Research
Research
Research
Research
612+ open-access research outputs.
Language-guided unmanned aerial vehicles (UAVs) often fail not from bad reasoning or perception, but from execution mismatch: the gap between a planned trajectory and the controller's ability to tra…
Imitation learning is a powerful paradigm for training robotic policies, yet its performance is limited by compounding errors: minor policy inaccuracies could drive robots into unseen out-of-distribut…
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studie…
Semantic communication (SC) can achieve superior coding and transmission performance based on the knowledge contained in the semantic knowledge base (KB). However, conventional KBs consist of source K…
Despite recent advances in control, reinforcement learning, and imitation learning, developing a unified framework that can achieve agile, precise, and robust whole-body behaviors, particularly in lon…
In this letter, we prove that under mild conditions, the scaled graph of a reset control system is bounded by the scaled graph of its underlying base linear system, i.e., the system without resets. Bu…
Energy efficiency has emerged as a critical challenge in modern base stations (BSs), as the power amplifier (PA) consumes a substantial portion of the total power due to its limited efficiency. We inv…
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face pro…
Terahertz (THz) ultra-massive multiple-input multiple-output (UM-MIMO) promises ultra-high throughput, while its highly directional beams demand rapid and accurate beam tracking driven by precise user…
Integrated sensing and communications (ISAC) has been envisioned as a promising solution to support emerging services in low-altitude wireless networks (LAWNs), where upgrading 5G ground base stations…
Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: …
Over-the-air (OTA) emulation of diverse sensing target characteristics in a controlled laboratory environment is pivotal for advancing integrated sensing and communication (ISAC) technology, as it fac…
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based po…
Knotting plastic bags is a common task in daily life, yet it is challenging for robots due to the bags' infinite degrees of freedom and complex physical dynamics. Existing methods often struggle in ge…
In visual simultaneous localization and mapping (SLAM), the quality of the visual vocabulary is fundamental to the system's ability to represent environments and recognize locations. While ORB-SLAM is…
Regional watersheds are complex systems of systems encompassing hydrology, land-use decision-making, estuarine ecological feedbacks, and overlapping governance jurisdictions. Their effective managemen…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, tr…
Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due t…
Recent advances in multi-instance learning (MIL) have witnessed impressive performance in whole slide image (WSI) analysis. However, the inherent sparsity of tumors and their morphological diversity l…
This paper investigates goal-oriented remote monitoring of an unobservable Markov source using energy-harvesting sensors that communicate with a mobile receiver, such as a Low Earth Orbit (LEO) satell…
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