Research
Research
Research
Research
329+ open-access research outputs.
The safety and resilience of civil infrastructure systems are increasingly threatened by compounded risks from various hazard events and structural deterioration due to environmental stressors. This s…
World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity…
The electric vehicle (EV) charging demands (CD) are jointly determined by the EV owners' behavior (i.e., human factor) and the electricity prices (i.e., decisions of distribution system operators (DSO…
We consider deterministic finite-horizon optimal control problems with a fixed initial state. We introduce an on-line policy iteration method, which starting from a given policy, however obtained, gen…
This paper investigates the robust stability problem of a feedback system in the presence of uncertainties induced by graphical regions in the plane where the scaled relative graphs (SRGs) reside. Our…
Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., ani…
We present an empirical case study of cinema SDR-to-HDR mapping using ASC StEM2, a rare common-source dataset containing EXR scene-referred images and matched SDR/HDR cinema release masters from the s…
Deep learning models for atrial fibrillation (AF) detection are increasingly trained on heterogeneous electrocardiogram (ECG) datasets with varying sampling frequencies, yet the specific consequences …
The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quadrotor Uncrewed Aerial Vehicles (UAVs) by calibration flight data. RPs are modeled either as …
The growing deployment of small Unmanned Aerial Systems (sUASs) in low-altitude airspaces has increased the need for reliable tactical deconfliction under safety-critical constraints. Tactical deconfl…
Online map generation and trajectory prediction are critical components of the autonomous driving perception-prediction-planning pipeline. While modern vectorized mapping models achieve high geometric…
Deploying embodied AI agents in the physical world demands cognitive capabilities for long-horizon planning that execute reliably, deterministically, and transparently. We present HARMONIC, a cognitiv…
There are two major categories of embodied navigation: Vision-Language Navigation (VLN), where agents navigate by following natural language instructions; and Object-Goal Navigation (OGN), where agent…
End-to-end autonomous driving has gained significant attention for its potential to learn robust behavior in interactive scenarios and scale with data. Popular architectures often build on separate mo…
Zero-shot open-vocabulary object navigation has progressed rapidly with the emergence of large Vision-Language Models (VLMs) and Large Language Models (LLMs), now widely used as high-level decision-ma…
As social robots take on increasingly complex roles like game masters (GMs) in multi-party games, the expectation that physicality universally enhances user experience remains debated. This study chal…
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur and how long it should…
While recent advances have demonstrated strong performance in individual humanoid skills such as upright locomotion, fall recovery and whole-body coordination, learning a single policy that masters al…
We consider the task of visually estimating the relative pose of a drone racing gate in front of a nano-quadrotor, using a convolutional neural network pre-trained on simulated data to regress the gat…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly…
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