Research
Research
Research
Research
41,082+ open-access research outputs.
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The p…
Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. …
Structural reliability evaluation for composites constitutes a fundamentally high-dimensional multiscale problem, as microscale material uncertainties must propagate to the macroscale and can be quant…
This paper studies end-to-end latency minimization for a multi-band radar sensing and deep neural network (DNN) inference pipeline. Unlike conventional stage-wise designs that treat radar sensing and …
Safety filters have been shown to be effective tools to ensure the safety of control systems with unsafe nominal policies. To address scalability challenges in traditional synthesis methods, learning-…
The ability of humans for lifelong learning is an inspiration for deep learning methods and in particular for continual learning. In this work, we apply Hebbian learning, a biologically inspired learn…
Current learning-based wireless methods struggle with generalization due to the fragmented processing of communication and sensing data. WiFo-MiSAC addresses this as a task-agnostic foundation model t…
In the context of robot learning for manipulation, curated datasets are an important resource for advancing the state of the art; however, available datasets typically only include successful executio…
Timely and accurate monitoring in geofencing scenarios is challenging when relying on ultra-low power Internet of Things devices (IoTDs) powered by energy harvesting (EH). This is mainly because frequ…
Integrating large language models (LLMs) into automatic speech recognition (ASR) has become a mainstream paradigm in recent years. Although existing LLM-based ASR models demonstrate impressive perform…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic …
In practical affine frequency division multiplexing (AFDM) systems, the intricate coupling of oscillator phase noise (PN) and off-grid fractional shifts traps conventional estimators in a severe high-…
Terahertz (THz) communications have emerged as a key technology for escalating data rates in future generation wireless networks. However, severe propagation losses at THz frequencies pose significant…
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplified in dual-arm sett…
Precision-critical manipulation requires both global trajectory organization and local execution correction, yet most vision-language-action (VLA) policies generate actions within a single unified spa…
Continuous-control reinforcement learning (RL) often exhibits large closed-loop variance, high-frequency control jitter, and sensitivity to disturbance injection. Existing explanations usually emphasi…
Visual-Language-Action (VLA) models represent a paradigm shift in embodied AI, yet existing frameworks often struggle with imprecise spatial perception, suboptimal multimodal fusion, and instability i…
Reconfigurable intelligent surfaces (RISs) modify signal reflections to enhance wireless communication capabilities. Classical RIS phase optimization is highly non convex and challenging in dynamic en…
In the complex domain of microfluidics systems, analysing fluid flow patterns through random-shaped circular microchannels is significantly challenging task. Conventional approach of solving such prob…
Machine learning is becoming increasingly important for nonlinear system identification, including dynamical systems with spatially distributed outputs. However, classical identification and forecasti…
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