Research
Research
Research
Research
157+ open-access research outputs.
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable obje…
Monocular 3D Gaussian Splatting SLAM suffers from critical limitations in time efficiency, geometric accuracy, and multi-view consistency. These issues stem from the time-consuming $\textit{Train-from…
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…
Large-scale orchard production requires timely and precise disease monitoring, yet routine manual scouting is labor-intensive and financially impractical at the scale of modern operations. As a result…
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…
We introduce MERGE, a system for situational grounding of actors, objects, and events in dynamic human-robot group interactions. Effective collaboration in such settings requires consistent situationa…
A 3 bit Analog to Digital Converter (ADC) is designed using perpendicular Spin Orbit Torque Magnetic Tunnel Junction (SOT MTJ). A sampled analog input signal is transmitted as a spin orbit torque curr…
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 …
Flash flood warnings are largely reactive, providing limited advance notice for evacuation planning and resource prepositioning. This study presents and validates an anticipatory, parametric framework…
Voice-based human-machine interaction is a primary modality for accessing intelligent systems, yet individuals with dysarthria face systematic exclusion due to recognition performance gaps. Whilst aut…
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…
This work addresses the question of how generative artificial intelligence can be used to reduce the time required to set up electromagnetic simulation models. A chatbot based on a large language mode…
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 …
The operational lifetime of energy-harvesting wireless sensor nodes is limited by availability of the energy source and the capacity of the installed energy buffer. When a sensor node depletes its ene…
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…
Conventional road-situation detection methods achieve strong performance in predefined scenarios but fail in unseen cases and lack semantic interpretation, which is crucial for reliable traffic recomm…
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