Research
Research
Research
Research
159+ 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-…
Multi-robot coordination based on large language models (LLMs) has attracted growing attention, since LLMs enable the direct translation of natural language instructions into robot action plans by dec…
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…
High-fidelity visuo-tactile sensing is important for precise robotic manipulation. However, most vision-based tactile sensors face a fundamental trade-off: opaque coatings enable tactile sensing but b…
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 article describes GAZELOAD, a multimodal dataset for mental workload estimation in industrial human-robot collaboration. The data were collected in a laboratory assembly testbed where 26 particip…
Many countries are rapidly adopting electric vehicles (EVs) due to their meager running cost and environment-friendly nature. EVs are likely to dominate the internal combustion (IC) engine cars entire…
As the application of Embodied AI Agents in avatars, wearable devices, and robotic systems continues to deepen, their core research challenges have gradually shifted from physical environment interact…
Machine learning surrogate models have emerged as a promising approach for accelerating multiscale materials simulations while preserving predictive fidelity. Among them, the Orientation-aware Interac…
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…
Lower-limb exosuits are particularly relevant for individuals with some degree of mobility impairment, such as post-stroke patients or older adults with reduced movement capabilities. This study aims …
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 study investigates brain connectivity and information flow during mental workload (MWL) by integrating electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) signals. Utiliz…
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 …
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical d…
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