Research
Research
Research
Research
6,579+ open-access research outputs.
Vision-Language-Action (VLA) models have increasingly incorporated reasoning mechanisms for complex robotic manipulation. However, existing approaches share a critical limitation: whether employing ex…
Learned driving agents often degrade when deployed in unseen environments. This paper studies a deliberately bounded instance of that problem in the CARLA simulator: zero-shot transfer of a closed-loo…
A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human vide…
Multi-talker automatic speech recognition (ASR) in conversational recordings remains an open problem, particularly in scenarios with large portion of overlapping speech where identifying and transcrib…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncert…
We study finite-horizon budget allocation as a closed-loop economic control problem and evaluate receding-horizon Model Predictive Control (MPC) relative to reactive budgeting policies. Budgets are al…
Wave-driven desalination systems are an innovative solution to the global freshwater crisis, leveraging the complementary characteristics of seawater reverse osmosis and wave energy converters. Howeve…
In this paper, a novel pinching antenna-aided spatial multiplexing (PASM) architecture is conceived, which intrinsically amalgamates the benefits of flexible radiating element placement with radio-fre…
Power electronic converters are fundamental building blocks of both AC and DC microgrids, enabling the integration of renewable energy sources, energy storage systems, electronic loads, and electric v…
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between daytime RGB maps and nig…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
This paper presents a systematic verification and validation (V\&V) framework for the Evasive Minimum Risk Maneuver (EMRM) feature in autonomous vehicles, addressing a critical gap in existing safety …
This paper presents the optimal-control suggestion for congestion on freeways using data assimilation (DA) of distributed fiber-optic sensing (DFOS). To simultaneously maximize throughput and avoid/mi…
We consider the one-dimensional quasilinear heat equation with state-dependent heat capacity and thermal conductivity, and design a boundary-output observer based on the backstepping design for a line…
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle ch…
The joint training of speech enhancement and speaker embedding networks for speaker recognition is widely adopted under noisy acoustic environments. While effective, this paradigm often fails to lever…
Unbalanced three-phase systems still lack a compact phasor-domain representation of power that makes phase asymmetry explicit while remaining consistent with established apparent-power definitions. Th…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process …
Direction-of-arrival (DOA) estimation is an important task in microphone array processing and many downstream applications. The steered response power with phase transform (SRP-PHAT) method has been w…
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