Research
Research
Research
Research
77+ open-access research outputs.
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in e…
Open-Vocabulary Object Navigation (OVON) requires an embodied agent to locate a language-specified target in unknown environments. Existing zero-shot methods often reason over dense frontier points un…
We develop a fast and accurate method for 3D alignment, recovering the rotation and translation that best align a reference volume with a noisy observation. Classical matched filtering evaluates cross…
Reliable radar inertial odometry (RIO) requires mitigating IMU bias drift, a challenge that intensifies in subterranean environments due to extreme temperatures and gravity-induced accelerations. Cost…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with f…
Underwater visual localization remains challenging due to wavelength-dependent attenuation, poor texture, and non-Gaussian sensor noise. We introduce MARVO, a physics-aware, learning-integrated odomet…
This paper introduces a new boundary element formulation for transient electromagnetic scattering by homogeneous dielectric objects based on the time-domain PMCHWT equation. To address dense-mesh brea…
Neural radiance fields (NeRF) have transformed 3D reconstruction and rendering, facilitating photorealistic image synthesis from sparse viewpoints. This work introduces an explicit data reuse neural r…
Path planning in dynamic environments remains a core challenge in robotics, especially as autonomous systems are deployed in unpredictable spaces such as warehouses and public roads. While algorithms …
Gait analysis using wearable devices has advantages over non-wearable devices when it comes to portability and accessibility. However, non-wearable devices have consistently shown superior performance…
Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robust, and energy effic…
Rising electricity demand underscores the need for secure and reliable generation expansion planning that accounts for upstream supply chain constraints. Traditional models often overlook limitations …
Commercial Motor Vehicle (CMV) safety is crucial in traffic management and public safety. CMVs account for numerous traffic incidents, so monitoring CMV safety and safety inspections is essential for …
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. D…
Immersed boundary methods have attracted substantial interest in the last decades due to their potential for computations involving complex geometries. Often these cannot be efficiently discretized us…
Neovascular age-related macular degeneration (nAMD) is a leading cause of vision loss among older adults, where disease activity detection and progression prediction are critical for nAMD management i…
Deep learning-based medical image segmentation and surface mesh generation typically involve a sequential pipeline from image to segmentation to meshes, often requiring large training datasets while m…
This paper introduces an efficient $\mathcal{O}(n)$ compute and memory complexity algorithm for globally optimal path planning on 2D Cartesian grids. Unlike existing marching methods that rely on appr…
Embodied AI is transforming how AI systems interact with the physical world, yet existing datasets are inadequate for developing versatile, general-purpose agents. These limitations include a lack of …
Understanding motorist detouring behavior is critical for both traffic operations and planning applications. However, measuring real-world detouring behavior is challenging due to the need to track th…
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