Research
Research
Research
Research
122,609+ open-access research outputs.
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned s…
Accurate forecasting of electric load and renewable generation is essential for reliable and cost effective power system operations. Recent advances in transformer based and foundation machine learnin…
The production of concrete generates roughly 8% of anthropogenic CO2 globally, largely because of the massive quantities that are manufactured. New design methods must be developed and deployed to imp…
We present Selective Non-Gaussian Refinement (SNGR), a SLAM framework that augments iSAM2 with targeted nested sampling on windows where Gaussian approximations are likely to fail. We detect such regi…
Integrated sensing and communication (ISAC) is poised to be a defining feature of 6G networks, promising to transform cellular base stations (BSs) into ubiquitous radar sensors. However, a significant…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify ke…
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors. We present LoHo-Man…
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint ch…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been …
Maintaining instantaneous balance between electricity supply and demand is critical for reliability and grid instability. System operators achieve this through solving the task of Unit Commitment (UC)…
Electric arc welding (EAW) exhibits strongly non stationary and temporally evolving behavior, making reliable assessment of arc stability difficult using conventional frame based approaches. In this s…
Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physical execution: each co…
Discrete-event systems and supervisory control theory provide a rigorous framework for specifying correct-by-construction behavior. However, their practical application to swarm robotics remains large…
Pumping fluids is fundamental to a wide range of industrial, environmental, and biomedical applications. Among various pumping mechanisms, peristaltic pumps enable efficient and safe fluid transport b…
Real-world deployments of human--swarm teams depend on balancing operator workload to leverage human strengths without inducing overload. A key challenge is that swarm size is often dynamic: robots ma…
Computed Tomography (CT) is a widely used imaging modality in medical and industrial applications. To limit radiation exposure and measurement time, there is a growing interest in sparse-view CT, wher…
Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within …
Power systems are increasingly vulnerable to high-impact, low-probability (HILP) events, including coordinated cyberattacks targeting inverter-based resources. Existing resilience frameworks rely on s…
This paper introduces PHOTON (PHysical Optical Tracking of Notes), a non-invasive optical sensing system for measuring key-lever motion in historical keyboard instruments. PHOTON tracks the vertical d…
In many applications of state estimation, the process noise is colored; this case is addressed by applying the standard Kalman filter (KF) to dynamics that are augmented with the coloring dynamics. Th…
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