Research
Research
Research
Research
41,527+ open-access research outputs.
Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-O…
Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice due to inherent nonlin…
Learning-based quadruped controllers achieve impressive agility but typically lack formal safety guarantees under model uncertainty, perception noise, and unstructured contact conditions. We introduce…
Audio and speech self-supervised encoder models are now widely used for a lot of different tasks. Many of these models are often trained on clean segmented speech content such as LibriSpeech. In this …
In this study, we proposed a deep Swin-Vision Transformer-based transfer learning architecture for robust multi-cancer histopathological image classification. The proposed framework integrates a hiera…
Assistive teleoperation enhances efficiency via shared control, yet inter-operator variability, stemming from diverse habits and expertise, induces highly heterogeneous trajectory distributions that u…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to …
Just Recognizable Difference (JRD) boosts coding efficiency for machine vision through visibility threshold modeling, but is currently limited to a single-task scenario. To address this issue, we prop…
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling these systems remains …
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the compl…
This paper presents an online intention prediction framework for estimating the goal state of autonomous systems in real time, even when intention is time-varying, and system dynamics or objectives in…
This paper presents a Semantic Feature Multiple Access (SFMA) framework for multi-user semantic communication in downlink wireless systems. By extending SwinJSCC to a two-user superimposition paradigm…
Integrated learning and communication (ILAC) unifies learned transceivers with radio resource management, where semantic feature multiple access (SFMA) enables paired users to superpose their learned …
Image generative models have become indispensable tools to yield exquisite high-resolution (HR) images for everyone, ranging from general users to professional designers. However, a desired outcome of…
Parallel kinematics machines (PKM) can exhibit kinematic as well as actuation redundancy. While the meaning of kinematic redundancy has been clarified already for serial manipulators, actuation redund…
Model Predictive Control (MPC) offers safe and near-optimal control but suffers from high computational costs. Approximate MPC (AMPC) mitigates this by learning a cheaper surrogate policy, typically b…
Instant delivery, shipping items before critical deadlines, is essential in daily life. While multiple delivery agents, such as couriers, Unmanned Aerial Vehicles (UAVs), and crowdsourced agents, have…
Robust geo-localization in changing environmental conditions is critical for long-term aerial autonomy. While visual place recognition (VPR) models perform well when airborne views match the training …
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) s…
Inspired by the general Vision-and-Language Navigation (VLN) task, aerial VLN has attracted widespread attention, owing to its significant practical value in applications such as logistics delivery an…
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