Research
Research
Research
Research
7,833+ open-access research outputs.
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research ha…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents …
$\textbf{Purpose:}$ To develop and evaluate an operator learning framework for nonlinear inversion (NLI) of brain magnetic resonance elastography (MRE) data, which enables real-time inversion of elast…
Foot drop is commonly managed using Functional Electrical Stimulation (FES), typically delivered via open-loop controllers with fixed stimulation intensities. While users may manually adjust the inten…
We introduce the Information-Estimation Metric (IEM), a novel form of distance function derived from an underlying continuous probability density over a domain of signals. The IEM is rooted in a funda…
Integrating renewable energy sources into the grid not only reduces global carbon emissions, but also facilitates distribution system (DS) blackstart restoration. This process leverages renewable ener…
We present a computational framework for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety. We show that the existence of a strictly compatible pair of…
Ensuring the safety of complex dynamical systems often relies on Hamilton-Jacobi (HJ) Reachability Analysis or Control Barrier Functions (CBFs). Both methods require computing a function that characte…
Inspired by Costa's pioneering work on dirty paper coding (DPC), this paper proposes a novel scheme for integrated communication and computing (ICC), named Computing on Dirty Paper, whereby the transm…
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggl…
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is …
Stacked intelligent surfaces (SIS)s have been proposed recently as an enabling technology for Holographic Multiple Input Multiple Output (HMIMO) and Ultra-massive MIMO (umMIMO) technologies. Their uti…
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic systems and associating s…
Human-robot collaboration (HRC) is a key focus of Industry 5.0, aiming to enhance worker productivity while ensuring well-being. The ability to perceive human psycho-physical states, such as stress an…
Own voice pickup technology for hearable devices facilitates communication in noisy environments. Own voice reconstruction (OVR) systems enhance the quality and intelligibility of the recorded noisy o…
This work proposes an efficient, robust adaptive beamforming technique to deal with steering vector (SV) estimation mismatches and data covariance matrix reconstruction problems. In particular, the di…
The desirability of the mid-band frequency range (1 - 10 GHz) for federal and commercial applications, combined with the growing applications for commercial indoor use-cases, such as factory automatio…
While the technologies empowering malicious audio deepfakes have dramatically evolved in recent years due to generative AI advances, the same cannot be said of global research into spoofing (deepfake)…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these metho…
This paper introduces Zimtohrli, a novel, full-reference audio similarity metric designed for efficient and perceptually accurate quality assessment. In an era dominated by computationally intensive d…
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