Research
Research
Research
Research
41,527+ open-access research outputs.
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level co…
Video-generative world models are increasingly used as neural simulators for embodied planning and policy learning, yet their ability to predict physical risk and severe consequences is rarely evaluat…
We address the problem of localizing multiple sources in 3D by combining sensor array measurements with camera observations. We propose a fusion framework extending the covariance matrix fitting metho…
We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only …
In the reinforcement learning literature, strong theoretical guarantees have been obtained for algorithms applicable to LTI systems. However, in the nonlinear case only weaker results have been obtain…
Future wireless systems increasingly require predictive and transferable representations that can support multiple physical-layer (PHY) tasks under dynamic environments. However, most existing supervi…
RF fingerprinting authenticates satellite transmitters by exploiting hardware-specific signal impairments, yet existing methods operate without theoretical performance guarantees. We derive the Fisher…
This vision paper addresses the research challenges of integrating traditional signal processing with Artificial Intelligence (AI) to enable energy-efficient, programmable, and scalable wireless conne…
Kazantzis-Kravaris/Luenberger (KKL) observers are a class of state observers for nonlinear systems that rely on an injective map to transform the nonlinear dynamics into a stable quasi-linear latent s…
Buildings and data centers (DCs) are energy-intensive sectors, playing a critical role to achieve the low-carbon and sustainable energy transition targets. To this end, integrated energy system (IES) …
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high…
This paper studies offline, zero-shot planning under Signal Temporal Logic (STL) specifications. We assume access only to an offline dataset of state-action-state transitions collected by a task-agnos…
The Linear Parameter-Varying (LPV) framework enables the construction of surrogate models of complex nonlinear and high-dimensional systems, facilitating efficient stability and performance analysis t…
Non-destructive testing using ultrasound is based on the interaction of sound waves with the object being tested and any defects it may contain. The aim is to extract as much information as possible a…
Classical proportional--integral--derivative (PID) control is widely employed in industrial applications; however, achieving higher performance often motivates the adoption of model predictive control…
The increasing capabilities of machine learning models, such as vision-language and multimodal language models, are placing growing demands on data in automotive systems engineering, making the qualit…
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstraction…
Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely…
The use of semantic features can improve the efficiency of target search in unknown environments for robotic search and rescue missions. Current target search methods rely on training with large datas…
Tacho-less rotational speed estimation is critical for vibration-based prognostics and health management (PHM) of rotating machinery, yet traditional methods--such as time-domain periodicity, cepstrum…
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