Research
Research
Research
Research
472+ open-access research outputs.
Reconfigurable antenna systems (RASs), such as fluid antennas and movable antennas, are poised to play a pivotal role in sixth-generation (6G) systems by dynamically adapting the antenna elements for …
Medical imaging AI development is fundamentally dependent on annotated datasets, yet no existing standard provides machine-enforceable validation across dataset structure, annotation provenance, quali…
Accurate automatic brain tumor segmentation in Low and Middle-Income (LMIC) countries is challenging due to the lack of defined national imaging protocols, diverse imaging data, extensive use of low-f…
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-time…
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-…
Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. This versatile locomo…
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…
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…
Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due …
Foundation models pretrained on large-scale 3D medical imaging data face challenges when adapted to multiple downstream tasks under continual learning with limited labeled data. We address few-shot co…
Report-supervised (RSuper) learning seeks to alleviate the need for dense tumor voxel labels with constraints derived from radiology reports (e.g., volumes, counts, sizes, locations). In MRI studies o…
Objectives: To externally validate targeted T2 fluid-attenuated inversion recovery (T2-FLAIR) dropout for robust automated glioblastoma segmentation and whole-tumor volumetry without T2-FLAIR, while p…
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 …
Accurate and computationally efficient 3D medical image segmentation remains a critical challenge in clinical workflows. Transformer-based architectures often demonstrate superior global contextual mo…
Medical image analysis requires substantial labeled data for model training, yet expert annotation is expensive and time-consuming. Active learning (AL) addresses this challenge by strategically selec…
MRI cross-modal synthesis involves generating images from one acquisition protocol using another, offering considerable clinical value by reducing scan time while maintaining diagnostic information. T…
Gliomas are placing an increasingly clinical burden on Sub-Saharan Africa (SSA). In the region, the median survival for patients remains under two years, and access to diagnostic imaging is extremely …
Multimodal MRI is essential for brain tumor segmentation, yet missing modalities in clinical practice cause existing methods to exhibit >40% performance variance across modality combinations, renderin…
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