Research
Research
Research
Research
5,082+ open-access research outputs.
Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occ…
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…
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…
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…
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…
Recent advances in open-vocabulary mobile manipulation have brought robots into real domestic environments. In such settings, reliable long-horizon execution under open-set object references and frequ…
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. …
This paper presents a trajectory planning method for articulated commercial vehicles, specifically tractor-semitrailers, based on Model Predictive Contouring Control (MPCC). Although MPCC has proven e…
This work presents GS-DOT, a novel image reconstruction framework based on Gaussian Splatting (GS) for diffuse optical tomography (DOT). Inspired by GS for rendering applications, absorption coefficie…
This study proposes post-quantum encrypted control systems based on dynamic-key Learning with Errors (LWE) encryption schemes. The proposed method develops update maps that simultaneously update the p…
Unified 2D and 3D radio map construction supports network planning, wireless digital twins, and unmanned aerial vehicle (UAV) applications. In urban environments, blockage, reflection, and diffraction…
Predicting future trajectories of surrounding traffic agents is critical for safe autonomous navigation and collision avoidance. Despite all advances in the trajectory forecasting realm, the predictio…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy …
Integrated sensing and communication (ISAC) is poised to be a defining feature of 6G networks, promising to transform cellular base stations (BSs) into ubiquitous radar sensors. However, a significant…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify ke…
This paper provides novel insights into channel and subspace codes in nonadaptive channel sensing with a single RF chain. Observing that this problem naturally maps to a noncoherent decoding problem, …
Matrix-multiply-accumulate (MMA) units, or tensor cores, are now widespread across modern computing architectures. Yet, their use for particle-grid operators remains limited. In implicit particle meth…
This paper presents an automated software toolchain for synthesizing hardware-implementable analog circuits that solve constrained optimization problems. The proposed toolchain supports nonlinear obje…
Language-guided unmanned aerial vehicles (UAVs) often fail not from bad reasoning or perception, but from execution mismatch: the gap between a planned trajectory and the controller's ability to tra…
Free open-access publishing with Google Scholar indexing.
Submission Guide →