Research
Research
Research
Research
1,308+ open-access research outputs.
We propose X-WAM, a Unified 4D World Model that unifies real-time robotic action execution and high-fidelity 4D world synthesis (video + 3D reconstruction) in a single framework, addressing the critic…
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…
Preserving a speaker's voice identity while generating speech in a different language remains a fundamental challenge in spoken language technology, particularly in specialized domains such as scienti…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Learning to solve the Alternating Current Optimal Power Flow (AC-OPF) problem by neural networks (NNs) is a promising approach in real-time applications. Existing methods to ensure the physical feasib…
Unified 2D and 3D radio map construction supports network planning, wireless digital twins, and unmanned aerial vehicle (UAV) applications. In urban environments, blockage, reflection, and diffraction…
This paper studies the robust optimal operation of distribution networks (DNs) under renewable generation and load demand uncertainties, seeking an improved trade-off between robustness and economic p…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions.…
Porous electrode theory (PET) provides essential insights into electrochemical states, but its computational complexity hinders real-time control and obscures scaling relations. To bridge the gap betw…
The paper studies the optimal density steering problem for nonlinear continuous-time stochastic systems. To accurately capture nonlinear dynamics in high-uncertainty regions that deviate significantly…
Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivat…
Analyzing unsteady fluid flows often requires access to the full distribution of possible temporal states, yet conventional PDE solvers are computationally prohibitive and learned time-stepping surrog…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hard…
Inspired by the human ability to understand and predict others, we study the applicability of Conditional Neural Processes (CNP) to the task of self-supervised multimodal action prediction in robotics…
This paper studies the transmit waveform optimization for a quantized multiple-input multiple-output (MIMO) integrated sensing and communication (ISAC) system, where one-bit analog-to-digital converte…
This paper considers a Fluid Antenna (FA) system comprising a single-antenna transmitter that communicates with a receiver equipped with an FA array with $N$ ports. The transmitter is assumed to deplo…
Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. E…
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 …
Kazantzis-Kravaris/Luenberger (KKL) observers are a class of state observers for nonlinear systems that rely on an injective map to transform the nonlinear dynamics into a stable quasi-linear latent s…
The design of distributed autonomous systems for operation beyond reliable ground contact presents a fundamental tension: as round-trip communication latency grows, the set of decisions delegable to g…
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