Research
Research
Research
Research
1,321+ open-access research outputs.
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…
Recent audio-aware large language models (ALLMs) have demonstrated strong capabilities across diverse audio understanding and reasoning tasks, but they still frequently produce hallucinated or overly …
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringe…
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between differen…
Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness acr…
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, which a fixed observati…
Safety filters have been shown to be effective tools to ensure the safety of control systems with unsafe nominal policies. To address scalability challenges in traditional synthesis methods, learning-…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality…
Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-base…
High-precision direction-of-arrival (DOA) estimation, as a key sensing capability for 6G-enabled applications such as autonomous driving and extended reality, is increasingly dependent on the effectiv…
Rimless wheels are known as the simplest model for passive dynamic walking. It is known that the passive gait generated only by gravity effect always becomes asymptotically stable and 1-period because…
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance depends on informati…
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC relies on the diffusion being proportional to the control channel …
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to un…
This paper proposes novel passive-dynamic walkers formed by two cross-shaped frames and eight viscoelastic elements. Since it is a combination of two four-legged rimless wheels via viscoelastic elemen…
Simulation trained legged locomotion policies often exhibit performance loss on hardware due to dynamics discrepancies between the simulator and the real world, highlighting the need for approaches th…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to …
Deep reinforcement learning has recently achieved strong results in quadrupedal locomotion, yet policies trained in simulation often fail to transfer when the environment changes. Evolutionary reinfor…
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize be…
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