Research
Research
Research
Research
13+ open-access research outputs.
Discrete biological sequence optimization requires iterative refinement under strict syntactic constraints. Diffusion models offer progressive refinement but do not naturally expose controllable discr…
We introduce CREStE, a scalable learning-based mapless navigation framework to address the open-world generalization and robustness challenges of outdoor urban navigation. Key to achieving this is lea…
Recent advancements in robotics have led to the development of numerous interfaces to enhance the intuitiveness of robot navigation. However, the reliance on traditional 2D displays imposes limitation…
The rapid on-site evaluation (ROSE) technique can significantly ac-celerate the diagnostic workflow of pancreatic cancer by immediately analyzing the fast-stained cytopathological images with on-site …
The intelligent robotics community usually organizes knowledge into symbolic and sub-symbolic levels. These two levels establish the set of symbols and rules for manipulating knowledge based on their …
This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly-coupled iterated Kalman filter, FAST-LIO2 has two key novelties t…
In this paper, we investigate the covert sensor attack synthesis problem in the framework of supervisory control of networked discrete-event systems (DES), where the observation channel and the contro…
This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation tim…
In this paper, we study large-scale networks in terms of observability and controllability. In particular, we compare the number of unmatched nodes in two main types of Scale-Free (SF) networks: the B…
For real-world deployment of automatic speech recognition (ASR), the system is desired to be capable of fast inference while relieving the requirement of computational resources. The recently proposed…
Nowadays, the application of fully autonomous system like rotary wing unmanned air vehicles (UAVs) is increasing sharply. Due to the complex nonlinear dynamics, a huge research interest is witnessed i…
The vast majority of real-world networks are scale-free, loopy, and sparse, with a power-law degree distribution and a constant average degree. In this paper, we study first-order consensus dynamics i…
Mobile manipulation problems involving many objects are challenging to solve due to the high dimensionality and multi-modality of their hybrid configuration spaces. Planners that perform a purely geom…
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