resource multilingual speech emotion recognition (LRM-SER) that leverages non-verbal vocalizations to exploit prosody-centric e…
Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which …
Precise aerial radio environment characterization is vital for low-altitude planning. However, existing datasets and estimation methods lack the high-resolution granularity required for complex aerial…
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