Research
Research
Research
Research
41,527+ open-access research outputs.
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Rob…
Expressive generative models have advanced robotic manipulation by capturing complex, multi-modal action distributions over temporally extended trajectories. However, fine-tuning these policies via RL…
In Europe, balance responsible parties can deliberately take out-of-balance positions to support transmission system operators (TSOs) in maintaining grid stability and earn profit, a practice called i…
Continuous aperture arrays (CAPAs) have emerged as a promising physical-layer paradigm for sixth generation (6G) systems, offering spatial degrees of freedom beyond those of conventional discrete ante…
Bayesian optimization is a popular black-box optimization method for parameter learning in control and robotics. It typically requires an objective function that reflects the user's optimization goal.…
LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the superv…
Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of skills in real time, pa…
Associating measurements with tracks is a crucial step in Multi-Object Tracking (MOT) to guarantee the safety of autonomous vehicles. To manage the exponentially growing number of track hypotheses, tr…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Lan…
Conventionally, the concept of moment has been primarily employed in model order reduction to approximate system by matching the moment, which is merely the specific set of steady-state responses. In …
This paper addresses the spatiotemporal mismatch in multi-agent distribution tracking within time-varying environments. While recent advancements in Density-Driven Optimal Control (D$^2$OC) have enabl…
Accurately modeling agent behaviors is an important task in self-driving. It is also a task with many symmetries, such as equivariance to the order of agents and objects in the scene or equivariance t…
Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause sever…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback cont…
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes insufficient in cont…
Estimating the dissipativity of nonlinear systems from empirical data is useful for the analysis and control of nonlinear systems, especially when an accurate model is unavailable. Based on a Koopman …
We investigate the data-driven discovery of constitutive closures in nonlinear reaction-diffusion systems with known governing PDE structures. Our objective is to robustly recover diffusion and reacti…
Macroscopic unmanned aerial vehicle (UAV) traffic organization in three-dimensional airspace faces significant challenges from static wind fields and complex obstacles. A critical difficulty lies in s…
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual reality, our system…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of t…
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