Research
Research
Research
Research
41,527+ open-access research outputs.
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopma…
Scaling humanoid foundation models is bottlenecked by the scarcity of robotic data. While massive egocentric human data offers a scalable alternative, bridging the cross-embodiment chasm remains a fun…
Reproducibility, traceability, and transparency in testing cyber-physical energy systems are crucial for scientific advancement and cross-laboratory collaboration. Current experimentation and test doc…
World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity…
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural contro…
AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intu…
Reliable harmonization of heterogeneous magnetic resonance~(MR) image datasets, especially those acquired in pragmatic clinical trials, is critical to advance multi-center neuroimaging studies and tra…
In recent years, computational power and data availability breakthroughs have revolutionized our ability to analyze complex physical systems through the inverse problem approach. Data-driven technique…
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead …
Traditional policy learning methods in cooperative pursuit face fundamental challenges in biomimetic underwater robots, where long-horizon decision making, partial observability, and inter-robot coord…
Robotic parkour provides a compelling benchmark for advancing locomotion over highly challenging terrain, including large discontinuities such as elevated steps. Recent approaches have demonstrated im…
Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribut…
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between differen…
Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness acr…
Recent advances in large-scale video world models have enabled increasingly realistic future prediction, raising the prospect of leveraging imagined videos for robot learning. However, visual realism …
Reliable surveillance and communication for unmanned aerial vehicles (UAVs) are crucial for enabling and sustaining the accelerated growth of the low-altitude economy. Integrated sensing and communica…
This paper investigates the transient synchronization stability in power systems hybridized with virtual synchronous generators (VSGs) and synchronous generators (SGs). A relative swing equation model…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The p…
Path integral control in Gaussian belief space requires a structural matching condition between the observation-driven diffusion of the belief mean and the actuation authority, which a fixed observati…
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