Research
Research
Research
Research
2,278+ open-access research outputs.
Specular glare on reflective floors and glass surfaces frequently corrupts RGB-D depth measurements, producing holes and spikes that accumulate as persistent phantom obstacles in occupancy-grid costma…
Accurate inference from quartz crystal microbalance (QCM) measurements in liquids is often limited by reducing resonance behavior to two scalar endpoints (frequency and dissipation shifts, $\Delta f$ …
Training embodied AI agents depends critically on the visual fidelity of simulation environments and the ability to model dynamic humans. Current simulators rely on mesh-based rasterization with limit…
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from two fundamental limi…
Particle Swarm Optimization (PSO) is susceptible to premature convergence when the swarm collapses around the global best, particularly on multimodal landscapes in higher dimensions. We propose Diverg…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering …
RF sensing exploits phase-sensitive measurements of stray electromagnetic (EM) fields from wireless devices across various frequency bands to detect EM blockage and to reconstruct and map the surround…
As embodied robots move toward fleet-scale operation, multi-robot coordination is becoming a central systems challenge. Existing approaches often treat this as motivation for increasing internal multi…
Feed-forward geometric foundation models can infer dense point clouds and camera motion directly from RGB streams, providing priors for monocular SLAM. However, their predictions are often view-depend…
The growing complexity of visuomotor policies poses significant challenges for deployment with heterogeneous robotic hardware constraints. However, most existing model-efficient approaches for robotic…
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only …
Let $f:\mathbb{R}^n\to\mathbb{R}$ be an unknown object, and suppose the observations are tomographic projections of randomly rotated copies of $f$ of the form $Y = P(R\cdot f)$, where $R$ is Haar-unif…
Tensegrity robots offer compliance and adaptability, but their nonlinear, and underconstrained dynamics make state estimation challenging. Reliable continuous-time estimation of all rigid links is cru…
Broadband oscillations in wind farms have been widely reported in recent years. Past studies have examined various types of oscillations in wind farms, relating small-signal stability to control setti…
Embodied-AI agents must reason about how objects move and interact in 3-D space over time, yet existing smaller frontier Large Language Models (LLMs) still mis-handle fine-grained spatial relations, m…
Dynamic Metasurface Antennas (DMAs) have been recently proposed as a cost- and energy-efficient front-end solution for eXtremely Large (XL) antenna array systems, supporting scalable Analog and Digita…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can res…
Vision-Language-Action (VLA) models have achieved remarkable success in robotic manipulation. However, their robustness to linguistic nuances remains a critical, under-explored safety concern, posing …
Considerable efforts have been made to address the resonance issue of the Direct-drive Permanent Magnet Synchronous Generator (D-PMSG) wind farm integrated power systems. However, the D-PMSG controlle…
Deep learning models for atrial fibrillation (AF) detection are increasingly trained on heterogeneous electrocardiogram (ECG) datasets with varying sampling frequencies, yet the specific consequences …
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