Research
Research
Research
Research
7,833+ open-access research outputs.
Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills such as climbing, r…
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real…
The increasing demand for intelligent mobile applications has made multi-agent collaboration with Transformer-based large language models (LLMs) essential in mobile edge computing (MEC) networks. Howe…
Despite the rapidly growing applications of robots in industry, the use of robots to automate tasks in scientific laboratories is less prolific due to lack of generalized methodologies and high cost o…
This paper presents SHARP (Supercomputing for High-speed Avoidance and Reactive Planning), a proof-of-concept study demonstrating how high-performance computing (HPC) can enable millisecond-scale resp…
Phase-sensitive optical time-domain reflectometry {\Phi}-OTDR has emerged as a promising sensing technology in Internet of Things (IoT) infrastructures, enabling large-scale distributed acoustic sensi…
With the rapid development of intelligent transportation and smart city applications, urban canyon has become a critical scenario for the design and evaluation of wireless communication systems. Due t…
In affective neuroscience and emotion-aware AI, understanding how complex auditory stimuli drive emotion arousal dynamics remains unresolved. This study introduces a computational framework to model t…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimat…
Vehicles are becoming increasingly automated and interconnected, enabling the formation of cooperative intelligent transport systems (C-ITS) and the use of offboard services. As a result, cloud-native…
This paper considers the problem of enabling robots to navigate dynamic environments while following instructions. The challenge lies in the combinatorial nature of instruction specifications: each in…
Mutual information (MI) is a promising candidate measure for the assessment and optimization of localization systems, as it captures nonlinear dependencies between random variables. However, the high …
Cable-driven serpentine manipulators hold great potential in unstructured environments, offering obstacle avoidance, multi-directional force application, and a lightweight design. By placing all motor…
As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely…
In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning methods often suffe…
In the development of spatial audio technologies, reliable and shared methods for evaluating audio quality are essential. Listening tests are currently the standard but remain costly in terms of time …
The cyclic output-to-output gain is a security metric for control systems. Commonly, it is computed by solving a semi-definite program, which scales badly and inhibits its use for large-scale systems.…
This paper introduces MR-CQTdiff, a novel neural-network architecture for diffusion-based audio generation that leverages a multi-resolution Constant-$Q$ Transform (C$Q$T). The proposed architecture e…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch s…
Emergent properties in distributed systems arise due to timing unpredictability; asynchronous state evolution within each sub-system may lead the macro-system to faulty meta-states. Empirical validati…
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