Research
Research
Research
Research
56+ open-access research outputs.
In process operations, it is desirable to manage the sensitivity of the system output against external disturbance in the form of finite $\mathcal{L}_2$-gain stabilization. This matter is, however, no…
Line following robots are fundamental platforms in robotics education, yet commercially available solutions remain prohibitively expensive ($150-300$) while lacking integrated obstacle detection capab…
Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existing generative policie…
Frequency control following a contingency event is of vital concern in power system operations. Leveraging inverter-based resources, it is not hard to shape the center of inertia (COI) frequency nicel…
Electricity markets are under increasing pressure to maintain reliability amidst rising renewable penetration, demand variability, and occasional price shocks. Traditional capacity market designs ofte…
Practical design and tuning of feedback controllers has to do often without any model of the given dynamic process. Only some general assumptions about the process, in this work type-one stable behavi…
Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot I…
We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems, but have significan…
This technical report presents the champion solution of the Table Service Track in the ICRA 2025 What Bimanuals Can Do (WBCD) competition. We tackled a series of demanding tasks under strict requireme…
This paper proposes a spectral-based tuning method for proportional-integral (PI) controllers in integrating-plus-dead-time (IPDT) systems. The design objective is to achieve unified exponential decay…
This paper presents a PID tuning method based on step response curve fitting (PID-SRCF) that utilizes L2-norm minimization for precise reference tracking and explicit transient response shaping. The a…
Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Sin…
Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in emb…
Learning to manipulate dynamic and deformable objects from a single demonstration video holds great promise in terms of scalability. Previous approaches have predominantly focused on either replaying …
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current …
This paper introduces a novel zero-shot motion planning method that allows users to quickly design smooth robot motions in Cartesian space. A B\'ezier curve-based Cartesian plan is transformed into a …
Large Language Models (LLMs) are capable of transforming natural language domain descriptions into plausibly looking PDDL markup. However, ensuring that actions are consistent within domains still rem…
Although there has been rapid progress in endowing robots with the ability to solve complex manipulation tasks, generating control policies for bimanual robots to solve tasks involving two hands is st…
In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing …
The paper introduces CycleIK, a neuro-robotic approach that wraps two novel neuro-inspired methods for the inverse kinematics (IK) task, a Generative Adversarial Network (GAN), and a Multi-Layer Perce…
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