Research
Research
Research
Research
3,351+ 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…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popul…
Skill libraries in deployed robotic systems are continually updated through fine-tuning, fresh demonstrations, or domain adaptation, yet existing typed-composition methods (BLADE, SymSkill, Generative…
The average symbol error probability (SEP) of a phase-quantized single-input multiple-output system with M-ary phase-shift keying modulation and maximum ratio combining (MRC) is analyzed under correla…
The integration of multimodal sensing and millimeter-wave (mmWave) communications is a key enabler for highly mobile vehicle-to-infrastructure (V2I) networks. However, continuous high-resolution visua…
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between daytime RGB maps and nig…
The joint training of speech enhancement and speaker embedding networks for speaker recognition is widely adopted under noisy acoustic environments. While effective, this paradigm often fails to lever…
This study proposes an anomaly-detection framework for monitoring exposure-length variations in submarine free-span cables using Distributed Acoustic Sensing (DAS), which is one of the distributed fib…
Proprietary design in commercial windrow-detection systems restricts transparency and limits progress in open autonomous forage-harvesting research. We present a multi-modal dataset combining stereo v…
Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models …
Line spectral estimation (LSE) involves estimating both spectral frequencies and their associated complex amplitudes. Existing Fisher-information-based benchmarks are local and therefore do not captur…
The Laplacian operator transforms the image into its Laplacian field, which usually is sparse and satisfies a stable distribution. On the other hand, an image can be uniquely reconstructed from its La…
This paper investigates the cross-frequency structure of background clutter induced by random dispersive media in single-snapshot FDA-MIMO-GPR. Representative media are modeled by the Cole--Cole formu…
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experien…
Gaussian basis functions provide an efficient and flexible alternative to spline activations in KANs. In this work, we introduce the partition-of-unity Gaussian KAN (PU-GKAN), a Shepard-type normalize…
Power system state estimation (SE) is foundational for grid monitoring, yet conventional centralized solvers face increasing computational pressure as the system scale and real-time requirements grow.…
AI and data-driven models have large potential for data assimilation applications by creating fast and accurate forecasts. Their tendency to produce spurious inaccurate, nonphysical results -- halluci…
Predicting future trajectories of surrounding traffic agents is critical for safe autonomous navigation and collision avoidance. Despite all advances in the trajectory forecasting realm, the predictio…
Brain-inspired non-Boolean computing offers intrinsic error tolerance and parallelism, but its practical deployment is limited by the lack of compact, energy-efficient spiking hardware compatible with…
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightl…
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