Research
Research
Research
Research
122,609+ open-access research outputs.
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed su…
Determining the optimal phase configurations of reconfigurable intelligent surface (RIS) elements typically requires complex channel estimation procedures with high pilot overhead, creating a bottlene…
This paper addresses the quantitative verification of constrained occupation time in stochastic discrete-time systems, focusing on the probability of visiting a target set at least $k$ times while mai…
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but ha…
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantiall…
Inverse Dynamics Models (IDMs) map visual observations to low-level action commands, serving as central components for data labeling and policy execution in embodied AI. However, their performance deg…
Vision-language-action (VLA) models have achieved great success on general robotic tasks, but still face challenges in fine-grained spatiotemporal manipulation. Typically, existing methods mainly embe…
Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models face two limitation…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraint…
In practical affine frequency division multiplexing (AFDM) systems, the intricate coupling of oscillator phase noise (PN) and off-grid fractional shifts traps conventional estimators in a severe high-…
Millimeter-wave (mmWave) technology is a crucial enabler for next-generation networks because it offers substantially greater available bandwidth. mmWave multiple-input multiple-output (MIMO) systems …
Terahertz (THz) communications have emerged as a key technology for escalating data rates in future generation wireless networks. However, severe propagation losses at THz frequencies pose significant…
Most autonomous driving safety benchmarks use time-to-collision (TTC) to assess risk and guide safe behaviour. However, TTC-based methods treat risk as a one-dimensional closing problem, despite the i…
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplified in dual-arm sett…
Traditional Task and Motion Planning (TAMP) systems depend on physics models for motion planning and discrete symbolic models for task planning. Although physics model are often available, symbolic mo…
Classical guidance laws aim at minimizing the miss distance, thus implicitly determining the minimum warhead lethality radius required against nominal targets. However, nonnominal targets or scenarios…
This paper considers multi-agent embodied question answering (MA-EQA), which aims to query robot teams on what they have seen over a long horizon. In contrast to existing edge resource management meth…
Generative Semantic Communication (GSC) is a promising solution for image transmission over narrow-band and high-noise channels. However, existing GSC methods rely on long, indirect transport trajecto…
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into desired rob…
The accelerating advancement of intelligent transportation systems has established consumer-oriented vehicular networks (CVNs) as a critical infrastructure for next-generation connected mobility. Howe…
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