Research
Research
Research
Research
24,836+ open-access research outputs.
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, …
End-to-end (E2E) autonomous driving presents a promising approach for translating perceptual inputs directly into driving actions. However, prohibitive annotation costs and temporal data quality degra…
As autonomous vehicles slowly deploy into urban roads for limited use cases with significant edge case issues, closed facilities like marshaling yards provide a ripe case for combining lower-level veh…
Design Structure Matrix (DSM) modularization, the task of partitioning system elements into cohesive modules, is a fundamental combinatorial challenge in engineering design. Traditional methods treat …
Joint image compression and wireless transmission remain relatively underexplored compared to generic image restoration, despite its importance in practical communication systems. We formulate this pr…
This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinator…
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
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…
This paper proposes a bitwise over-parameterized neural network (ONN) decoder for polar-coded transmission and develops a tractable theoretical performance analysis framework. By modeling each synthes…
Despite the rise of token communication (TokCom) as a new paradigm beyond traditional bit communication, existing approaches have primarily adopted artificial intelligence (AI)-centric designs that re…
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions …
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Multi-talker automatic speech recognition (ASR) in conversational recordings remains an open problem, particularly in scenarios with large portion of overlapping speech where identifying and transcrib…
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
In this article, we propose a simple and efficient hyperreduced strain-space model order reduction (MOR) approach for hyperelastic representative volume elements (RVEs), called Empirical Material Samp…
Accurate segmentation and localization of left atrial (LA) ablation scars from Late gadolinium enhancement (LGE)-MRI is essential for assessing the lesion completeness and guiding ablation therapy. In…
Robotic manipulation critically requires reasoning about future spatial-temporal interactions, yet existing VLA policies and world-model-enhanced policies do not fully model action-relevant spatial-te…
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing ma…
This paper presents a hierarchical decision-making framework for unmanned aerial vehicle (UAV) missions motivated by search-and-rescue (SAR) scenarios under limited simulation training. The framework …
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