Research
Research
Research
Research
102+ open-access research outputs.
Reliable benchmarking is essential for progress in intelligent traffic control research. While microscopic traffic simulators such as SUMO enable detailed modelling of individual vehicle interactions,…
We present \texttt{DR-DAQP}, an open-source solver for strongly monotone affine variational inequaliries that combines Douglas-Rachford operator splitting with an active-set acceleration strategy. The…
Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates coarser representatio…
Parallel simulation and control of large-scale robotic systems often rely on partitioned time stepping, yet finite-iteration coupling can inject spurious energy by violating power consistency--even wh…
Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditio…
Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration efficiently. Prior metho…
Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acquisition, they predo…
Robust trajectory optimization enables autonomous systems to operate safely under uncertainty by computing control policies that satisfy the constraints for all bounded disturbances. However, these pr…
Data center cooling systems consume significant auxiliary energy, yet optimization studies rarely quantify the gap between theoretically optimal and operationally deployable control strategies. This p…
Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due…
Ensuring physical-layer security in non-terrestrial networks (NTNs) is challenging due to their global coverage and multi-hop relaying across heterogeneous network layers, where the locations and chan…
Under the ideal assumption of uniform propagation, cell-free massive MIMO (CF-mMIMO) provides uniformly high throughput over the network by effectively surrounding each user with its serving access po…
We introduce a principled learning to optimize (L2O) framework for solving fixed-point problems involving general nonexpansive mappings. Our idea is to deliberately inject summable perturbations into …
This paper proposes a novel generalized cross-correlation (GCC) method, termed GCC-MSIF, to improve time difference of arrival (TDOA) estimation accuracy in noisy environments. Conventional GCC method…
Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a …
Grid-connected power converters encounter significant stability challenges during weak grid faults, when conventional PI-based controllers exhibit an oscillatory response and poor fault-ride-through p…
Assessing scenario coverage is crucial for evaluating the robustness of autonomous agents, yet existing methods rely on expensive human annotations or computationally intensive Large Vision-Language M…
Reliable navigation in disaster-response and other unstructured indoor settings requires robots not only to avoid obstacles but also to recognise when those obstacles can be pushed aside. We present a…
Visual teach-and-repeat (VT&R) navigation enables robots to autonomously traverse previously demonstrated paths using visual feedback. We present a novel event-camera-based VT\&R system. Our system fo…
Automatic docking has long been a significant challenge in the field of mobile robotics. Compared to other automatic docking methods, visual docking methods offer higher precision and lower deployment…
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