Research
Research
Research
Research
1,093+ open-access research outputs.
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
Recent advancements in large audio language models have extended Chain-of-Thought (CoT) reasoning into the auditory domain, enabling models to tackle increasingly complex acoustic and spoken tasks. To…
The rapid growth of large, power-electronics-rich data center (DC) loads is creating new operational challenges for bulk power systems. A key risk arises when a DC uninterruptible power supply (UPS) d…
The growing number of Internet-of-Things (IoT) based artificial intelligence (AI) applications deployed at resource-constrained network edge call for ultra-reliable and low-latency data processing pip…
Biomolecular systems are often modeled with partially known nonlinear stochastic dynamics, making state and parameter estimation a central challenge. While Kalman filtering techniques are widely used …
Gadoxetate disodium-enhanced MRI is essential for the detection and characterization of hepatocellular carcinoma. However, acquisition of the hepatobiliary phase (HBP) requires a prolonged post-contra…
Autonomous Unmanned Aerial Vehicles (UAVs) have revolutionized industries through their versatility with applications including aerial surveillance, search and rescue, agriculture, and delivery. Their…
Recent navigation systems achieve strong benchmark results, yet real-world deployment often remains visibly stop-and-go. This bottleneck arises because the sense-inference-execution loop is still bloc…
Understanding the origin of optimization difficulty in high-dimensional combinatorial spaces remains a fundamental problem. Existing perspectives typically characterize difficulty in terms of properti…
Efficiently locating target objects in complex indoor environments with diverse furniture, such as shelves, tables, and beds, is a significant challenge for mobile robots. This difficulty arises from …
Co-training, which combines limited in-domain real-world data with abundant surrogate data such as simulation or cross-embodiment robot data, is widely used for training generative robot policies. Des…
Semantic segmentation of histopathology images under class imbalance is typically addressed through frequency-based loss reweighting, which implicitly assumes that rare classes are difficult. However,…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
Multimodal federated learning enables privacy-preserving collaborative model training across healthcare institutions. However, a fundamental challenge arises from modality heterogeneity: many clinical…
Large, spatially flexible electricity consumers such as data centers can reallocate demand across locations, influencing dispatch and prices in wholesale electricity markets. While flexible load is of…
Integrated learning and communication (ILAC) unifies learned transceivers with radio resource management, where semantic feature multiple access (SFMA) enables paired users to superpose their learned …
Multi-modal image registration plays a critical role in precision medicine but faces challenges from non-linear intensity relationships and local optima. While deep learning models enable rapid infere…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-fram…
Many complex systems exhibit interactions that depend not only on pairwise connections, but also group structures and memory effects. To capture such effects, we develop a unified tensor framework for…
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-time…
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