Research
Research
Research
Research
2,218+ open-access research outputs.
Physics-informed neural networks (PINNs) have shown promise for solving partial differential equations (PDEs) by directly embedding them into the loss function. Despite their notable success, existing…
The fading-memory (FM) property captures the progressive loss of influence of past inputs on a system's current output and has originally been formalized by Boyd and Chua in an operator-theoretic fram…
Time-invariant finite-dimensional systems, under reasonable continuity assumptions, exhibit the property that if solutions exist for all future times, the set of vectors reachable from a bounded set o…
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF…
Monitoring and controlling invasive tree species across large forests, parks, and trail networks is challenging due to limited accessibility, reliance on manual scouting, and degraded under-canopy GNS…
Retinal vessel segmentation methods based on standard overlap losses tend to miss thin peripheral vessels because these structures occupy very few pixels and have low contrast against the background. …
The Moving Target Vehicle Routing Problem with Obstacles (MT-VRP-O) seeks trajectories for several agents that collectively intercept a set of moving targets. Each target has one or more time windows …
We present a zero-shot deformation reconstruction framework for soft robots that operates without any visual supervision at inference time. In this work, zero-shot deformation reconstruction is define…
This Data Descriptor presents a fully open, multi-modal dataset for estimating vertical ground reaction force (vGRF) from consumer-grade Apple Watch sensors with laboratory force plate ground truth. T…
The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics.…
Predicting surgical needle trajectories from endoscopic video is critical for robot-assisted suturing, enabling anticipatory planning, real-time guidance, and safer motion execution. Existing methods …
The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and ac…
This paper presents a unified decision-making framework that integrates Hybrid Markov Decision Processes (HMDPs) with Model Predictive Control (MPC), augmented by velocity-dependent safety margins and…
Efficient and accurate prediction of Multiphysics evolution across diverse cell geometries is fundamental to the design, management and safety of lithium-ion batteries. However, existing computational…
Robotic manipulation tasks that require repeated tool motion along curved surfaces frequently arise in surface finishing, inspection, and guided interaction. In practice, nominal motion primitives are…
Learning in simulation provides a useful foundation for scaling robotic manipulation capabilities. However, this paradigm often suffers from a lack of data-generation-ready digital assets, in both sca…
Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has demonstrated the fea…
Motion forecasting is a core task in autonomous driving systems, aiming to accurately predict the future trajectories of surrounding agents to ensure driving safety. Existing methods typically process…
Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explored, limiting stabilit…
Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligence. However, VLM-based planners treat each step as an isolated observation-to-action mapping,…
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