Research
Research
Research
Research
5,995+ open-access research outputs.
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…
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…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric sub…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that address…
Skill libraries in deployed robotic systems are continually updated through fine-tuning, fresh demonstrations, or domain adaptation, yet existing typed-composition methods (BLADE, SymSkill, Generative…
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…
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and posture adaptation to t…
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…
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between daytime RGB maps and nig…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
The joint training of speech enhancement and speaker embedding networks for speaker recognition is widely adopted under noisy acoustic environments. While effective, this paradigm often fails to lever…
This study proposes an anomaly-detection framework for monitoring exposure-length variations in submarine free-span cables using Distributed Acoustic Sensing (DAS), which is one of the distributed fib…
Accurate estimation of thermospheric mass density is a prerequisite for orbit prediction and space situational awareness, where the upper atmosphere responds nonlinearly to solar and geomagnetic forci…
Proprietary design in commercial windrow-detection systems restricts transparency and limits progress in open autonomous forage-harvesting research. We present a multi-modal dataset combining stereo v…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models …
The sense of family connectedness may support positive outcomes including individual well-being, resilience, and healthy family functioning. However, as technologies advance, they often replace human-…
Wheeled-legged robots combine the energy efficiency of wheeled locomotion with the terrain adaptability of legged systems, making them promising platforms for agile mobility in complex and dynamic env…
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experien…
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