Research
Research
Research
Research
628+ open-access research outputs.
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process …
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical inter…
Have you ever post-trained a generalist vision-language-action (VLA) policy on a small demonstration dataset, only to find that it stops responding to new instructions and is limited to behaviors obse…
Engineering structures are increasingly designed using numerical optimisation. However, traditional optimisation methods can be challenging with multiple objectives and many parameters. In machine lea…
The high computational cost of approaching the performance of Maximum-likelihood (ML) decoding has limited its practical use for decades. Because the complexity grows exponentially with the message le…
Road traffic accidents are a leading cause of fatalities worldwide. In the US, human error causes 94% of crashes, resulting in excess of 7,000 pedestrian fatalities and $500 billion in costs annually.…
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…
Recent advances in reasoning models have driven significant progress in text and multimodal domains, yet audio reasoning remains relatively limited. Only a few Large Audio Language Models (LALMs) inco…
We study online linear-quadratic regulation (LQR) with unknown dynamics under communication rate constraints. Classical networked control quantizes the plant state at every time step, requiring $O(T)$…
Simulation trained legged locomotion policies often exhibit performance loss on hardware due to dynamics discrepancies between the simulator and the real world, highlighting the need for approaches th…
Recently, artificial intelligence-based dubbing technology has advanced, enabling automated dubbing (AD) to convert the source speech of a video into target speech in different languages. However, nat…
Speech LLM post-training increasingly relies on efficient cross-modal alignment and robust low-resource adaptation, yet collecting large-scale audio-text pairs remains costly. Text-only alignment meth…
Embodied-AI agents must reason about how objects move and interact in 3-D space over time, yet existing smaller frontier Large Language Models (LLMs) still mis-handle fine-grained spatial relations, m…
Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. E…
Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular de…
The propagation of light through a turbulent flow field around an aircraft results in optical distortions commonly known as aero-optic effects. The development of methods to mitigate these effects req…
While diffusion models are best known for their performance in generative tasks, they have also been successfully applied to many other tasks, including audio source separation. However, current gener…
Model-based reinforcement learning (MBRL) improves sample efficiency by leveraging learned dynamics models for policy optimization. However, the effectiveness of methods such as actor-critic is often …
We consider the problem of learning-based man-in-the-middle (MITM) attacks in cyber-physical systems (CPS), and extend our previously proposed Bellman Deviation Detection (BDD) framework for model-fre…
For status update systems operating over unreliable energy-constrained wireless channels, we address Weaver's long-standing Level-C question: do my packets actually improve the plant's behavior? Each …
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