Research
Research
Research
Research
2,218+ open-access research outputs.
This paper proposes a novel discretization workflow for contact problems in which the discretization of the contact interface is decoupled from that of the bulk domain. This separation enables indepen…
Despite the rapid progress of Vision-Language-Action (VLA) models, the prevailing paradigm of predicting discrete waypoints remains fundamentally misaligned with the intrinsic continuity of physical m…
The Moving Target Vehicle Routing Problem (MT-VRP) seeks trajectories for several agents that intercept a set of moving targets, subject to speed, time window, and capacity constraints. We introduce a…
Existing end-to-end approaches of robotic manipulation often lack generalization to unseen objects or tasks due to limited data and poor interpretability. While recent Multimodal Large Language Models…
Robotic manipulation requires policies that are smooth and responsive to evolving observations. However, synchronous inference in the raw action space introduces several challenges, including intra-ch…
State-of-the-art vessel segmentation methods typically require large-scale annotated datasets and suffer from severe performance degradation under domain shifts. In clinical practice, however, acquiri…
Specular reflections pose a significant challenge for object segmentation, as their sharp intensity transitions often mislead both conventional algorithms and deep learning based methods. However, as …
We address the synchronization problem in open multi-agent systems (OMAS) containing both cooperative and antagonistic interactions. In these systems, agents can join or leave the network over time, a…
The analysis of non-stationary time-series data requires insight into its local and global patterns with physical interpretability. However, traditional smoothing algorithms, such as B-splines, Savitz…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial re…
Magnetic resonance spectroscopy (MRS) is used to quantify metabolites in vivo and estimate biomarkers for conditions ranging from neurological disorders to cancers. Quantifying low-concentration metab…
This work addresses the edge-based synchronization problem in first-order multi-agent systems containing both cooperative and antagonistic interactions with one or multiple leader groups. The presence…
Differential Mobility Spectrometry (DMS), also known as Field Asymmetric Ion Mobility Spectrometry, is a rapid and affordable technology for extracting information from gas phase samples containing co…
Short packets make channel learning expensive. In pilot-aided transmission (PAT), a non-negligible fraction of the packet is consumed by pilots, creating a direct pre-log loss and tightening the relia…
Skin cancer can be life-threatening if not diagnosed early, a prevalent yet preventable disease. Globally, skin cancer is perceived among the finest prevailing cancers and millions of people are diagn…
Robotic-assisted surgery (RAS) is established in clinical practice, and automated surgical skill assessment utilizing multimodal data offers transformative potential for surgical analytics and educati…
Phase vocoder-based time-stretching is a widely used technique for the time-scale modification of audio signals. However, conventional implementations suffer from ``percussion smearing,'' a well-known…
Semantics has enabled 3D scene understanding and affordance-driven object interaction. However, robots operating in real-world environments face a critical limitation: they cannot anticipate how objec…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flig…
A set of curved beams and shells is geometrically implied by level sets of a scalar function over some bulk domain. The mechanical model for each structure is based on the Kirchhoff--Love theory, that…
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