Research
Research
Research
Research
2,535+ open-access research outputs.
Ensuring safe physical interaction between torque-controlled manipulators and humans is essential for deploying robots in everyday environments. Model Predictive Control (MPC) has emerged as a suitabl…
Reinforcement Learning (RL) and Imitation Learning (IL) are the standard frameworks for policy acquisition in manipulation. While IL offers efficient policy derivation, it suffers from compounding err…
Grid-forming (GFM) inverters are expected in future inverter-dominated grids. In such grids, time-domain protection schemes, for example those based on instantaneous incremental quantities (IQs), are …
Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original…
Tomographic volumetric additive manufacturing (TVAM) requires projection patterns that achieve high in-part fidelity while suppressing unintended exposure outside the target. We present a scale-invari…
Integrated Sensing and Communications (ISAC) enables trajectory sharing that enhances beamforming, resource allocation, and cooperative perception, yet raises fundamental privacy concerns under the Ge…
Automotive engineering development increasingly relies on heterogeneous 3D data, including finite element (FE) models, body-in-white (BiW) representations, CAD geometry, and CFD meshes. At the same ti…
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring f…
The decarbonisation of heavy-duty railway networks requires maximising the capacity of existing electrical infrastructure. Integrating heavy freight alongside fast passenger services exposes the hard …
Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under coll…
Video conferencing has become central to professional collaboration, yet most platforms offer limited support for deaf, hard-of-hearing, and multilingual users. The World Health Organisation estimates…
Current transformer (CT) saturation is one of the dominant causes of relay protection devices' malfunctions, which pose a threat to the safe operation of the power system. To address this problem, we …
We introduce Full-Duplex-Bench-v3 (FDB-v3), a benchmark for evaluating spoken language models under naturalistic speech conditions and multi-step tool use. Unlike prior work, our dataset consists enti…
This paper presents a dual-hop hybrid framework that integrates a free-space optical (FSO)/RIS-aided radio frequency (RF) link operating under a hard-switching protocol as the first hop, and an optica…
Non-contrast chest CTs offer a rich opportunity for both conventional pulmonary and opportunistic extra-pulmonary screening. While Multi-Task Learning (MTL) can unify these diverse tasks, standard har…
Personalized or target speech extraction (TSE) typically needs a clean enrollment -- hard to obtain in real-world crowded environments. We remove the essential need for enrollment by predicting, from …
Safety-critical autonomous systems must satisfy hard state constraints under tight computational and sensing budgets, yet learning-based controllers are often far more complex than safe operation requ…
This paper brings cooperative protocols for multi-agent systems with agents having a finite state-space. Both scalar single-integrator consensus and general LTI systems synchronization are considered.…
Long-horizon robotic manipulation remains challenging for reinforcement learning (RL) because sparse rewards provide limited guidance for credit assignment. Practical policy improvement thus relies on…
Large foundation models enable powerful reasoning for autonomous systems, but mapping semantic intent to reliable real-time control remains challenging. Existing approaches either (i) let Large Langua…
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