Research
Research
Research
Research
2,218+ open-access research outputs.
End-to-end autonomous driving is increasingly adopting a multimodal planning paradigm that generates multiple trajectory candidates and selects the final plan, making candidate-set design critical. A …
Robotic deep anterior lamellar keratoplasty (DALK) requires accurate real time depth feedback to approach Descemet's membrane (DM) without perforation. M-mode intraoperative optical coherence tomograp…
The advancement of speech technology has predominantly favored high-resource languages, creating a significant digital divide for speakers of most Sub-Saharan African languages. To address this gap, w…
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under …
The presence of interharmonics in power systems can lead to asynchronous sampling, a phenomenon further aggravated by shifts in the fundamental frequency, which significantly degrades the accuracy of …
The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and texture variations. …
Real-time execution is essential for cyber-physical systems such as robots. These systems operate in dynamic real-world environments where even small delays can undermine responsiveness and compromise…
Most audio-visual speaker extraction methods rely on synchronized lip recording to isolate the speech of a target speaker from a multi-talker mixture. However, in natural human communication, co-speec…
Conventional robotic Braille readers typically rely on discrete, character-by-character scanning, limiting reading speed and disrupting natural flow. Vision-based alternatives often require substantia…
With the development of the sixth-generation (6G) communication system, Channel State Information (CSI) plays a crucial role in improving network performance. Traditional Channel Charting (CC) methods…
This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints…
The construction industry faces productivity stagnation, skilled labor shortages, and safety concerns. While robotic automation offers solutions, construction robots struggle to adapt to unstructured,…
Recent years have witnessed a resurgence in using ReLU neural networks (NNs) to represent model predictive control (MPC) policies. However, determining the required network complexity to ensure closed…
In disaster scenarios, ensuring both reliable communication and situational awareness becomes a critical challenge due to the partial or complete collapse of terrestrial networks. This paper proposes …
This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynamics. Leveraging the …
In this paper, we introduce a close-enough multi-UAV general routing problem (CEMUAVGRP) where a fleet of homogeneous UAVs conduct monitoring tasks containing nodes, each of which has its disk neighbo…
Four-dimensional (4D) Flow MRI can noninvasively measure cerebrovascular hemodynamics but remains underused clinically because current workflows rely on manual vessel segmentation and yield velocity f…
Robust generalization in robotic manipulation is crucial for robots to adapt flexibly to diverse environments. Existing methods usually improve generalization by scaling data and networks, but model t…
Early diagnosis of melanoma, which can save thousands of lives, relies heavily on the analysis of dermoscopic images. One crucial diagnostic criterion is the identification of unusual pigment network …
We present the Universal Latent Homeomorphic Manifold (ULHM), a framework that unifies semantic representations (e.g., human descriptions, diagnostic labels) and observation-driven machine representat…
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