Research
Research
Research
Research
9,775+ open-access research outputs.
Achieving quadruped robot locomotion across diverse and dynamic terrains presents significant challenges, primarily due to the discrepancies between simulation environments and real-world conditions. …
Vision-language models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor polic…
We present QuadAgent, a training-free agent system for agile quadrotor flight guided by vision-language inputs. Unlike prior end-to-end or serial agent approaches, QuadAgent decouples high-level reaso…
In this paper, we investigate the charging scheduling optimization problem for large electric truck fleets operating with dedicated charging infrastructure. A central coordinator jointly determines th…
The extended Kalman filter (EKF) is a cornerstone of nonlinear state estimation, yet its performance is fundamentally limited by noise-model mismatch and linearization errors. We develop a residual-aw…
Sensor-based Human Activity Recognition (HAR) underpins many ubiquitous and wearable computing applications, yet current models remain limited by scarce labels, sensor heterogeneity, and weak generali…
Multimodal large language models (MLLMs) have shown strong potential for autonomous driving, yet existing benchmarks remain largely ego-centric and therefore cannot systematically assess model perform…
Stackelberg prediction games (SPGs) model strategic data manipulation in adversarial learning via a leader--follower interaction between a learner and a self-interested data provider, leading to chall…
In this paper, the problem of maximizing the sum-rate is addressed for a multi-user uplink scenario that is assisted by an active reconfigurable intelligent surface (RIS). The maximization is achieved…
Electrocardiogram (ECG) foundation models represent a paradigm shift from task-specific pipelines to generalizable architectures pre-trained on large-scale unlabeled waveform data. This survey present…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we …
Training-free Vision-Language Navigation (VLN) agents powered by foundation models can follow instructions and explore 3D environments. However, existing approaches rely on greedy frontier selection a…
We show that dynamic coordination of distributed energy resources (DERs) can increase the capacity of low- and medium-voltage grids, improve reliability and power quality, and reduce solar curtailment…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Rob…
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling technique is a new c…
Autoregressive neural codec language models have shown strong zero-shot voice cloning ability, but decoder-only architectures treat input text as a prefix that competes with the growing audio sequence…
Vision-Language-Action (VLA) models for autonomous driving must integrate diverse textual inputs, including navigation commands, hazard warnings, and traffic state descriptions, yet current systems of…
Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of skills in real time, pa…
Large foundation models enable powerful reasoning for autonomous systems, but mapping semantic intent to reliable real-time control remains challenging. Existing approaches either (i) let Large Langua…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Lan…
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