Research
Research
Research
Research
4,597+ open-access research outputs.
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entiti…
Terahertz (THz) communication has emerged as a key enabler for sixth-generation (6G) networks, offering ultrawide bandwidths to support data-intensive applications such as holographic telepresence and…
The integration of multimodal sensing and millimeter-wave (mmWave) communications is a key enabler for highly mobile vehicle-to-infrastructure (V2I) networks. However, continuous high-resolution visua…
We aim to learn a sparse and connected graph from sparse data, where the number of observations K can be substantially smaller than the signal dimension N for signals x in R^N, and the underlying dist…
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structur…
CONCERTO is a millimeter-wave imaging instrument that operated on the Atacama Pathfinder Experiment (APEX) telescope from April 2021 to May 2023. Its primary scientific objectives include the study of…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
The advancement of robot learning is currently hindered by the scarcity of large-scale, high-quality datasets. While established data collection methods such as teleoperation and universal manipulatio…
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observabil…
Using self-supervised learning (SSL) models has significantly improved performance for downstream speech tasks, surpassing the capabilities of traditional hand-crafted features. This study investigate…
The aim of this paper is to demonstrate some interesting and useful approaches for writing a program in the assembly language. In order to demonstrate the possibilities of the assembly language, a pro…
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…
Robotic systems operating in human environments must reason about how object interactions evolve over time, which actions are currently being performed, and what manipulation step is likely to follow.…
Upper-limb exoskeletons (ULEs) have the potential to restore functional independence in individuals with severe motor impairments; however, the clinical relevance of wrist degrees of freedom (DoF), pa…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
Wrist function is essential in performing activities of daily living (ADLs). However, there is limited experimental evidence on the functional impact of wrist Abduction-Adduction (Ab-Ad) joint assista…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (So…
Classical guidance laws aim at minimizing the miss distance, thus implicitly determining the minimum warhead lethality radius required against nominal targets. However, nonnominal targets or scenarios…
Selective State Space Models (SSMs), notably Mamba, employ diagonal state transitions that limit both memory retention and bilinear computational capacity. We propose a factorized bilinear input modul…
Collecting embodied interaction data at scale remains costly and difficult due to the limited accessibility of conventional interfaces. We present a gamified data collection framework based on Unity t…
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