Research
Research
Research
Research
1,196+ open-access research outputs.
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
This paper presents a systematic verification and validation (V\&V) framework for the Evasive Minimum Risk Maneuver (EMRM) feature in autonomous vehicles, addressing a critical gap in existing safety …
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although…
Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vi…
This paper develops a dynamic programming (DP) approach for decentralized stochastic optimal control problems with delayed sharing information patterns, which exhibits the fundamental Properties of cl…
Neural networks can be trained to learn task-relevant representations from data. Understanding how these networks make decisions falls within the Explainable AI (XAI) domain. This paper proposes to st…
In this paper we present a radically new approach to design state observers for nonlinear systems, with particular emphasis on physical ones. Our objective is to obtain an algebraic relation between t…
Humanoid robots operating in unstructured environments must recover from unexpected disturbances-a capability that remains challenging for end-to-end control policies. We present RECOVERFORMER, a full…
The rapid growth of inverter-based resources (IBRs) and distributed energy resources (DERs) has fundamentally altered the long-term voltage stability characteristics of modern power systems. This arti…
The large-scale integration of inverter-based resources (IBRs), particularly distributed photovoltaics (DPVs), into distribution networks increases the need for integrated transmission and distributio…
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…
High-fidelity, scalable market simulation is a key instrument for mechanism evaluation, stress testing, and counterfactual policy analysis. Yet existing simulators rarely achieve \emph{mechanism fidel…
In the complex domain of microfluidics systems, analysing fluid flow patterns through random-shaped circular microchannels is significantly challenging task. Conventional approach of solving such prob…
This paper provides a comprehensive framework for designing functional observers for linear systems subject to delayed output measurements. Moving beyond traditional methodologies, the proposed observ…
By exploiting noise as an information-bearing resource, noise-driven communication offers a promising framework for low-complexity and secure wireless system design. In this letter, the scheme of tern…
Behavior cloning (BC) policies on position-controlled robots inherit the closed-loop response of the underlying PD controller, yet the effect of controller gains on BC failure lacks a nonasymptotic th…
Learner satisfaction is a critical quality signal in massive open online courses (MOOCs), directly influencing retention, engagement, and platform reputation. Most existing methods infer satisfaction …
Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated …
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted eit…
We study the controllability of a linear KdV-Schr{\"o}dinger equation on the one-dimensional torus via purely imaginary bilinear controls. Considering controls spanning a suitable finite number of Fou…
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