Research
Research
Research
Research
328+ open-access research outputs.
The safety and resilience of civil infrastructure systems are increasingly threatened by compounded risks from various hazard events and structural deterioration due to environmental stressors. This s…
World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity…
The electric vehicle (EV) charging demands (CD) are jointly determined by the EV owners' behavior (i.e., human factor) and the electricity prices (i.e., decisions of distribution system operators (DSO…
Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approaches broadly trade off…
We consider deterministic finite-horizon optimal control problems with a fixed initial state. We introduce an on-line policy iteration method, which starting from a given policy, however obtained, gen…
Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., ani…
Deep learning models for atrial fibrillation (AF) detection are increasingly trained on heterogeneous electrocardiogram (ECG) datasets with varying sampling frequencies, yet the specific consequences …
The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quadrotor Uncrewed Aerial Vehicles (UAVs) by calibration flight data. RPs are modeled either as …
The growing deployment of small Unmanned Aerial Systems (sUASs) in low-altitude airspaces has increased the need for reliable tactical deconfliction under safety-critical constraints. Tactical deconfl…
Online map generation and trajectory prediction are critical components of the autonomous driving perception-prediction-planning pipeline. While modern vectorized mapping models achieve high geometric…
Deploying embodied AI agents in the physical world demands cognitive capabilities for long-horizon planning that execute reliably, deterministically, and transparently. We present HARMONIC, a cognitiv…
End-to-end autonomous driving has gained significant attention for its potential to learn robust behavior in interactive scenarios and scale with data. Popular architectures often build on separate mo…
Zero-shot open-vocabulary object navigation has progressed rapidly with the emergence of large Vision-Language Models (VLMs) and Large Language Models (LLMs), now widely used as high-level decision-ma…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced…
Early and accessible detection of Alzheimer's disease (AD) remains a major challenge, as current diagnostic methods often rely on costly and invasive biomarkers. Speech and language analysis has emerg…
We consider the task of visually estimating the relative pose of a drone racing gate in front of a nano-quadrotor, using a convolutional neural network pre-trained on simulated data to regress the gat…
We investigate what specific design choices enable successful online reinforcement learning (RL) on physical robots. Across 100 real-world training runs on three distinct robotic platforms, we systema…
Urban infrastructure degrades over time, necessitating periodic renovation to maintain functionality and safety. When renovation is delayed beyond the infrastructure's remaining lifespan, costly emerg…
Sim-to-real transfer for contact-rich manipulation remains challenging due to the inherent discrepancy in contact dynamics. While existing methods often rely on costly real-world data or utilize blind…
The inherently complex-valued nature of Polarimetric SAR data necessitates using specialized algorithms capable of directly processing complex-valued representations. However, this aspect remains unde…
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