Research
Research
Research
Research
272+ open-access research outputs.
Real-world deployments of human--swarm teams depend on balancing operator workload to leverage human strengths without inducing overload. A key challenge is that swarm size is often dynamic: robots ma…
We address the problem of interaction topology identification in open multi-agent systems (OMAS) with dynamic node sets and fast switching interactions. In such systems, new agents join and interactio…
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in e…
Collaborative transport requires robots to infer partner intent through physical interaction while maintaining stable loco-manipulation. This becomes particularly challenging in complex environments, …
In 1956 John Kelly wrote a paper at Bell Labs describing the relationship between gambling and Information Theory. What came to be known as the Kelly Criterion is both an objective and a closed-form s…
Sparse Canonical Correlation Analysis (SCCA) is a fundamental statistical tool for identifying linear relationships in high-dimensional, multi-view data. While minimax theory establishes an optimal sa…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high…
A unified structural framework is presented for model-based fault diagnosis that explicitly incorporates both fault locations and constraints imposed by the residual generation methodology. Building o…
Community literacy programs supporting young newcomer children in Canada face limited staffing and scarce one-to-one time, which constrains personalized English and cultural learning support. This pap…
Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are often sparsely dist…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA)…
We address the synchronization problem in open multi-agent systems (OMAS) containing both cooperative and antagonistic interactions. In these systems, agents can join or leave the network over time, a…
Robots operating in unstructured human environments inevitably encounter failures, especially in robot caregiving scenarios. While humans can often help robots recover, excessive or poorly targeted qu…
Ultrasound is a cornerstone of emergency and hepatobiliary imaging, yet its interpretation remains highly operator-dependent and time-sensitive. Here, we present a multitask vision-language agent (VLM…
The rapid proliferation of wireless devices makes robust identity authentication essential. Radio Frequency Fingerprinting (RFF) exploits device-specific, hard-to-forge physical-layer impairments for …
We propose LEO-RobotAgent, a general-purpose language-driven intelligent agent framework for robots. Under this framework, LLMs can operate different types of robots to complete unpredictable complex …
Nonprehensile manipulation, such as pushing objects across cluttered environments, presents a challenging control problem due to complex contact dynamics and long-horizon planning requirements. In thi…
Multi-Agent Reinforcement Learning (MARL) is commonly deployed in settings where agents are trained via self-play with homogeneous teammates, often using parameter sharing and a single policy architec…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which …
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination …
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