Research
Research
Research
Research
633+ open-access research outputs.
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…
Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivat…
While the ASAM OpenSCENARIO 2.1 Domain-Specific Language (DSL) enables declarative, intent-driven authoring for Scenario-Based Testing (SBT), its integration into open-source simulators like CARLA rem…
Vision-Language-Action (VLA) models have achieved remarkable success in robotic manipulation. However, their robustness to linguistic nuances remains a critical, under-explored safety concern, posing …
We investigate the performance of the pinching-antenna systems (PASS) for semantic communication (SC) in both single-waveguide and multi-waveguide scenarios, under the constraints of bit-user quality …
This work presents the system identification of a variable-pitch propeller (VPP) powertrain, encompassing the full actuation chain from PWM signals to thrust generation, with the aim of developing com…
Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to complex, interactio…
Integrated Sensing and Communications (ISAC) is regarded as a key element of the beyond-fifth-generation (5G) and sixth-generation (6G) systems, raising the question of whether current 5G New Radio (N…
We revisit the recently proposed ``self-Wiener" (SW) filtering method for robust deconvolution, and generalize it to the classical denoising problem. The resulting estimator, termed generalized SW (GS…
Most Rate-Splitting Multiple Access (RSMA) implementations rely on successive interference cancellation (SIC) at the receiver, whose performance is inherently limited by error propagation during commo…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition …
Reinforcement learning in massively parallel physics simulations has driven major progress in sim-to-real robot learning. However, current approaches remain brittle and task-specific, relying on exten…
[This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible.] In a wireless acoustic sensor …
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each veh…
Flow-based vision-language-action (VLA) models excel in embodied control but suffer from intractable likelihoods during multi-step sampling, hindering online reinforcement learning. We propose \textbf…
Motorsport has historically driven technological innovation in the automotive industry. Autonomous racing provides a proving ground to push the limits of performance of autonomous vehicle (AV) systems…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by…
Precise tension control in roll-to-roll (R2R) manufacturing is difficult under varying operating conditions and process uncertainty. This paper presents a curriculum-based Soft Actor-Critic (SAC) cont…
Mimicking the graceful motion of swimming animals remains a core challenge in soft robotics due to the complexity of fluid-structure interaction and the difficulty of controlling soft, biomimetic bodi…
Extremely large antenna arrays and high-frequency operation are two key technologies that advance performance metrics such as higher data rates, lower latency, and wider coverage in sixth-generation c…
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