Research
Research
Research
Research
122,609+ open-access research outputs.
Variable impedance model predictive control (MPC) formulations that treat joint stiffness as an instantaneous decision variable operate on a feasible set strictly larger than the physically realizable…
While Large Audio Language Models (LALMs) achieve strong performance on short audio, they degrade on long-form inputs. This degradation is more severe in temporal awareness tasks, where temporal align…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Vision-Language-Action (VLA) models promise generalist robot manipulation, but are typically trained and deployed as short-horizon policies that assume the latest observation is sufficient for action …
Industrial robots are widely used in manufacturing, yet most manipulation still depends on fixed waypoint scripts that are brittle to environmental changes. Learning-based control offers a more adapti…
AI is increasingly used to accelerate engineering design by improving decision-making and shortening iteration cycles. Application to marine propeller design, however, remains challenging due to scarc…
In spite of the utility of 3-D electron back-scattered diffraction (EBSD) microscopy, the data collection process can be time-consuming with serial-sectioning. Hence, it is natural to look at other mo…
Generative audio modeling has largely been fragmented into specialized tasks, text-to-speech (TTS), text-to-music (TTM), and text-to-audio (TTA), each operating under heterogeneous control paradigms. …
Using self-supervised learning (SSL) models has significantly improved performance for downstream speech tasks, surpassing the capabilities of traditional hand-crafted features. This study investigate…
Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated lar…
Affine frequency division multiplexing (AFDM) has emerged as a promising integrated sensing and communication (ISAC) waveform due to its intrinsic chirp signalling nature. Nevertheless, practical AFDM…
Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed …
This letter presents an energy-efficient multi-robot coverage path planning (MRCPP) framework for large, nonconvex Regions of Interest (ROI) containing obstacles and no-fly zones (NFZ). Existing minim…
Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy …
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-…
Mispronunciation Detection and Diagnosis (MDD) requires modeling fine-grained acoustic deviations. However, current ASR-derived MDD systems often face inherent limitations. In particular, CTC-based mo…
Independent component analysis (ICA) estimates a demixing matrix that can recover statistically independent sources from linear mixtures. FastICA is a popular ICA algorithm due to its efficiency, but …
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
We propose a hybrid reinforcement and self-supervised learning framework for accelerating generalized Benders decomposition (GBD). In this framework, a graph based reinforcement learning agent operate…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated in…
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