Research
Research
Research
Research
7,833+ open-access research outputs.
Synthetic data generated by video generative models has shown promise for robot learning as a scalable pipeline, but it often suffers from inconsistent action quality due to imperfectly generated vide…
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position th…
Most multi-robot task allocation methods rely on communication to resolve conflicts and reach consistent assignments. In environments with limited bandwidth, degraded infrastructure, or adversarial in…
Leveraging channel state information from multiple Wi-Fi bands can improve delay resolution for ranging and sensing when a wide contiguous spectrum is unavailable. However, frequency gaps shape the de…
Remote and resource-constrained Internet-of-Things (IoT) deployments often lack terrestrial connectivity for task offloading, motivating non-terrestrial networks (NTNs) with onboard multiaccess edge c…
Mutual adaptation is a central challenge in human--AI teaming, as humans naturally adjust their strategies in response to a robot's policy. Existing approaches aim to improve diversity in training par…
As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While H…
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Temporal Logic (STL), …
Modulo sampling is a promising technology to preserve amplitude information that exceeds the observable range of analog-to-digital converters during the digitization of analog signals. Since conventio…
Hybrid received signal strength (RSS)-angle of arrival (AoA)-based positioning offers low-cost distance estimation and high-resolution angular measurements. Still, it comes at a cost of inherent nonli…
Mobile networks require safe optimization to adapt to changing conditions in traffic demand and signal transmission quality, in addition to improving service performance metrics. With the increasing c…
In order to insert a fork into a hole of a pallet by a forklift located in front of a pallet, it is necessary to control the height position, reach position, and tilt angle of the fork to match the po…
Autonomous vehicles (AVs) are being increasingly deployed in urban environments. In order to operate safely and reliably, AVs need to account for the inherent uncertainty associated with perceiving th…
Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performanc…
In high-performance computing (HPC) environments, particularly in synchrotron radiation facilities, vast amounts of X-ray images are generated. Processing large-scale X-ray Computed Tomography (X-CT) …
Matrix approximation methods have successfully produced efficient, low-complexity approximate transforms for the discrete cosine transforms and the discrete Fourier transforms. For the DFT case, liter…
We present StrokeNeXt, a model for stroke classification in 2D Computed Tomography (CT) images. StrokeNeXt employs a dual-branch design with two ConvNeXt encoders, whose features are fused through a l…
In this work, we propose a method for computing centroids, or barycenters, in the spectral Wasserstein-2 metric for sets of power spectral densities, where the barycenters are restricted to belong to …
This study proposes an intelligent multi-agent framework built on LLMs and VLMs and specifically tailored to robotics. The goal is to integrate the strengths of LLMs and VLMs with computational tools …
Collaborative virtual queueing has been proposed as a mechanism to mitigate airport surface congestion while preserving airline autonomy over aircraft-level pushback decisions. A central coordinator c…
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