Research
Research
Research
Research
10,735+ open-access research outputs.
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
We present the Field of Safe Motion (FSM), a quantitative safety model for determining whether a driver maintains a collision-free escape route, or "out," at any given moment by accounting for that dr…
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
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 …
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this bran…
With the rapid advancement of computer technologies enabling fast calculations of complex structures, numerical methods have become a central tool in engineering sciences, while physical models have i…
In this paper, we study the reachability of two closely related matrices appearing in the analysis of linear time-varying (LTV) systems over a finite time interval, namely, its closed-loop state trans…
Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which ped…
Selective State-Space Models (SSMs) such as Mamba have emerged as an alternative architecture to self-attention based transformers in sequence modeling tasks. Recent works have demonstrated the use of…
Gaussian basis functions provide an efficient and flexible alternative to spline activations in KANs. In this work, we introduce the partition-of-unity Gaussian KAN (PU-GKAN), a Shepard-type normalize…
Two-fold redundant sparse arrays possess inbuilt redundancy to tackle single-element failures. This property enables them to perform accurate direction of arrival (DOA) estimation even during single s…
The emerging deep learning (DL) technology has recently exhibited great potential in data-driven short-term voltage stability (SVS) assessment of complex power grids. However, without sufficient atten…
We investigate the problem of jointly testing a pair of composite hypotheses and, depending on the test result, estimating a random parameter under distributional uncertainties. Specifically, it is as…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonom…
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…
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…
The aim of this paper is to demonstrate some interesting and useful approaches for writing a program in the assembly language. In order to demonstrate the possibilities of the assembly language, a pro…
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…
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…
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