Research
Research
Research
Research
300+ open-access research outputs.
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…
Automatic feature recognition (AFR) on B-Rep 3D-CAD models is central to CAD/CAM automation, yet most learning-based methods are complex, data-hungry, and evaluate instance grouping and semantic label…
The average symbol error probability (SEP) of a phase-quantized single-input multiple-output system with M-ary phase-shift keying modulation and maximum ratio combining (MRC) is analyzed under correla…
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…
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 aim to extend the traditional point-mass-like robot representation in swarm robotics and instead study a swarm of long Heavy Articulated Vehicles (HAVs). HAVs are kinematically const…
The matrix-free gather-batched-GEMM-scatter pattern eliminates global stiffness assembly for three-dimensional SIMP topology optimization, but the conventional three-stage implementation forces avoida…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable obje…
Visual Geometry Foundation Models (VGFMs) demonstrate remarkable zero-shot capabilities in local reconstruction. However, deploying them for kilometer-level Simultaneous Localization and Mapping (SLAM…
Co-training, which combines limited in-domain real-world data with abundant surrogate data such as simulation or cross-embodiment robot data, is widely used for training generative robot policies. Des…
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…
Integrated learning and communication (ILAC) unifies learned transceivers with radio resource management, where semantic feature multiple access (SFMA) enables paired users to superpose their learned …
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Al…
This paper presents RichMap, a high-precision reachability map representation designed to balance efficiency and flexibility for versatile robot manipulation tasks. By refining the classic grid-based …
Wireless physical neural networks (WPNNs) have emerged as a promising paradigm for performing neural computation directly in the physical layer of wireless systems, offering low latency and high energ…
Car-following behavior is fundamental to traffic flow theory, yet traditional models often fail to capture the stochasticity of naturalistic driving. This paper introduces a new car-following modeling…
We present a framework in which a large language model (LLM) acts as an online adaptive controller for SIMP topology optimization, replacing conventional fixed-schedule continuation with real-time, st…
Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challenging due to the sim-t…
This paper introduces the notion of stochastic simulation-gap function, which formally quantifies the gap between an approximate mathematical model and a high-fidelity stochastic simulator. Since cont…
The increasing use of marine spaces by offshore infrastructure, including oil and gas platforms, underscores the need for consistent, scalable monitoring. Offshore development has economic, environmen…
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