Research
Research
Research
Research
459+ open-access research outputs.
Biomolecular systems are often modeled with partially known nonlinear stochastic dynamics, making state and parameter estimation a central challenge. While Kalman filtering techniques are widely used …
This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopma…
Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symboli…
Panoramic multi-object tracking is important for industrial safety monitoring, wide-area robotic perception, and infrastructure-light deployment in large workspaces. In these settings, the sensing sys…
This work investigates different sufficient and necessary criteria for hyperelastic, isotropic polyconvex material models, focusing on neural network implementations for compressible and incompressibl…
Robot swarms offer inherent robustness and the capacity to execute complex, collaborative tasks surpassing the capabilities of single-agent systems. Co-designing these systems is critical, as marginal…
Real-time 30-to-60 fps video frame interpolation on mobile neural processing units (NPUs) requires each synthesized frame within 33.3 ms. We show that mainstream flow-based video frame interpolation f…
Sign language recognition (SLR) is vital for bridging communication gaps between deaf and hearing communities. Vision-based approaches suffer from occlusion, computational costs, and physical constrai…
Wind disturbances remain a key barrier to reliable autonomous navigation for lightweight quadrotors, where the rapidly varying airflow can destabilize both planning and tracking. This paper introduces…
Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fixed asset libraries …
Light detection and ranging (LiDAR)-inertial odometry (LIO) enables accurate localization and mapping for autonomous navigation in various scenes. However, its performance remains sensitive to variati…
Controlling robots with strongly nonlinear, high-dimensional dynamics remains challenging, as direct nonlinear optimization with safety constraints is often intractable in real time. The Koopman opera…
Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable…
Huntington's disease (HD) is caused by CAG-repeat expansion in HTT, which lengthens the polyglutamine (polyQ) tract in huntingtin (HTT) and promotes misfolding and aggregation. While polyQ-length-depe…
Import container dwell time (ICDT) prediction is a key task for improving productivity in container terminals, as accurate predictions enable the reduction of container re-handling operations by yard …
Living organisms rely on endogenous feedback mechanisms to maintain homeostasis in the presence of uncertainty and environmental fluctuations. An emerging challenge at the interface of control systems…
Predicting high-dimensional transcriptional responses to genetic perturbations is challenging due to severe experimental noise and sparse gene-level effects. Existing methods often suffer from mean co…
Temporally locating and classifying fine-grained sub-task segments in long, untrimmed videos is crucial to safe human-robot collaboration. Unlike generic activity recognition, collaborative manipulati…
Single-cell foundation models learn by reconstructing masked gene expression, implicitly treating technical noise as signal. With dropout rates exceeding 90%, reconstruction objectives encourage model…
Cause-effect chains, as a widely used modeling method in real-time embedded systems, are extensively applied in various safety-critical domains. End-to-end latency, as a key real-time attribute of cau…
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