Research
Research
Research
Research
3,601+ open-access research outputs.
Learning-based Model Predictive Control (MPC) has emerged as a powerful strategy for building demand response. However, its practical deployment is often hindered by the non-convex optimization proble…
This manuscript presents a comprehensive analysis of predictive modeling optimization in managed Wi-Fi networks through the integration of clustering algorithms and model evaluation techniques. The st…
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment in…
We evaluate whether factor-wise auxiliary dynamics supervision produces useful latent structure or improved robustness in simulated humanoid locomotion. DynaMITE -- a transformer encoder with a factor…
High-performance propulsion for mission-critical applications demands unprecedented reliability and real-time fault resilience. Conventional diagnostic methods (signal-based analysis and standard ML m…
Composing coherent long-form music remains a significant challenge due to the complexity of modeling long-range dependencies and the prohibitive memory and computational requirements associated with l…
Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localizati…
Longlshort-term memory (LSTM) is a deep learning model that can capture long-term dependencies of wireless channel models and is highly adaptable to short-term changes in a wireless environment. This …
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a n…
Memory-augmented robotic policies are essential in handling memory-dependent tasks. However, existing approaches typically rely on simple observation window extensions, struggling to simultaneously ac…
Zero-Shot Object Navigation (ZSON) in unknown multi-floor environments presents a significant challenge. Recent methods, mostly based on semantic value greedy waypoint selection, spatial topology-enha…
Objective: To enable continuous, long-term neuro-monitoring on wearable devices by overcoming the computational bottlenecks of Transformer-based Electroencephalography (EEG) foundation models and the …
Extreme legged parkour demands rapid terrain assessment and precise foot placement under highly dynamic conditions. While recent learning-based systems achieve impressive agility, they remain fundamen…
Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as huma…
Image registration is an ill-posed dense vision task, where multiple solutions achieve similar loss values, motivating probabilistic inference. Variational inference has previously been employed to ca…
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it.…
We propose a data-driven linear modeling framework for controlled nonlinear hereditary systems that combines Koopman lifting with a truncated Grunwald-Letnikov memory term. The key idea is to model no…
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide range of applicatio…
Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and …
Deploying foundation models in embodied edge systems is fundamentally a systems problem, not just a problem of model compression. Real-time control must operate within strict size, weight, and power c…
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