Research
Research
Research
Research
1,164+ open-access research outputs.
Localized features such as singularities, sharp gradients, discontinuities, and moving sources require adaptive finite element discretizations. Conventional refinement strategies introduce significant…
We introduce asRoBallet, to the best of our knowledge, the first successful deployment of reinforcement learning (RL) on a humanoid ballbot hardware. Historically, ballbots have served as a canonical …
Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which ped…
While Vision-Language-Action (VLA) models have been demonstrated possessing strong zero-shot generalization for robot control, their massive parameter sizes typically necessitate cloud-based deploymen…
This paper presents an integrated lander-propulsion-GNC framework for autonomous lunar powered descent. The BUG VTVL test vehicle serves as the reference platform, with the YUNT V0 throttleable biprop…
The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a promising paradigm for constrained decision-making and adaptive control. MPC offers structured optimi…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (So…
Continuous-control reinforcement learning (RL) often exhibits large closed-loop variance, high-frequency control jitter, and sensitivity to disturbance injection. Existing explanations usually emphasi…
With the rapid development of embodied intelligence, robotics education faces a dual challenge: high computational barriers and cumbersome environment configuration. Existing centralized cloud simulat…
Porous media containing cracks, fractures, or internal discontinuities arise throughout subsurface geomechanics, biomechanics, and materials science. Numerical simulation of the coupled hydromechanica…
Reliable geolocation of non-cooperative emitters in environments where Global Navigation Satellite Systems (GNSS) are unavailable or degraded is a key enabler for spectrum regulation, emergency respon…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover…
Peer-to-peer (P2P) energy management facilitates decentralized resource allocation among prosumers, improving local hosting capacity for renewables and minimizing energy expenditures while ensuring da…
The increasing penetration of distributed energy resources (DERs) is transforming distribution networks into actively managed systems, introducing challenges related to voltage regulation, thermal loa…
Conventional field operations spend most of their energy moving the tractor body, not the implement. Yet feasibility studies for novel agricultural vehicles rarely tie mechanics, energy harvest, draft…
In real-time systems, both individual task execution and data propagation must meet strict timing constraints. Cause-effect (CE) chains are widely used to analyze such behaviors by end-to-end latency.…
Reliable positioning is essential for Uncrewed Aerial Vehicles (UAVs) in safety-critical urban operations, yet achieving sub-meter accuracy under stringent latency constraints remains challenging. Whi…
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks s…
Modern methods of environmental monitoring are deficient in the lack of ability to take measurements of energy flows since traditional readings involve capturing parameters such as temperature, pressu…
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-wise numerical invers…
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