Research
Research
Research
Research
102+ open-access research outputs.
In multi-agent systems, should limited resources be concentrated into a few capable agents or distributed among many simpler ones? This work formulates the split over $n$ resource sharing problem wher…
Electrooculogram (EOG) is a non-invasive bio-signal generated by the potential difference between the retina and cornea during eye movement, and is widely utilized in Human-Computer Interaction (HCI) …
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the…
Conventionally, the concept of moment has been primarily employed in model order reduction to approximate system by matching the moment, which is merely the specific set of steady-state responses. In …
Text-to-Speech (TTS) models are significantly more numerically fragile than Large Language Models (LLMs) due to their continuous waveform generation and perceptual sensitivity to small numerical pertu…
Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-…
Tensegrity robots possess lightweight and resilient structures but present significant challenges for state estimation due to compliant and distributed ground contacts. This paper introduces a symmetr…
The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made remarkable progress t…
Unmanned aerial vehicles are rapidly transforming multiple applications, from agricultural and infrastructure monitoring to logistics and defense. Introducing greater autonomy to these systems can sim…
Micro-Unmanned Aerial Vehicles (UAVs) are rapidly expanding into tasks from inventory to environmental sensing, yet their short endurance and unreliable navigation in GPS-denied spaces limit deploymen…
We conceive a novel channel estimation and data detection scheme for OTFS-modulated faster-than-Nyquist (FTN) transmission over doubly selective fading channels, aiming for enhancing the spectral effi…
Vision-language-action (VLA) models achieve strong in-distribution performance but degrade sharply under novel camera viewpoints and visual perturbations. We show that this brittleness primarily arise…
This paper introduces a new paradigm for generative error correction (GER) framework in audio-visual speech recognition (AVSR) that reasons over modality-specific evidences directly in the language sp…
Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose Ro…
Zero-resource word segmentation and clustering systems aim to tokenise speech into word-like units without access to text labels. Despite progress, the induced lexicons are still far from perfect. In …
Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often co…
Faster-Than-Nyquist (FTN) Signalling is a non-orthogonal transmission scheme that violates the Nyquist zero-ISI criterion providing higher throughput and better spectral efficiency than a Nyquist tran…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimat…
This paper presents a novel convolutional neural network (CNN)-based detector for faster-than-Nyquist (FTN) signaling, introducing structured fixed kernel layers with domain-informed masking to effect…
The rapid growth of low Earth orbit (LEO) satellite constellations has revolutionized broadband access, earth observation, and direct-to-device connectivity. However, the expansion of ground station i…
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