Research
Research
Research
Research
2,786+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which cou…
Conventional neural speech codecs suffer from severe intelligibility degradation at ultra-low bitrates, where the bottleneck transitions from acoustic distortion to semantic loss. To address this issu…
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER,…
Foundation segmentation models such as the Segment Anything Model (SAM) have demonstrated strong generalization across natural images; however, their robustness under clinically realistic medical imag…
Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Convention…
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…
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…
Variable flux memory motors, which employ Low Coercive Force (LCF) magnets, achieve extended high-efficiency operation through controllable magnetization states. To address the need for a unified appr…
Power system state estimation (SE) is foundational for grid monitoring, yet conventional centralized solvers face increasing computational pressure as the system scale and real-time requirements grow.…
In this paper we present a radically new approach to design state observers for nonlinear systems, with particular emphasis on physical ones. Our objective is to obtain an algebraic relation between t…
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 …
This paper addresses characterizations of Integral Input-to-State Stability (iISS) for hybrid systems with memory. Based on the Krasovskii approach, a novel Lyapunov characterization of iISS is establ…
Speaker diarization (SD) is the task of answering "who spoke when" in a multi-speaker audio stream. Classically, an SD system clusters segments of speech belonging to an individual speaker's identity.…
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bounded. Backup control b…
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…
In recent years, computational power and data availability breakthroughs have revolutionized our ability to analyze complex physical systems through the inverse problem approach. Data-driven technique…
Widespread RGB-Depth (RGB-D) sensors and advanced 3D reconstruction technologies facilitate the capture of indoor spaces, improving the fields of augmented reality (AR), virtual reality (VR), and exte…
Dynamic state estimation (DSE) is becoming increasingly important for monitoring inverter-dominated power systems. Due to their cascading control structures, inverter-based resources (IBRs) exhibit mu…
Visual state-space models (SSMs) are increasingly promoted as efficient alternatives to Vision Transformers, yet their practical advantages remain unclear under fair comparison because existing studie…
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