Research
Research
Research
Research
118+ open-access research outputs.
We study online linear-quadratic regulation (LQR) with unknown dynamics under communication rate constraints. Classical networked control quantizes the plant state at every time step, requiring $O(T)$…
Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a …
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
Deep learning has shown strong potential for scientific discovery, but its ability to model macroscopic rigid-body kinematic constraints remains underexplored. We study this problem on spatial over-co…
This paper investigates the problem of covert communications in a heterogeneous wireless network where multiple communication modalities are used simultaneously. In this setup, a legitimate transmitte…
Humans train robots to complete tasks in one environment, and expect robots to perform those same tasks in new environments. As humans, we know which aspects of the environment (i.e., the state) are r…
Action chunking has recently emerged as a standard practice in flow-based Vision-Language-Action (VLA) models. However, the effect and choice of the execution horizon - the number of actions to be exe…
We design a variational state estimation (VSE) method that provides a closed-form Gaussian posterior of an underlying complex dynamical process from (noisy) nonlinear measurements. The complex process…
Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations…
Synthetic aperture radar (SAR) enables versatile, all-time, all-weather remote sensing. Coupled with automatic target recognition (ATR) leveraging machine learning (ML), SAR is empowering a wide range…
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online…
Continuous variable-quantum key distribution (CV-QKD) protocols attract increasing attentions in recent years because they enjoy high secret key rate (SKR) and good compatibility with existing optical…
Deception is a common defense mechanism against adversaries with an information disadvantage. It can force such adversaries to select suboptimal policies for a defender's benefit. We consider a settin…
Critical heat flux (CHF) marks the transition from nucleate to film boiling, where heat transfer to the working fluid can rapidly deteriorate. Accurate CHF prediction is essential for efficiency, safe…
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual dynamics that can be…
To improve ATR identification of ships at sea requires an advanced ISAR processor - one that not only provides focused images but can also determine the pose of the ship. This tells us whether the ima…
This study presents a comprehensive analysis of four significant California wildfires: Palisades, Eaton, Kenneth, and Hurst, examining their impacts through multiple dimensions, including land cover c…
We propose receivers for bistatic sensing and communication that exploit a tensor modeling of the received signals. We consider a hybrid scenario where the sensing link knows the transmitted data to e…
Unlabeled motion planning involves assigning a set of robots to target locations while ensuring collision avoidance, aiming to minimize the total distance traveled. The problem forms an essential buil…
Humans interacting with robots often form predictions of what the robot will do next. For instance, based on the recent behavior of an autonomous car, a nearby human driver might predict that the car …
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