Research
Research
Research
Research
11,168+ open-access research outputs.
In this paper, we present the Electric Mobility Dial-a-Ride Problem (EM-DARP), which extends the Electric Vehicle Dial-a-Ride Problem (EV-DARP) to better accommodate human-focused mobility services. T…
Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored lever…
We study whether deep networks for medical imaging learn useful nonrobust features - predictive input patterns that are not human interpretable and highly susceptible to small adversarial perturbation…
This paper proposes and analyzes Riemannian optimization algorithms on the manifold of unitary and symmetric matrices, denoted ${\cal {U}}_s$, which naturally models the scattering matrices of passive…
Multi-speaker automatic speech recognition (ASR) aims to transcribe conversational speech involving multiple speakers, requiring the model to capture not only what was said, but also who said it and s…
Vision-Language-Action (VLA) models promise generalist robot manipulation, but are typically trained and deployed as short-horizon policies that assume the latest observation is sufficient for action …
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…
Neural representations (NRs), such as neural fields and 3D Gaussians, effectively model volumetric data in computed tomography (CT) but suffer from severe artifacts under sparse-view settings. To addr…
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…
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.…
We study the Suscectible-Infected-Recovered-Susceptible (SIRS) epidemic model on deterministic networks. For connected but otherwise general interaction patterns and heterogeneous recovery and loss-of…
Integrated Sensing and Communication (ISAC) systems require efficient beamforming architectures to jointly support communication and sensing functionalities. To reduce hardware overhead, Hybrid Beamfo…
We investigate higher-rank transmissions for multi-connected Extended Reality (XR) devices enabled through tethering group (TGr), in which a nearby tethering User Equipment (UE) cooperates with an XR …
While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large paramet…
Industrial robotic manipulation demands reliable long-horizon execution across embodiments, tasks, and changing object distributions. While Vision-Language-Action models have demonstrated strong gener…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
Reliable perception for robotics depends on large-scale labeled data, yet real-world datasets rely on heavy manual annotation and are time-consuming to produce. We present FalconApp, an iPhone app wit…
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural contro…
A notable difference between the ordinary and Hadamard products is that the Hadamard product of two singular positive semidefinite matrices can be nonsingular, and one of the factors can even be indef…
Reliable harmonization of heterogeneous magnetic resonance~(MR) image datasets, especially those acquired in pragmatic clinical trials, is critical to advance multi-center neuroimaging studies and tra…
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