Research
Research
Research
Research
823+ 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…
While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large paramet…
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…
Oil spills represent a severe threat, making early-stage thickness estimation crucial for guiding remediation efforts. Unmanned Aerial Vehicles (UAVs) are an attractive platform for environmental moni…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
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 …
We present 3D-Anchored Lookahead Planning (3D-ALP), a System 2 reasoning engine for robotic manipulation that combines Monte Carlo Tree Search (MCTS) with a 3D-consistent world model as the rollout or…
Convolutional neural networks (CNNs) have emerged as a powerful tool for automatic modulation classification (AMC) by directly extracting discriminative features from raw in-phase and quadrature (I/Q)…
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least $r$ (out of $p$) alternative sites if condit…
Sparse Bayesian Learning is one of the most popular sparse signal recovery methods, and various algorithms exist under the SBL paradigm. However, given a performance metric and a sparse recovery probl…
This paper considers output reachability analysis for linear time-invariant systems with unknown state-space matrices and unknown observation map, given only noisy input-output measurements. The Cayle…
Audio-Visual Speech Recognition (AVSR) systems nowadays integrate Large Language Model (LLM) decoders with transformer-based encoders, achieving state-of-the-art results. However, the relative contrib…
Safety-critical control of piecewise affine (PWA) systems under bounded additive disturbances requires guarantees not for individual states but for entire state sets simultaneously: a single control a…
Autonomous robots commonly aim to complete a nominal behavior while minimizing a cost; this leaves them vulnerable to failure or unplanned scenarios, where a backup or contingency plan to a safe set i…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for nonlinear systems. However, it becomes computationally intractable in high-dimensional settings, motivating learning-based appro…
Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated de…
This paper studies obstacle avoidance under translation invariant dynamics using an avoid-side travel cost Hamilton Jacobi formulation. For running costs that are zero outside an obstacle and strictly…
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