Research
Research
Research
Research
113+ open-access research outputs.
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative worst-case ambiguity-…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular…
We present a filtering framework for online joint state estimation and parameter identification in nonlinear, time-varying systems. The algorithm uses Rao-Blackwellization technique to infer joint sta…
Camera pipelines receive raw Bayer-format frames that need to be denoised, demosaiced, and often super-resolved. Multiple frames are captured to utilize natural hand tremors and enhance resolution. Mu…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from comple…
Safely moving through environments affected by fire is a critical capability for autonomous mobile robots deployed in disaster response. In this work, we present a novel approach for mobile robots to …
This paper presents an operator-theoretic reconstruction of an equivalent continuous-time LTI model from an exact sampled-data (Poincar\'e-map) baseline of a piecewise-linear switching system. The reb…
Human hand simulation plays a critical role in digital twin applications, requiring models that balance anatomical fidelity with computational efficiency. We present a complete pipeline for constructi…
This paper introduces a direct comparative study of Physics-Informed Neural Networks (PINNs) and Long Short-Term Memory (LSTM) networks for adaptive steam temperature control in Heat Recovery Steam Ge…
This paper presents a novel fault-tolerant control framework for steam temperature regulation in Heat Recovery Steam Generators (HRSGs) subject to actuator faults. Addressing the critical challenge of…
Autonomous robots are increasingly deployed for information-gathering tasks in environments that vary across space and time. Planning informative and safe trajectories in such settings is challenging …
Developing efficient and accurate visuomotor policies poses a central challenge in robotic imitation learning. While recent rectified flow approaches have advanced visuomotor policy learning, they suf…
This paper introduces a method for Model Predictive Path Integral (MPPI) control that optimizes sample generation towards an optimal trajectory through Stein Variational Gradient Descent (SVGD). MPPI …
This paper presents a unified algebraic, topological, and logical framework for electrical one-port networks based on \v{S}are's $m$-theory. Within this formalism, networks are represented by $m$-word…
One of the challenges in spaceborne synthetic aperture radar (SAR) is modeling and mitigating radio frequency interference (RFI) artifacts in SAR imagery. Linear frequency modulated (LFM) signals have…
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and later analyzed in an A…
This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed specifically for fusing …
Skill effect models for long-horizon manipulation tasks are prone to failures in conditions not covered by training data distributions. Therefore, enabling robots to reason about and learn from failur…
In this paper, we introduce a novel algorithm named JS-gOMP, which enhances the generalized Orthogonal Matching Pursuit (gOMP) algorithm for improved noise robustness in sparse signal processing. The …
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