Research
Research
Research
Research
926+ open-access research outputs.
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
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…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
In this letter, we propose a sparsification method for precoding codebooks that reduces the peak-to-average power ratio (PAPR) while preserving the achievable rate. By exploiting the fact that precode…
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main as…
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registration, resulting in de…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear obser…
In this paper, we consider data-driven reconstruction of unknown inputs to linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems. We propose a novel autoregressive estimator based …
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on…
Sensor spoofing analysis in cyber-physical systems is predominantly confined to linear state spaces, where attack transferability is trivial. On Lie groups, however, the noncommutativity of the dynami…
Scaling Vision-Language-Action (VLA) models by upgrading the vision encoder is expected to improve downstream manipulation performance--as it does in vision-language modeling. We show that this expect…
Odometry estimation using light detection and ranging (LiDAR) and an inertial measurement unit (IMU), known as LiDAR-inertial odometry (LIO), often suffers from performance degradation in degenerate e…
Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of group invariance ena…
Realistic lip synchronization is essential for the natural human-robot non-verbal interaction of humanoid robots. Motivated by this need, this paper presents a lip motion generation framework based on…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback cont…
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstraction…
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