Research
Research
Research
Research
41,527+ open-access research outputs.
Digital twins (DTs) are envisioned as a key enabler of the cyber-physical continuum in future wireless networks. However, efficient deployment and synchronization of DTs in dynamic multi-access edge c…
The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied…
Accurate LiDAR simulation is crucial for autonomous driving, especially under adverse weather conditions. Existing methods struggle to capture the complex interactions between LiDAR signals and atmosp…
Linear system identification and sparse dictionary learning can both be seen as structured matrix factorization problems. However, these two problems have historically been studied in isolation by the…
Reconfigurable intelligent surfaces (RISs) are often assumed to allow continuous phase control over all elements, leading to hardware cost that scales with the number of elements. Treating the phase o…
We present EgoNav, a system that enables a humanoid robot to traverse diverse, unseen environments by learning entirely from 5 hours of human walking data, with no robot data or finetuning. A diffusio…
Learning-based adaptation of Control Barrier Function (CBF) parameters offers a promising path toward safe autonomous navigation that balances conservatism with performance. Yet the accuracy of the un…
Robust person tracking is a critical capability for autonomous mobile robots operating in diverse and unpredictable environments. While RGB-D tracking has shown high precision, its performance severel…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this resea…
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework tha…
The rapid progress of large Vision-Language Models (VLMs) has enabled a wide range of applications, such as image understanding and Visual Question Answering (VQA). Query images are often uploaded to …
This paper presents REMind, an innovative educational robot-mediated role-play game designed to support anti-bullying bystander intervention among children. REMind invites players to observe a bullyin…
Safety-critical control of piecewise affine (PWA) systems under bounded additive disturbances requires guarantees not for individual states but for entire state sets simultaneously: a single control a…
Cross-hospital failure in chest X-ray models is often attributed to domain shift, yet most work assumes invariance without measuring it. This paper studies how to measure site leakage directly and how…
In cases of prevalent diseases and disorders, such as Prenatal Alcohol Exposure (PAE), multi-site data collection allows for increased study samples. However, multi-site studies introduce additional v…
Offline reinforcement learning (RL) is an attractive tool for unmanned aerial vehicle (UAV) systems, where online exploration is costly and raises safety concerns. In terrain-aware UAV relaying, agent…
Densely deployed base stations are responsible for the majority of the energy consumed in Radio access network (RAN). While these deployments are crucial to deliver the required data rate in busy hour…
We study the finite-time convergence of projected linear two-time-scale stochastic approximation with constant step sizes and Polyak--Ruppert averaging. We establish an explicit mean-square error boun…
This paper studies contractivity of firing-rate and Hopfield recurrent neural networks. We derive sharp LMI conditions on the synaptic matrices that characterize contractivity of both architectures, f…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues withi…
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