Research
Research
Research
Research
31+ open-access research outputs.
Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfi…
Energy-aware algorithms for multi-robot systems require accurate power consumption models, yet existing approaches rely on kinematic approximations that fail to capture the complex dynamics of real ha…
Digital twin (DT) offers significant opportunities for enhancing facility management (FM) in campus environments. However, existing research often focuses narrowly on isolated domains, such as point-c…
Electromyography (EMG) signals are widely used for predicting body joint angles through machine learning (ML) and deep learning (DL) methods. However, these approaches often face challenges such as li…
Understanding how urban residents travel between neighborhoods and destinations is critical for transportation planning, mobility management, and public health. By mining historical origin-to-destinat…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the na…
Cardiovascular diseases (CVDs) remain the leading cause of mortality worldwide, highlighting the critical need for efficient and accurate diagnostic tools. Electrocardiograms (ECGs) are indispensable …
While miniaturization has been a goal in robotics for nearly 40 years, roboticists have struggled to access sub-millimeter dimensions without making sacrifices to on-board information processing due t…
The area of spectral analysis has a traditional dichotomy between continuous spectra (spectral densities) which correspond to purely nondeterministic processes, and line spectra (Dirac impulses) which…
This paper proposes a novel approach for line spectral estimation which combines Georgiou's filter bank (G-filter) with atomic norm minimization (ANM). A key ingredient is a Carath\'{e}odory--Fej\'{e}…
Training robot policies in the real world can be unsafe, costly, and difficult to scale. Simulation serves as an inexpensive and potentially limitless source of training data, but suffers from the sem…
Q-learning is a powerful tool for network control and policy optimization in wireless networks, but it struggles with large state spaces. Recent advancements, like multi-environment mixed Q-learning (…
Semiconductor microelectronics are emerging as a powerful tool for building smart, autonomous robots too small to see with the naked eye. Yet a number of existing microrobot platforms, despite signifi…
The networked nature of multi-robot systems presents challenges in the context of multi-agent reinforcement learning. Centralized control policies do not scale with increasing numbers of robots, where…
Underwater gliders have been widely used in oceanography for a range of applications. However, unpredictable events like shark strikes or remora attachments can lead to abnormal glider behavior or eve…
Multi-Agent Reinforcement Learning (MARL) has enjoyed significant recent progress thanks, in part, to the integration of deep learning techniques for modeling interactions in complex environments. Thi…
In this paper, we introduce Tolerant Discrete Barrier States (T-DBaS), a novel safety-embedding technique for trajectory optimization with enhanced exploratory capabilities. The proposed approach gene…
This paper proposes a novel linear prediction coding-based data aug-mentation method for children's low and zero resource dialect ASR. The data augmentation procedure consists of perturbing the forman…
We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a human style is partic…
Image compression is a method to remove spatial redundancy between adjacent pixels and reconstruct a high-quality image. In the past few years, deep learning has gained huge attention from the researc…
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