Research
Research
Research
Research
16+ open-access research outputs.
The ensemble Kalman filter (EnKF) is widely used for nonlinear and high-dimensional state estimation because it replaces complex covariance propagation with simple ensemble statistics. However, conven…
Nonlinear extensions of the Kalman filter (KF), such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), are indispensable for state estimation in complex dynamical systems, yet…
This paper studies the rapid stabilization of a multidimensional heat equation in the presence of an unknown spatially localized disturbance. A novel multivalued feedback control strategy is proposed,…
In intelligent low-altitude networks, integrating monitoring tasks into communication unmanned aerial vehicles (UAVs) can consume resources and increase handoff latency for communication links. To add…
Unified physics-based humanoid controllers are pivotal for robotics and character animation, yet models that excel on gentle, everyday motions still stumble on explosive actions, hampering real-world …
3D Gaussian Splatting (3DGS) has recently gained popularity for efficient scene rendering by representing scenes as explicit sets of anisotropic 3D Gaussians. However, most existing work focuses prima…
Covert speech involves imagining speaking without audible sound or any movements. Decoding covert speech from electroencephalogram (EEG) is challenging due to a limited understanding of neural pronunc…
The Kalman filter (KF) is an optimal linear state estimator for linear systems, and numerous extensions, including the extended Kalman filter (EKF), unscented Kalman filter (UKF), and cubature Kalman …
One of the challenges in robotics is to enable robotic units with the reasoning capability that would be robust enough to execute complex tasks in dynamic environments. Recent advances in LLMs have po…
Capturing and reconstructing a human actor's motion is important for filmmaking and gaming. Currently, motion capture systems with static cameras are used for pixel-level high-fidelity reconstructions…
We present CAJun, a novel hierarchical learning and control framework that enables legged robots to jump continuously with adaptive jumping distances. CAJun consists of a high-level centroidal policy …
In active speaker detection (ASD), we would like to detect whether an on-screen person is speaking based on audio-visual cues. Previous studies have primarily focused on modeling audio-visual synchron…
Polyphone disambiguation aims to capture accurate pronunciation knowledge from natural text sequences for reliable Text-to-speech (TTS) systems. However, previous approaches require substantial annota…
The defocus deblurring raised from the finite aperture size and exposure time is an essential problem in the computational photography. It is very challenging because the blur kernel is spatially vary…
Recently, single gray/RGB image super-resolution reconstruction task has been extensively studied and made significant progress by leveraging the advanced machine learning techniques based on deep con…
We extend the results of the general small-gain theorem proposed by Z.P Jiang. The significance of this extension is two fold. First, it allows one to use general vector norm to characterize the input…
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