Research
Research
Research
Research
41,527+ open-access research outputs.
Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty.…
Uncertainty quantification is essential when deploying learning-based control methods in safety-critical systems. This is commonly realized by constructing uncertainty tubes that enclose the unknown f…
Chest X-ray (CXR) segmentation is an important step in computer-aided diagnosis, yet deploying large foundation models in clinical settings remains challenging due to computational constraints. We pro…
Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations s…
This paper develops a data-driven safe control framework for nonlinear discrete-time systems with parametric uncertainty and additive disturbances. The proposed approach constructs a data-consistent c…
Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitati…
Despite recent advances in control, reinforcement learning, and imitation learning, developing a unified framework that can achieve agile, precise, and robust whole-body behaviors, particularly in lon…
In this paper, we develop a kernel-based policy iteration functional learning framework for computing team-optimal strategies in traffic coordination problems. We consider a multi-agent discrete-time …
Human driver participation is a critical source of uncertainty in Mobility-on-Demand (MoD) rebalancing. Drivers follow platform recommendations probabilistically, and their willingness to comply evolv…
This paper develops a parametric Koopman operator framework for Stochastic Model Predictive Control (SMPC), where the Koopman operator is parametrized by Polynomial Chaos Expansions (PCEs). The model …
We consider data-based predictive control based on behavioral systems theory. In the linear setting this means that a system is described as a subspace of trajectories, and predictive control can be f…
Medical imaging techniques, especially Magnetic Resonance Imaging (MRI), are accepted as the gold standard in the diagnosis and treatment planning of neurological diseases. However, the manual analysi…
We propose a hybrid reinforcement learning (RL) and model predictive control (MPC) framework for mixed-integer optimal control, where discrete variables enter the cost and dynamics but not the constra…
In this work, we consider end-to-end calibration of an integrated sensing and communication (ISAC) base station (BS) under gain-phase and antenna displacement impairments without collecting signals fr…
Ensuring scalable input-to-state stability (sISS) is critical for the safety and reliability of large-scale interconnected systems, especially in the presence of communication delays. While learning-b…
Learning the graph Laplacian from observed data is one of the most investigated and fundamental tasks in Graph Signal Processing (GSP). Different variants of the Laplacian, such as the combinatorial, …
Computing the effective resistance between nodes in finite discrete resistor grids is a classical problem in circuit analysis with applications in VLSI power delivery network analysis, graph theory, a…
High-Resolution three-dimensional (3D) radio maps (RMs) provide rich information about the radio landscape that is essential to a myriad of wireless applications in the future wireless networks. Altho…
Due to brain-body co-evolution, animals' intrinsic body dynamics play a crucial role in energy-efficient locomotion, which shares control effort between active muscles and passive body dynamics -- a p…
Semantic communications (SemCom) is a promising task-oriented paradigm in which semantic features exhibit non-uniform importance. Consequently, unequal error protection (UEP), which allocates resource…
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