Research
Research
Research
Research
204+ open-access research outputs.
The escalating climate crisis and ecosystem degradation demand intelligent, low-cost sensors capable of robust, long-term monitoring in real-world environments. Absolute dissolved oxygen (DO) concentr…
Ensuring safety is a critical requirement for autonomous systems, yet providing formal guarantees for nominal controllers remains a significant challenge. In this paper, we propose a modular sampling-…
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative worst-case ambiguity-…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular…
We present a filtering framework for online joint state estimation and parameter identification in nonlinear, time-varying systems. The algorithm uses Rao-Blackwellization technique to infer joint sta…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from comple…
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limita…
Accurate focus quality assessment (FQA) in fluorescence microscopy is challenging due to stain-dependent optical variations that induce heterogeneous focus behavior across images. Existing methods, ho…
Histopathology, the current gold standard for cancer diagnosis, involves the manual examination of tissue samples after chemical staining, a time-consuming process requiring expert analysis. Raman spe…
Financial news media shapes trillion-dollar climate investment decisions, yet discourse in this elite domain remains underexplored. We analyze two decades of climate-related articles (2000-2023) from …
We study distributed hypothesis testing under a covertness constraint in the non-alert situation, which requires that under the null-hypothesis an external warden be unable to detect whether communica…
Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Integral (PRMPPI) contro…
Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where texture…
Autonomous robots are increasingly deployed for information-gathering tasks in environments that vary across space and time. Planning informative and safe trajectories in such settings is challenging …
This paper introduces a method for Model Predictive Path Integral (MPPI) control that optimizes sample generation towards an optimal trajectory through Stein Variational Gradient Descent (SVGD). MPPI …
Accurate detection and classification of nuclei in histopathology images are critical for diagnostic and research applications. We present KongNet, a multi-headed deep learning architecture featuring …
In this work, algorithms for the parallel computation of three-body interactions in molecular dynamics are developed. While traversals for the computation of pair interactions are readily available in…
This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed specifically for fusing …
The reliable identification of mitotic figures in whole-slide histopathological images remains difficult, owing to their low prevalence, substantial morphological heterogeneity, and the inconsistencie…
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