Research
Research
Research
Research
88+ open-access research outputs.
The escalating climate crisis and ecosystem degradation demand intelligent, low-cost sensors capable of robust, long-term monitoring in real-world environments. Absolute dissolved oxygen (DO) concentr…
Ensuring safety is a critical requirement for autonomous systems, yet providing formal guarantees for nominal controllers remains a significant challenge. In this paper, we propose a modular sampling-…
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…
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative worst-case ambiguity-…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular…
We present a filtering framework for online joint state estimation and parameter identification in nonlinear, time-varying systems. The algorithm uses Rao-Blackwellization technique to infer joint sta…
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…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization…
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…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from comple…
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limita…
Ill-posed imaging inverse problems remain challenging due to the ambiguity in mapping degraded observations to clean images. Diffusion-based generative priors have recently shown promise, but typicall…
Audio-visual video highlight detection aims to automatically identify the most salient moments in videos by leveraging both visual and auditory cues. However, existing models often underutilize the au…
Recent advances in singing voice synthesis (SVS) have attracted substantial attention from both academia and industry. With the advent of large language models and novel generative paradigms, producin…
We study distributed hypothesis testing under a covertness constraint in the non-alert situation, which requires that under the null-hypothesis an external warden be unable to detect whether communica…
Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Integral (PRMPPI) contro…
Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where texture…
Autonomous robots are increasingly deployed for information-gathering tasks in environments that vary across space and time. Planning informative and safe trajectories in such settings is challenging …
This paper introduces a method for Model Predictive Path Integral (MPPI) control that optimizes sample generation towards an optimal trajectory through Stein Variational Gradient Descent (SVGD). MPPI …
This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed specifically for fusing …
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