Research
Research
Research
Research
709+ open-access research outputs.
This letter proposes a novel mathematical framework for the statistical characterization of reconfigurable intelligent surface (RIS)-mounted high-altitude platform station (HAPS)-assisted MIMO systems…
Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which …
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency st…
Computational complexity has been a major challenge in game-theoretic model predictive control (GT-MPC), as real-time solutions to a game (e.g., Nash equilibria (NEs)) have to be computed at each samp…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a …
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the compl…
Instant delivery, shipping items before critical deadlines, is essential in daily life. While multiple delivery agents, such as couriers, Unmanned Aerial Vehicles (UAVs), and crowdsourced agents, have…
Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or …
In robot control, planning, and learning, there is a need for rigid-body dynamics libraries that are highly performant, easy to use, and compatible with CPUs and accelerators. While existing libraries…
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level co…
Motor kinematics prediction (MKP) from electroencephalography (EEG) is an important research area for developing movement-related brain-computer interfaces (BCIs). While traditional methods often rely…
We address target interception in contested environments in the presence of multiple defenders whose interception capability is limited by finite ranges. Conventional methods typically impose conserva…
This study analyzes Graph Neural Networks (GNNs) for distribution system state estimation (DSSE) by employing an interpretable Graph Neural Additive Network (GNAN) and by utilizing an edge-conditioned…
Robots learn reward functions from user demonstrations, but these rewards often fail to generalize to new environments. This failure occurs because learned rewards latch onto spurious correlations in …
Deploying learned robot manipulation policies in industrial settings requires rigorous pre-deployment validation, yet exhaustive testing across high-dimensional parameter spaces is intractable. We pre…
We present an active tactile exploration framework for joint object recognition and 6D pose estimation. The proposed method integrates wrist force/torque sensing, GelSight tactile sensing, and free-sp…
Speech dereverberation in distant-microphone scenarios remains challenging due to the high correlation between reverberation and target signals, often leading to poor generalization in real-world envi…
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-env…
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