Research
Research
Research
Research
38,789+ open-access research outputs.
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering …
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., ani…
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…
This paper proposes a novel Distributed Unknown Input Observer (DUIO) framework for state estimation in large-scale systems subject to local unknown inputs. We consider systems where outputs are measu…
Reinforcement learning (RL) can be a powerful alternative to classical control methods when standard model-based control is insufficient, e.g., when deriving a suitable model is intractable or impossi…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding col…
Our objective is to study the performance and robustness of the model-free strategy for controlling the oxygen stoichiometry of a fuel cell air supply system with a proton exchange membrane. After rev…
The integration of first-principles models with learning-based components, i.e., model augmentation, has gained increasing attention, as it offers higher model accuracy and faster convergence properti…
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. H…
Reinforcement learning (RL) offers a promising approach for adaptive wind farm flow control, yet its practical deployment is hindered by slow training convergence and poor initial performance, factors…
Optimization using network traffic models requires computing gradients of objective functions with respect to model parameters. However, derivation of such gradients has often been considered difficul…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial…
State estimation constitutes a core task in monitoring, supervision, and control of dynamic systems. This paper proposes a data-driven framework for the design of state observers for descriptor system…
Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous multimodal perceptio…
Everything that exists has a natural frequency; this material characteristic is something that must be known and fully understood. If we fail to predict, measure, and address potential natural frequen…
Training language-conditioned whole-body controllers for humanoid robots demands large-scale motion-language datasets. Existing approaches based on motion capture are costly and limited in diversity, …
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on m…
Pretrained video generation models provide strong priors for robot control, but existing unified world action models still struggle to decode reliable actions without substantial robot-specific traini…
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