Research
Research
Research
Research
3,466+ open-access research outputs.
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing ma…
Power electronic converters are fundamental building blocks of both AC and DC microgrids, enabling the integration of renewable energy sources, energy storage systems, electronic loads, and electric v…
Embodied AI and robotic systems increasingly depend on scalable, diverse, and physically grounded 3D content for simulation-based training and real-world deployment. While 3D generative modeling has a…
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a coll…
The integration of multimodal sensing and millimeter-wave (mmWave) communications is a key enabler for highly mobile vehicle-to-infrastructure (V2I) networks. However, continuous high-resolution visua…
Recent advancements in large audio language models have extended Chain-of-Thought (CoT) reasoning into the auditory domain, enabling models to tackle increasingly complex acoustic and spoken tasks. To…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
With the rapid advancement of computer technologies enabling fast calculations of complex structures, numerical methods have become a central tool in engineering sciences, while physical models have i…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potent…
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridgi…
Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branch, or generated by p…
Wind-traffic interactions strongly influence the dynamic response of long-span bridges, yet loads are often analysed independently. This work models concurrent wind and traffic and demonstrates that i…
Separating multiple graph signals from a single observed mixture is an inherently ill-posed problem that traditionally relies on restrictive and handcrafted priors. This letter addresses this challeng…
Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models …
Smart glasses are emerging as a promising interface between humans and artificial intelligence (AI) agents, enabling first-person perception, contextual awareness, and real-time assistance. However, c…
Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vi…
This paper develops a dynamic programming (DP) approach for decentralized stochastic optimal control problems with delayed sharing information patterns, which exhibits the fundamental Properties of cl…
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