Research
Research
Research
Research
432+ open-access research outputs.
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical inter…
The Terahertz (THz) band (0.1-10 THz) has emerged as a critical frontier for future communication systems, offering ultra-wide bandwidths that enable Terabits-per-second (Tbps) wireless links and high…
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, which a fixed observati…
Generalist embodied agents must perform interactive, causally-dependent reasoning, continually interacting with the environment, acquiring information, and updating plans to solve long-horizon tasks b…
Fungal protein materials exhibit inherently anisotropic microstructures formed by networks of hyphae, which suggest a natural pathway to replicate the fibrous texture of animal meat. We probe whether …
We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models. The framework deri…
Even when providing long-run, worst-case guarantees to competing flows of unit-sized tasks, a slot-timed, constant-capacity server's scheduler may retain significant, short-run, scheduling flexibility…
This paper extends path integral control (PIC) to partially observed systems by formulating the problem in Gaussian belief space. PIC relies on the diffusion being proportional to the control channel …
Weaving ramps are critical bottlenecks in highway networks due to conflicting traffic flows and complex interactions among heterogeneous vehicle types. In mixed-autonomy settings, the presence of cont…
Prediction markets are starting to look less like crowd polls and more like electronic markets. The central question is therefore no longer only whether these markets forecast well, but what happens w…
Data centers (DCs) are emerging as large, geographically distributed, controllable loads whose participation in electricity markets can significantly affect grid operation, especially when cloud platf…
AI agents are increasingly transacting on behalf of users -- delegating tasks, spending budgets, and negotiating with unfamiliar counterparties. From skill marketplaces to agent-only bazaars, the econ…
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes insufficient in cont…
Calibrating chemical kinetics in a reaction-diffusion system is challenging because of complex dynamics governed by tightly coupled chemistry and transport, while experimental observations are often s…
With the rapid advancement of 6G, identity authentication has become increasingly critical for ensuring wireless security. The lightweight and keyless Physical Layer Authentication (PLA) is regarded a…
Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level reasoning, planning, and decision-making during interactions with the environment. However, …
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack …
Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is …
Policy steering is an emerging way to adapt robot behaviors at deployment-time: a learned verifier analyzes low-level action samples proposed by a pre-trained policy (e.g., diffusion policy) and selec…
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