Research
Research
Research
Research
2,459+ open-access research outputs.
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
This paper presents a systematic verification and validation (V\&V) framework for the Evasive Minimum Risk Maneuver (EMRM) feature in autonomous vehicles, addressing a critical gap in existing safety …
Learning methods are increasingly used to synthesize controllers from data, yet existing sample-complexity characterizations for continuous control are sharp only in the fully observed setting. This p…
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modif…
While Vision-Language-Action (VLA) models have been demonstrated possessing strong zero-shot generalization for robot control, their massive parameter sizes typically necessitate cloud-based deploymen…
The real-world deployment of Vision-Language-Action (VLA) models remains limited by the risk of unpredictable and irreversible physical harm. However, we currently lack effective mechanisms to proacti…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Multi-modal trajectory generation is essential for safe autonomous driving, yet existing diffusion-based planners suffer from high inference latency due to iterative neural function evaluations. This …
While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language a…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic …
Achieving truly fluid interaction with robots with speech interfaces remains a hard problem, and the experience of current Human-Robot Interaction (HRI) remains laboured and frustrating. Some of the b…
Safety filters have been shown to be effective tools to ensure the safety of control systems with unsafe nominal policies. To address scalability challenges in traditional synthesis methods, learning-…
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. …
Bitcoin transaction fees will become more important as the block subsidy declines, but fee formation is hard to study with blockchain data alone because the relevant queueing environment is unobserved…
Linear-threshold networks (LTNs) capture the mesoscale behavior of interacting populations of neurons and are of particular interest to control theorists due to their dynamical richness and relative e…
Diffusion policies are becoming mainstream in robotic manipulation but suffer from hard negative class imbalance due to uniform sampling and lack of sample difficulty awareness, leading to slow traini…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously a…
Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, often struggle to ach…
Rain attenuates Ku-band satellite signals by up to 20~dB, encoding precipitation information along the Earth-space slant path. This paper derives the Bayesian Cram\'{e}r-Rao bound (BCRB) for rain rate…
Ensuring safe physical interaction between torque-controlled manipulators and humans is essential for deploying robots in everyday environments. Model Predictive Control (MPC) has emerged as a suitabl…
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