Research
Research
Research
Research
43,440+ open-access research outputs.
Vision-Language-Action (VLA) models have increasingly incorporated reasoning mechanisms for complex robotic manipulation. However, existing approaches share a critical limitation: whether employing ex…
The proliferation of capable and efficient machine learning (ML) models marks one of the strongest methodological shifts in signal processing (SP) in its nearly 100-year history. ML models support the…
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
Design Structure Matrix (DSM) modularization, the task of partitioning system elements into cohesive modules, is a fundamental combinatorial challenge in engineering design. Traditional methods treat …
This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinator…
We introduce LRS-VoxMM, an in-the-wild benchmark for audio-visual speech recognition (AVSR). The benchmark is derived from VoxMM, a dataset of diverse real-world spoken conversations with human-annota…
The advancement of automated vehicles introduces complex safety challenges, particularly in dynamic and unpredictable environments where AI-enabled perception systems must operate reliably. Ensuring c…
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning and carefully chosen …
Despite the rise of token communication (TokCom) as a new paradigm beyond traditional bit communication, existing approaches have primarily adopted artificial intelligence (AI)-centric designs that re…
Flexible-antenna systems, which use a small number of radio frequency (RF) chains to dynamically access a large set of candidate antenna locations, have emerged as a hardware-efficient architecture fo…
A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human vide…
The pressure for Water Resource Recovery Facilities (WRRF) operators to efficiently treat wastewater is greater than ever because of the water crisis, produced by the climate change effects and more r…
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
Nasotracheal intubation (NTI) is a critical clinical procedure for establishing and maintaining patient airway patency. Machine-assisted NTI has emerged as a pivotal approach for optimizing procedural…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popul…
We present the Field of Safe Motion (FSM), a quantitative safety model for determining whether a driver maintains a collision-free escape route, or "out," at any given moment by accounting for that dr…
Wave-driven desalination systems are an innovative solution to the global freshwater crisis, leveraging the complementary characteristics of seawater reverse osmosis and wave energy converters. Howeve…
Accurate segmentation and localization of left atrial (LA) ablation scars from Late gadolinium enhancement (LGE)-MRI is essential for assessing the lesion completeness and guiding ablation therapy. In…
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