Research
Research
Research
Research
56+ open-access research outputs.
In behavioral cloning (BC), policy performance is fundamentally limited by demonstration data quality. Real-world datasets contain trajectories of varying quality due to operator skill differences, te…
In 1956 John Kelly wrote a paper at Bell Labs describing the relationship between gambling and Information Theory. What came to be known as the Kelly Criterion is both an objective and a closed-form s…
Composing coherent long-form music remains a significant challenge due to the complexity of modeling long-range dependencies and the prohibitive memory and computational requirements associated with l…
Most existing semantic communication systems employ analog modulation, which is incompatible with modern digital communication systems. Although several digital transmission approaches have been propo…
The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterp…
Autonomous robots must go from zero prior knowledge to safe control within seconds to operate in unstructured environments. Abrupt terrain changes, such as a sudden transition to ice, create dynamics …
In this work, we expand the cooperative multi-task semantic communication framework (CMT-SemCom) introduced in [1], which divides the semantic encoder on the transmitter side into a common unit (CU) a…
Geomagnetic storms are large-scale disturbances of the Earth's magnetosphere driven by solar wind interactions, posing significant risks to space-based and ground-based infrastructure. The Disturbance…
Kernel adaptive filtering (KAF) integrates traditional linear algorithms with kernel methods to generate nonlinear solutions in the input space. The standard approach relies on the representer theorem…
The irrigation-suction process is a common procedure to rinse and clean up the surgical field in minimally invasive surgery (MIS). In this process, surgeons first irrigate liquid, typically saline, in…
Diffusion model-based approaches recently achieved re-markable success in MRI reconstruction, but integration into clinical routine remains challenging due to its time-consuming convergence. This phen…
Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have e…
Mobile crowdsensing (MCS) enables data collection from massive devices to achieve a wide sensing range. Wireless power transfer (WPT) is a promising paradigm for prolonging the operation time of MCS s…
In order to mitigate the distance reduction attack in Ultra-Wide Band (UWB) ranging, this paper proposes a secure ranging scheme based on a random time-hopping mechanism without redundant signaling ov…
Social robot navigation in crowded public spaces such as university campuses, restaurants, grocery stores, and hospitals, is an increasingly important area of research. One of the core strategies for …
Consumer-grade drones have become effective multimedia collection tools, spring-boarded by rapid development in embedded CPUs, GPUs, and cameras. They are best known for their ability to cheaply colle…
Model predictive control (MPC) has been used successfully in diverse applications. As its name suggests, MPC requires a model for predictive optimization. The present paper focuses on the application …
In this article, the state estimation problems with unknown process noise and measurement noise covariances for both linear and nonlinear systems are considered. By formulating the joint estimation of…
We address stabilization of linear time-invariant (LTI), single-input single-output (SISO) systems in the Laplace domain, with a stable controller in a single feedback loop. Such stabilization is call…
The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predomina…
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