Research
Research
Research
Research
38,789+ open-access research outputs.
Training embodied AI agents depends critically on the visual fidelity of simulation environments and the ability to model dynamic humans. Current simulators rely on mesh-based rasterization with limit…
In massive machine-type communication (mMTC) applications, a key challenge is joint device activity detection and channel estimation (JADCE) under grant-free random access, as a massive number of devi…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredicta…
This study addresses the stochastic Model Predictive Control (MPC) problem for linear time-invariant systems subjected to unknown disturbance distributions. By leveraging the most recent disturbance d…
A key challenge in learning-based model predictive control (MPC) is to collect informative data online for model adaptation while ensuring safety and without penalising control performance. In this pa…
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…
This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and com…
Unmanned Aerial Vehicles (UAVs) are increasingly deployed in search-and-rescue (SAR) missions, yet continuous and reliable victim detection and localization remain challenging due to on-board hardware…
Integrated terrestrial and non-terrestrial networks (ITNTNs) are regarded as a key architectural paradigm for sixth-generation (6G) wireless systems. This paper investigates a dual-aerial reconfigurab…
A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common pro…
Integrated terrestrial and non-terrestrial networks (ITNTNs) are envisioned as a key paradigm for sixth-generation (6G) wireless systems, enabling seamless global connectivity. In this paper, we inves…
This paper investigates the secrecy performance of pinching-antenna systems (PAS) under practical pinching-position activation uncertainty. By dynamically selecting the radiation point along a dielect…
Trajectory optimization depends heavily on initialization. In particular, sampling-based approaches are highly sensitive to initial solutions, and limited exploration frequently leads them to converge…
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…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to un…
This paper considers a multi-user system, where the users first harvest energy from the base station and then use the harvested energy to transmit information via non-orthogonal multiple access (NOMA)…
This paper describes an embedded boundary (EB) approach for simulating three-dimensional fluid flow on a staggered mesh where the velocity components are defined on cell faces and the thermodynamic st…
Layered control is essential for managing complexity in large-scale systems, employing progressively coarser models at higher layers. While significant advances have been made for fully observable sys…
We study online linear-quadratic regulation (LQR) with unknown dynamics under communication rate constraints. Classical networked control quantizes the plant state at every time step, requiring $O(T)$…
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both …
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