Research
Research
Research
Research
3,833+ open-access research outputs.
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting c…
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potent…
Vision-Language-Action (VLA) models are promising for generalist robot control, but on-robot deployment is bottlenecked by real-time inference under tight cost and energy budgets. Most prior evaluatio…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Variable flux memory motors, which employ Low Coercive Force (LCF) magnets, achieve extended high-efficiency operation through controllable magnetization states. To address the need for a unified appr…
This work presents GS-DOT, a novel image reconstruction framework based on Gaussian Splatting (GS) for diffuse optical tomography (DOT). Inspired by GS for rendering applications, absorption coefficie…
Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing frameworks typically d…
Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy …
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors. We present LoHo-Man…
Computed Tomography (CT) is a widely used imaging modality in medical and industrial applications. To limit radiation exposure and measurement time, there is a growing interest in sparse-view CT, wher…
This paper addresses characterizations of Integral Input-to-State Stability (iISS) for hybrid systems with memory. Based on the Krasovskii approach, a novel Lyapunov characterization of iISS is establ…
Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operate under strict const…
ReRAM-based in-memory computing (IMC) architectures are promising candidates for energy-efficient matrix-vector multiplication. While scaling the size of ReRAM arrays allows for the amortization of po…
Optical wireless communication (OWC) has emerged as a promising candidate for future high-capacity indoor wireless networks, driven by its large unregulated spectrum, high spatial reuse, and ability t…
Challenging indoor and urban environments with severe multipath propagation and obstructed LoS (OLoS) degrade classical radio frequency (RF) positioning. Multipath-based simultaneous localization and …
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (So…
Next-generation wireless networks are expected to leverage multi-modal data sources to execute various wireless communication tasks such as beamforming and blockage prediction with situational-awarene…
Robotic manipulation tasks exhibit varying memory requirements, ranging from Markovian tasks that require no memory to non-Markovian tasks that depend on historical information spanning single or mult…
As the world of agentic artificial intelligence applied to robotics evolves, the need for agents capable of building and retrieving memories and observations efficiently is increasing. Robots operatin…
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