Research
Research
Research
Research
6,353+ open-access research outputs.
Vision-Language-Action (VLA) models have increasingly incorporated reasoning mechanisms for complex robotic manipulation. However, existing approaches share a critical limitation: whether employing ex…
This paper introduces a general approximate alternating simulation relation (\emph{$\varepsilon$-gAAS relation}) for continuous-time systems, which relaxes existing simulation relations to tolerate la…
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…
Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of ob…
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…
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
Dynamical systems (DS) methods for Learning-from-Demonstration (LfD) provide stable, continuous policies from few demonstrations. First-order dynamical systems (DS) are effective for many point-to-poi…
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…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Automatic accent identification (AID) remains a challenging task due to the complex variability of accents, the entanglement of accent cues with speaker traits, and the scarcity of reliable accentlabe…
End-to-end autonomous driving planners typically generate trajectories from current observations alone. However, real-world driving is highly dynamic, and such reactive planning cannot anticipate futu…
Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing app…
We introduce asRoBallet, to the best of our knowledge, the first successful deployment of reinforcement learning (RL) on a humanoid ballbot hardware. Historically, ballbots have served as a canonical …
We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated uncertainty bounds despi…
Vehicle-to-Grid (V2G) technology allows bidirectional power flow for real-time grid support, making electric vehicles (EVs) well-suited for ancillary services such as frequency regulation. However, ex…
Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branch, or generated by p…
Direct Device-to-Satellite (D2S) communications, which enable direct satellite connectivity with unmodified user equipment (UE), not only expand global coverage but also reshape the evolution of futur…
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…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
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