Research
Research
Research
Research
3,112+ open-access research outputs.
Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing ann…
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
Terahertz (THz) communication has emerged as a key enabler for sixth-generation (6G) networks, offering ultrawide bandwidths to support data-intensive applications such as holographic telepresence and…
CONCERTO is a millimeter-wave imaging instrument that operated on the Atacama Pathfinder Experiment (APEX) telescope from April 2021 to May 2023. Its primary scientific objectives include the study of…
Large data centers are being deployed in the U.S. at an unprecedented rate, introducing significant flexible load potential. A portion of data center workloads - best-effort (BE) jobs - can be schedul…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been …
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
Wireless agentic systems enable agents to autonomously perceive, reason, and act. However, existing works neglect the tight coupling between sensing and control in closed-loop integrated sensing and c…
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplified in dual-arm sett…
Deploying a humanoid robot to manipulate a new object has traditionally required one to two days of effort: data collection, manual annotation, 3D model acquisition, and model training. This paper pre…
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. …
This paper presents an online reinforcement-learning framework for safe gain scheduling of a nonlinear quadcopter controller. Rather than learning thrust and torque commands directly, the proposed met…
Design, control, and estimation for dynamic systems require accurate and analytically tractable models. However, modern engineered systems contain components that are described with heterogeneous mode…
This paper presents a unified optimization framework for phase change material (PCM) based cooling systems. Thermal management is critical in applications such as photovoltaic (PV) modules, battery pa…
Sub-THz bands are promising high bandwidth and data rates, and in the recent years the device technologies made large progress and provided a multitude of transceiver, power amplifier (PA) and phased …
Oil spills represent a severe threat, making early-stage thickness estimation crucial for guiding remediation efforts. Unmanned Aerial Vehicles (UAVs) are an attractive platform for environmental moni…
Embodied AI research is increasingly moving beyond single-task, single-environment policy learning toward multi-task, multi-scene, and multi-model settings. This shift substantially increases the engi…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given…
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance depends on informati…
Accurate pipe roughness estimation in large-scale water distribution networks is often hindered by the high cost of traditional field methods. This study investigates whether network partitioning, by …
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