Research
Research
Research
Research
1,708+ 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…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random sh…
Autonomous driving systems often infer pedestrian yielding behavior from geometric and kinematic cues alone, limiting their ability to reason about visual scene context and age-dependent behavioral va…
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…
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view perception. In this work, w…
Wavefront engineering for applications in near-field wireless connectivity is gradually becoming common ground. In this landscape, beams that propagate on bent paths are ideal candidates for dynamic b…
The numerical performance of the material point method (MPM) is strongly governed by the particle-grid kernel, which controls the trade-off among smoothness, locality, numerical diffusion, contact acc…
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. …
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked…
Shell structures are pivotal in the fields of architecture and engineering, due to their aesthetic appeal and structural efficiency. Recently, 3D concrete printing has reignited the interest in these …
Lung cancer remains one of the leading causes of cancer-related mortality worldwide. Conventional computed tomography (CT) imaging, while essential for detection and staging, has limitations in distin…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally li…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While contro…
Imitation learning (IL) policies in robotics deliver strong performance in controlled settings but remain brittle in real-world deployments: rare events such as hardware faults, defective parts, unexp…
Indoor fire disasters pose severe challenges to autonomous search and rescue due to dense smoke, high temperatures, and dynamically evolving indoor environments. In such time-critical scenarios, multi…
The rapid advancement of generative AI has made it increasingly challenging to distinguish between deepfake audio and authentic human speech. To overcome the limitations of passive detection methods, …
Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., ani…
The decoupling of multivariate functions is a powerful modeling paradigm for learning multivariate input-output relations from data. For the single-layer case, established CPD-based methods are availa…
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitance, or force-torque m…
Ordinary differential equations (ODE's) are a cornerstone of systems and control theory. Accordingly, they are standard material in undergraduate programs in engineering and there is abundant didactic…
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