Research
Research
Research
Research
288+ open-access research outputs.
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asy…
We present a novel framework for line-of-sight (LoS) delay-Doppler (DD) estimation in dense scattering propagation environments. We present two time-frequency (TF) domain pilot sequences inspired by t…
Multi-speaker automatic speech recognition (ASR) aims to transcribe conversational speech involving multiple speakers, requiring the model to capture not only what was said, but also who said it and s…
Unification of automatic speech recognition (ASR) systems reduces development and maintenance costs, but training a single model to perform well in both offline and low-latency streaming settings rema…
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…
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked…
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…
The enhanced Gaussian noise (EGN) model is widely used for estimating the nonlinear interference (NLI) power accumulated in coherent fiber-optic transmission systems. Given a fixed fiber link, under t…
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action chunking approaches s…
In Vision-Language-Action (VLA) models, action chunking (i.e., executing a sequence of actions without intermediate replanning) is a key technique to improve robotic manipulation abilities. However, a…
Vision-Language-Action (VLA) models, as large foundation models for embodied control, have shown strong performance in manipulation tasks. However, their performance comes at high inference cost. To i…
Vision-language-action (VLA) models have demonstrated exceptional performance in natural language-driven perception and control. However, the high computational cost of VLA models poses significant ef…
Coarse-to-fine autoregressive modeling has recently shown strong promise for visuomotor policy learning, combining the inference efficiency of autoregressive methods with the global trajectory coheren…
Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often…
The fading-memory (FM) property captures the progressive loss of influence of past inputs on a system's current output and has originally been formalized by Boyd and Chua in an operator-theoretic fram…
Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world …
Uncrewed aerial vehicles (UAVs) are expected to enhance connectivity, extend network coverage, and support advanced communication services in sixth-generation (6G) cellular networks, particularly in p…
Euler-Lagrange (EL) simulations provide a direct and robust framework for modeling disperse multiphase flows. However, they are computationally expensive. While various approaches have attempted to le…
We present a progress-based fault detection module and its integration with dynamic task allocation for heterogeneous robot teams. The detector monitors a normalized task-completion signal with a ligh…
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