Research
Research
Research
Research
1,601+ open-access research outputs.
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…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation…
Dynamical systems (DS) methods for Learning-from-Demonstration (LfD) provide stable, continuous policies from few demonstrations. First-order dynamical systems (DS) are effective for many point-to-poi…
Climate change and resource depletion demand a shift from the dominant linear "take-make-use-dispose" paradigm of construction toward circular, low-waste practices. Material reuse offers a promising p…
Resource allocation in integrated sensing and communication (ISAC) systems needs to be optimized to balance the requirements of the communication and sensing modules considering complicated cross-laye…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in…
AI and data-driven models have large potential for data assimilation applications by creating fast and accurate forecasts. Their tendency to produce spurious inaccurate, nonphysical results -- halluci…
Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing frameworks typically d…
Full-duplex interaction, where speakers and listeners converse simultaneously, is a key element of human communication often missing from traditional spoken dialogue systems. These systems, based on r…
Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination stra…
This paper explores an integrated sensing and communication (ISAC) system with backscattering RFID tags. In this setup, an access point employs communication beams to serve communication users while l…
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on m…
System identification remains an intriguing challenge for lithium-ion batteries, as many models are nonlinear, exhibit multi-physics coupling, and involve a large number of parameters. In this paper, …
Conventional Vision-and-Language Navigation (VLN) benchmarks assume instructions are feasible and the referenced target exists, leaving agents ill-equipped to handle false-premise goals. We introduce …
Reinforcement Learning (RL) and Imitation Learning (IL) are the standard frameworks for policy acquisition in manipulation. While IL offers efficient policy derivation, it suffers from compounding err…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the compl…
Learning based multi-robot path planning methods struggle to scale or generalize to changes, particularly variations in the number of robots during deployment. Most existing methods are trained on a f…
Physics-informed neural networks (PINNs) have emerged as a powerful framework for modeling physical systems and solving inverse problems. In such settings, sensors are deployed to capture observable s…
Aligning physiological parameter labels with large-scale photoplethysmographic (PPG) data for deep learning is challenging and resource-intensive. While self-supervised representation learning (SSRL) …
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