Research
Research
Research
Research
277+ open-access research outputs.
Robotic systems operating in human environments must reason about how object interactions evolve over time, which actions are currently being performed, and what manipulation step is likely to follow.…
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between differen…
ERC-4337, the Ethereum account abstraction standard, simplifies account management and transaction fee payment in decentralized applications by introducing programmable smart contract wallets and gas …
Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-O…
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks s…
In the last ten years, medical robotics has moved from the margins to the mainstream. Since the Engineering Research Center for Computer-Integrated Surgical Systems and Technology was Launched in 1998…
The number of spatial degrees of freedom (NDoF) and channel strength in antenna systems are examined within a geometric framework. Starting from a correlation-operator representation of the channel be…
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bo…
Space-filling experimental designs are widely used in engineering computer experiments, where only a limited number of expensive model evaluations can be afforded. Distance-based designs such as Maxim…
Sufficient testing under corner cases is critical for the long-term operation of vehicle-infrastructure cooperation systems (VICS). However, existing corner-case generation methods are primarily AI-dr…
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous le…
Generating safety-critical scenarios is essential for validating the robustness of autonomous driving systems, yet existing methods often struggle to produce collisions that are both realistic and div…
To improve generalization and resilience in human-robot collaboration (HRC), robots must handle the combinatorial diversity of human behaviors and contexts, motivating multi-agent reinforcement learni…
Around-the-corner radar sensing offers an opportunity for the radar to exploit multipath scattering along walls to detect targets beyond blockages. However, the radar detection performance is limited …
Around-the-corner radar (ACR) sensing of targets in non-line-of-sight (NLOS) conditions has been explored for security and surveillance applications and look-ahead warning systems in automotive scenar…
End-to-end autonomous driving has emerged as a promising paradigm integrating perception, decision-making, and control within a unified learning framework. Recently, Vision-Language Models (VLMs) have…
In this work, we present Tilt-Ropter, a novel hybrid aerial-terrestrial vehicle (HATV) that combines tilt rotors with passive wheels to achieve energy-efficient multi-mode locomotion. Unlike existing …
4D radar has emerged as a critical sensor for autonomous driving, primarily due to its enhanced capabilities in elevation measurement and higher resolution compared to traditional 3D radar. Effective …
In this study, we present a low-cost and unified framework for vectorized road mapping leveraging enhanced inverse perspective mapping (IPM). In this framework, Catmull-Rom splines are utilized to cha…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computationa…
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