Research
Research
Research
Research
7,062+ 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…
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…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popul…
Monitoring physical activity energy expenditure (PAEE) in daily life is essential for characterizing individual health and metabolic status. Although indirect calorimetry provides gold-standard PAEE m…
Approximating collision-free space is fundamental to robot planning in complex environments. Convex geometric representations, such as polytopes and ellipsoids, are widely employed due to their struct…
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…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process …
This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAVs) operating on an u…
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asy…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Sim…
Radio Frequency Fingerprinting (RFF) is a key technology for identity authentication in wireless networks. However, due to the rapid dynamics of Autonomous Aerial Vehicles (AAVs) in low-altitude wirel…
Electrooculogram (EOG) is a non-invasive bio-signal generated by the potential difference between the retina and cornea during eye movement, and is widely utilized in Human-Computer Interaction (HCI) …
Autonomous driving systems often infer pedestrian yielding behavior from geometric and kinematic cues alone, limiting their ability to reason about visual scene context and age-dependent behavioral va…
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…
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…
In high-conflict mixed-traffic scenarios involving human-driven and autonomous vehicles, most existing autonomous driving systems default to overly conservative behaviors, lack proactive interaction, …
Biomolecular systems are often modeled with partially known nonlinear stochastic dynamics, making state and parameter estimation a central challenge. While Kalman filtering techniques are widely used …
Directional Selective Fixed-Filter Active Noise Control (D-SFANC) can effectively attenuate noise from different directions by selecting the suitable pre-trained control filter based on the Direction-…
AI and data-driven models have large potential for data assimilation applications by creating fast and accurate forecasts. Their tendency to produce spurious inaccurate, nonphysical results -- halluci…
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