Research
Research
Research
Research
1,334+ open-access research outputs.
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
This letter proposes a novel mathematical framework for the statistical characterization of reconfigurable intelligent surface (RIS)-mounted high-altitude platform station (HAPS)-assisted MIMO systems…
Recent advances in open-vocabulary mobile manipulation have brought robots into real domestic environments. In such settings, reliable long-horizon execution under open-set object references and frequ…
In pathology, the spatial distribution and proportions of tissue types are key indicators of disease progression, and are more readily available than fine-grained annotations. However, these assessmen…
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based m…
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…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
We propose a hybrid reinforcement and self-supervised learning framework for accelerating generalized Benders decomposition (GBD). In this framework, a graph based reinforcement learning agent operate…
Controlling complex dynamical systems to satisfy sophisticated specifications remains a significant challenge in modern engineering. A promising approach to this problem is the approximate simulation-…
Electric power systems are rapidly evolving into deeply digital, cyber-physical infrastructures in which large fleets of distributed energy resources must be coordinated as system-level flexibility ac…
AI data center loads create query-driven power transients on millisecond timescales. Such loads can violate the timescale separation assumptions underlying internal inverter control of grid-following …
Medical imaging AI development is fundamentally dependent on annotated datasets, yet no existing standard provides machine-enforceable validation across dataset structure, annotation provenance, quali…
This paper investigates the agent design for solving the wireless resource allocation problem without sufficient channel state information (CSI), which cannot be effectively solved via conventional me…
In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion cons…
Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted for…
Controllers for motor drives typically require a current reference which will satisfy the requested torque subject to system constraints. This work generalizes existing current reference theory to the…
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in …
This article proposes a data-driven framework to verify the distributed conditions that guarantee the system-wide stability for interconnected power systems. To guarantee system wide stability, the dy…
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the…
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main as…
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