Research
Research
Research
Research
16,399+ open-access research outputs.
In recent years, reinforcement learning (RL) has shown remarkable success in robotics when a fast and accurate simulator is available for a given task. When using RL and simulation, more simulator rea…
This paper presents a tractable tube-based robust data-driven predictive control scheme that uses only a single finite noisy input-state trajectory of an unknown discrete-time linear time-invariant (L…
We present a novel hierarchical spatiotemporal action tokenizer for in-context imitation learning. We first propose a hierarchical approach, which consists of two successive levels of vector quantizat…
Coverage path planning on irregular hexagonal grids is relevant to maritime surveillance, search and rescue and environmental monitoring, yet classical methods are often compared on small ad hoc examp…
Autonomous drone racing demands robust real-time localization under extreme conditions: high-speed flight, aggressive maneuvers, and payload-constrained platforms that often rely on a single camera fo…
To navigate a space, the brain makes an internal representation of the environment using different cells such as place cells, grid cells, head direction cells, border cells, and speed cells. All these…
This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In …
Time-frequency representations, such as the short-time Fourier transform (STFT), are fundamental tools for analyzing non-stationary signals. However, their ability to achieve sharp localization in bot…
Reliable communication in confined environments, such as blood vessels or industrial pipelines, remain challenging due to signal attenuation and limited sensor accessibility. Therefore, this work inve…
Rapid urbanization and continuous population growth have made municipal solid waste management increasingly challenging. These challenges highlight the need for smarter and automated waste management …
Safe navigation for an ego vehicle in uncertain environments characterized by dynamic obstacles with unknown nonlinear dynamics is a challenging problem of significant practical interest. Existing app…
Over the recent years, the field of robotics has been undergoing a transformative paradigm shift from fixed, single-task, domain-specific solutions towards adaptive, multi-function, general-purpose ag…
Preventing machine failure is inherently superior to reactive remediation, particularly for critical assets like gas turbines, where early fault detection (FD) is a cornerstone of industrial sustainab…
We present a curated multi-platform LiDAR reference dataset from an instrumented ICOS forest plot, explicitly designed to support calibration, benchmarking, and integration of 3D structural data with …
Recent advancements in Text-to-Song generation have enabled realistic musical content production, yet existing evaluation benchmarks lack the professional granularity to capture multi-dimensional aest…
Universal speech enhancement (USE) aims to restore speech signals from diverse distortions across multiple sampling rates. We propose UniPASE, an extension of the low-hallucination PASE framework tail…
Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) …
Foundation models show strong potential for large-scale, high-dimensional biomedical applications, yet their ability to capture relevant neurobiological characteristics remains underexplored. We syste…
Portable medical imaging (PMI) has emerged as an important solution for point-of-care diagnosis in emergency, rural, and resource-limited settings where conventional imaging infrastructure is not read…
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…
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