Research
Research
Research
Research
7,294+ open-access research outputs.
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, …
Millimeter-wave (mmWave) communication depends on highly directional beamforming, while fast mobility, blockage, and rapid geometry changes in vehicle-to-everything (V2X) scenarios make beam tracking …
This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinator…
Flexible-antenna systems, which use a small number of radio frequency (RF) chains to dynamically access a large set of candidate antenna locations, have emerged as a hardware-efficient architecture fo…
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
Robotic manipulation critically requires reasoning about future spatial-temporal interactions, yet existing VLA policies and world-model-enhanced policies do not fully model action-relevant spatial-te…
Nuclear fusion is a promising clean energy source in which deuterium and tritium fuse inside a magnetically confined plasma in a tokamak, releasing energy. A key challenge on the route to practical nu…
Dynamical systems (DS) methods for Learning-from-Demonstration (LfD) provide stable, continuous policies from few demonstrations. First-order dynamical systems (DS) are effective for many point-to-poi…
In multi-agent systems, should limited resources be concentrated into a few capable agents or distributed among many simpler ones? This work formulates the split over $n$ resource sharing problem wher…
We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach {co-learns} a pH system model and an optimal en…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Foundation segmentation models such as the Segment Anything Model (SAM) have demonstrated strong generalization across natural images; however, their robustness under clinically realistic medical imag…
In this paper, a broadband 1-bit coding metasurface-based reconfigurable intelligent surface (RIS) is presented. The unit cell of the metasurface consists of a wide dipole modified with interdigital c…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key c…
Energy harvesting promises maintenance-free operation of wireless sensor nodes but introduces strong dependencies on stochastic and deployment-specific environmental conditions. In particular, solar-p…
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridgi…
In large antenna arrays, hardware power consumption becomes a dominant design constraint, making energy efficiency (EE) a first-class objective alongside spectral efficiency (SE). Microwave linear ana…
In pathology, the spatial distribution and proportions of tissue types are key indicators of disease progression, and are more readily available than fine-grained annotations. However, these assessmen…
Inefficient driving behaviors, such as overly conservative yielding, remain a key obstacle to deployment of autonomous vehicles (AVs). Instantaneous driving efficiency metrics are crucial for self-dri…
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