Research
Research
Research
Research
344+ open-access research outputs.
This paper presents a hierarchical decision-making framework for unmanned aerial vehicle (UAV) missions motivated by search-and-rescue (SAR) scenarios under limited simulation training. The framework …
Climate change and resource depletion demand a shift from the dominant linear "take-make-use-dispose" paradigm of construction toward circular, low-waste practices. Material reuse offers a promising p…
Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physical execution: each co…
Autonomous vehicles equipped with robust onboard perception, localization, and planning still face limitations in occlusion and non-line-of-sight (NLOS) scenarios, where delayed reactions can increase…
Although autonomous underwater vehicles promise the capability of marine ecosystem monitoring, their deployment is fundamentally limited by the difficulty of controlling vehicles under highly uncertai…
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least $r$ (out of $p$) alternative sites if condit…
Future wireless systems increasingly require predictive and transferable representations that can support multiple physical-layer (PHY) tasks under dynamic environments. However, most existing supervi…
Buildings and data centers (DCs) are energy-intensive sectors, playing a critical role to achieve the low-carbon and sustainable energy transition targets. To this end, integrated energy system (IES) …
Commercial lunar activity is accelerating the need for reliable surface infrastructure and routine operations to keep it functioning. Maintenance tasks such as inspection, cleaning, dust mitigation, a…
Future infrastructure construction on the lunar surface will require semi- or fully-autonomous operation from robots deployed at the build site. In particular, tasks such as electrical outfitting nece…
Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectiv…
Navigating unstructured environments requires assessing traversal risk relative to a robot's physical capabilities, a challenge that varies across embodiments. We present CATNAV, a cost-aware traversa…
The intelligent behavior of robots does not emerge solely from control systems, but from the tight coupling between body and brain, a principle known as embodied intelligence. Designing soft robots th…
Robotic manipulation tasks that require repeated tool motion along curved surfaces frequently arise in surface finishing, inspection, and guided interaction. In practice, nominal motion primitives are…
Existing accent normalization methods do not typically offer control over accent strength, yet many applications-such as language learning and dubbing-require tunable accent retention. We propose DLM-…
Partially Observable Markov Decision Processes (POMDPs) provide a principled framework for robot decision-making under uncertainty. Solving reach-avoid POMDPs, however, requires coordinating three dis…
Recent progress in vision-language-action (VLA) models has demonstrated strong potential for dual-arm manipulation, enabling complex behaviors and generalization to unseen environments. However, mains…
Generative models, particularly Diffusion Models (DM), have shown strong potential for Computed Tomography (CT) reconstruction serving as expressive priors for solving ill-posed inverse problems. Howe…
MAPF is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop planners, which generate fixed trajectories and str…
In robot-assisted minimally invasive surgery (RMIS), reduced haptic feedback and depth cues increase reliance on expert visual perception, motivating gaze-guided training and learning-based surgical p…
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