Research
Research
Research
Research
151+ open-access research outputs.
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…
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…
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 …
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 Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is …
Early diagnosis of battery thermal anomalies is crucial to ensure safe and reliable battery operation by preventing catastrophic thermal failures. Battery diagnostics primarily rely on battery surface…
Diffusion-based visuomotor policies excel at modeling action distributions but are inference-inefficient, since recursively denoising from noise to policy requires many steps and heavy UNet backbones,…
Generative artificial intelligence (GAI) plays a fundamental role in high-impact AI-based systems such as SORA and AlphaFold. Currently, GAI shows limited capability in the specialized domains due to …
In this paper, we investigate Kolmogorov-Arnold network-based autoencoders (KAN-AEs) with symbolic regression (SR) for energy-efficient channel coding. By using SR, we convert KAN-AEs into symbolic ex…
Accurate and real-time 6-DoF localization is mission-critical for autonomous lunar landing, yet existing approaches remain limited: visual odometry (VO) drifts unboundedly, while map-based absolute lo…
Recent advancements in Lyapunov-based Deep Neural Networks (Lb-DNNs) have demonstrated improved performance over shallow NNs and traditional adaptive control for nonlinear systems with uncertain dynam…
Modern manufacturing demands high flexibility and reconfigurability to adapt to dynamic production needs. Model-based Engineering (MBE) supports rapid production line design, but final reconfiguration…
The rapid advancement of Large Language Models (LLMs) has marked a significant breakthrough in Artificial Intelligence (AI), ushering in a new era of Human-centered Artificial Intelligence (HAI). HAI …
Recent advancements in Large Language Models (LLMs) have greatly enhanced natural language understanding and content generation. However, these models primarily operate in disembodied digital environm…
Safe and efficient robot operation in complex human environments can benefit from good models of site-specific motion patterns. Maps of Dynamics (MoDs) provide such models by encoding statistical moti…
Trustworthy medical image segmentation aims at deliver accurate and reliable results for clinical decision-making. Most existing methods adopt the evidence deep learning (EDL) paradigm due to its comp…
Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for …
O-RAN testing is becoming increasingly difficult with the exponentially growing number of performance measurements as the system grows more complex, with additional units, interfaces, applications, an…
Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failures, and partial obs…
A battery management system (BMS) relies on real-time estimation of battery temperature distribution in battery cells to ensure safe and optimal operation of Lithium-ion batteries. However, physical B…
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