Research
Research
Research
Research
122,609+ open-access research outputs.
Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operate under strict const…
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringe…
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research on environment-depe…
In this paper, we aim to extend the traditional point-mass-like robot representation in swarm robotics and instead study a swarm of long Heavy Articulated Vehicles (HAVs). HAVs are kinematically const…
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view perception. In this work, w…
We study sensor scheduling for continuous-discrete Kalman filtering with Poisson measurement arrivals and propose an information-form deterministic surrogate for scalable offline design. Unlike the co…
Background: Tuning proportional-integral (PI) controllers for second-order plants to achieve monotonic step response with minimum settling time is an important problem in analytical control design. Ex…
The increasing integration of renewable energy sources exacerbates the spatial and temporal differences in frequency across the power system, posing a serious challenge to the accurate and efficient a…
This paper proposes a scalable coordination framework with aggregator-side privacy protection for storage-like distributed energy resources (DERs). The framework adopts a two-layer architecture. At th…
While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language a…
The Euclidean Steiner tree problem, normally posed in two dimensions, seeks to connect a set of prescribed terminal nodes by placing additional nodes, known as Steiner points, with edges connecting su…
Vision--Language--Action (VLA) models often use intermediate representations to connect multimodal inputs with continuous control, yet spatial guidance is often injected implicitly through latent feat…
We propose a generalized dynamic phasor (DP) framework to analyze inverter-based resources (IBRs) connected to multi-machine systems under balanced and unbalanced conditions. It captures subsynchronou…
Vision-language-action models (VLAs) have been extensively used in robotics applications, achieving great success in various manipulation problems. More recently, VLAs have been used in long-horizon t…
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven e…
The Gaussian scale parameter \(\epsilon\) is central to the behavior of Gaussian Kolmogorov--Arnold Networks (KANs), yet its role in deep edge-based architectures has not been studied systematically. …
With the evolution of multiple-input multiple-output (MIMO) technology toward extremely large (XL) MIMO systems comprising hundreds of, or more, antennas, this work investigates scalable and fronthaul…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions.…
Autonomous Unmanned Aerial Vehicles (UAVs) have revolutionized industries through their versatility with applications including aerial surveillance, search and rescue, agriculture, and delivery. Their…
Precise positioning is a key enabler for emerging 5G applications, from autonomous transport to industrial automation. Yet the open physical layer (PL) leaves standard positioning reference signals (P…
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