Research
Research
Research
Research
57+ open-access research outputs.
Particle Swarm Optimization (PSO) is susceptible to premature convergence when the swarm collapses around the global best, particularly on multimodal landscapes in higher dimensions. We propose Diverg…
Accurate risk assessment is essential for safety-critical autonomous and control systems under uncertainty. In many real-world settings, stochastic dynamics exhibit asymmetric jumps and long-range mem…
The present paper proposes a Bayesian framework for inverse problems that seamlessly integrates optimization and inversion to enable rapid surrogate modeling, accurate parameter inference, and rigorou…
In robotics, it is common to check whether a given robot state results in self-intersection (i.e., a self-collision query) or to assess its distance from such an intersection (i.e., a self-proximity q…
Robots are typically described in software by specification files (e.g., URDF, SDF, MJCF, USD) that encode only basic kinematic, dynamic, and geometric information. As a result, downstream application…
Parkinson's disease (PD) is a neurodegenerative disorder associated with the accumulation of misfolded alpha-synuclein aggregates, forming Lewy bodies and neuritic shape used for pathology diagnostics…
Emerging 6G wireless systems suffer severe performance degradation in challenging environments like high-speed trains traversing dense urban corridors and Unmanned Aerial Vehicles (UAVs) links over mo…
According to the Paris Climate Change Agreement, all nations are required to submit reports on their greenhouse gas emissions and absorption every two years by 2024. Consequently, forests play a cruci…
Multi-task reinforcement learning (MTRL) offers a promising approach to improve sample efficiency and generalization by training agents across multiple tasks, enabling knowledge sharing between them. …
We introduce LeVR, a modular software framework designed to bridge two critical gaps in robotic imitation learning. First, it provides robust and intuitive virtual reality (VR) teleoperation for data …
We propose a statistical benchmark for diffusion posterior sampling (DPS) algorithms for Bayesian linear inverse problems. The benchmark synthesizes signals from sparse L\'evy-process priors whose pos…
We investigate the problem of segmenting unlabeled speech into word-like units and clustering these to create a lexicon. Prior work can be categorized into two frameworks. Bottom-up methods first dete…
Metaheuristic algorithms have gained widespread application across various fields owing to their ability to generate diverse solutions. One such algorithm is the Snake Optimizer (SO), a progressive op…
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robo…
We use the theory of Bernstein functions, completely monotonic functions, and Levy processes to define a positive random process $\tau(t)$. For radar clutter one may think of $\tau(t)$ as the instanta…
In this work, we provide a global condition for contraction with respect to an invariant Riemannian metric on reductive homogeneous spaces. Using left-invariant frames, vector fields on the manifold a…
In this study, we investigate multimodal foundation models (MFMs) for emotion recognition from non-verbal sounds. We hypothesize that MFMs, with their joint pre-training across multiple modalities, wi…
Effective exploration abilities are fundamental for robot swarms, especially when small, inexpensive robots are employed (e.g., micro- or nano-robots). Random walks are often the only viable choice if…
The advancement of industrialization has spurred the development of innovative swarm intelligence algorithms, with Lion Swarm Optimization (LSO) notable for its robustness, parallelism, simplicity, an…
To solve the Unmanned Aerial Vehicle (UAV) path planning problem, a meta-heuristic optimization algorithm called competitive game optimizer (CGO) is proposed. In the CGO model, three phases of explora…
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