Research
Research
Research
Research
56,793+ open-access research outputs.
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting c…
Efficient exploration is a central problem in reinforcement learning and is often formalized as maximizing the entropy of the state-action occupancy measure. While unconstrained maximum-entropy explor…
Autonomous agents act through sandboxed containers and microVMs whose state spans filesystems, processes, and runtime artifacts. Checkpoint and restore (C/R) of this state is needed for fault toleranc…
An important tool in the design of fault-tolerant graph data structures are $(L,f)$-replacement path coverings (RPCs). An RPC is a family $\mathcal{G}$ of subgraphs of a given graph $G$ such that, for…
Modern large multicore systems often run multiple workloads that share CPUs under schedulers such as Linux CFS. To keep CPUs busy, these schedulers load-balance runnable work, causing each workload to…
We analyze the possibility of Bose-Einstein condensation (BEC) at finite temperature in the spin-boson model within the frameworks of functional integral representations and the resolvent algebra. Bec…
The mixed alkali or mixed mobile ion effect in glasses manifests itself by strong nonlinear variations of ionic transport properties upon mixing of different types of mobile ions. We develop a theory …
Policy gradient methods are reinforcement learning algorithms that adapt a parameterized policy by following a performance gradient estimate. Conventional policy gradient methods use Monte-Carlo techn…
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions …
Data-driven methods for computer simulations are blooming in many scientific areas. The traditional approach to simulating physical behaviors relies on solving partial differential equations (PDE). Si…
Massive stars (> 8 $M_\odot$) are known to have high degrees of multiplicity, e.g., with about 60% in triples or higher-order multiples. Such high levels of multiplicity may arise during formation (pr…
In this paper we provide a geometric condition satisfied by certain closed subsets of the Riemann sphere which implies that their hyperbolic convex hulls in $\mathbb{H}^3$ have infinite volume. As a c…
Pretrial risk assessment tools are used on over one million U.S. defendants each year, yet their use for predicting rare violent re-offense faces a basic statistical barrier. We derive a universal pre…
Audio-based stuttering systems to date have been trained for detection -- what disfluency is present now -- leaving prediction, the capability needed for closed-loop intervention, unstudied at deploya…
Upon the introduction of the Metropolis algorithm, the question of how many steps in the Markov chain were needed to achieve convergence to stationarity became apparent. The convergence was rather slo…
We present quantitative evidence that high-quality internucleon forces derived from $\chi$EFT exhibit a striking dominance of Wigner's supermultiplet symmetry, without invoking the large-$N_c$ limit o…
Chalcogenide phase-change materials (PCMs) are important for nonvolatile memory and reconfigurable photonic technologies. The GeTe-Sb2Te3 mixture system, commonly referred to as GST, is the most well-…
Continual learning agents with finite capacity must balance acquiring new knowledge with retaining the old. This requires controlled forgetting of knowledge that is no longer needed, freeing up capaci…
NASA's Habitable Worlds Observatory (HWO) will search for biosignatures on Earth-like exoplanets using reflected light spectroscopy. A critical instrument design parameter is resolving power, which mu…
Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of ob…
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