Research
Research
Research
Research
155+ open-access research outputs.
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
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…
Robotics datasets for imitation learning typically consist of long-horizon trajectories of different lengths over states, actions, and high-dimensional observations (e.g., RGB video), making it non-tr…
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 …
An acoustic wave propagation problem with a log normal random field approximation for wave speed is solved using a sampling-free intrusive stochastic Galerkin approach. The stochastic partial differen…
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 …
This paper presents a physics-consistent framework for bistatic sensing incorporating a 2-Dimensional (2D) waveguide-fed metasurface antenna array capable of realizing eXtremely-Large Multiple-Input M…
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 …
Arranging many modules within a bounded domain without overlap, central to the Electronic Design Automation (EDA) of very large-scale integrated (VLSI) circuits, represents a broad class of discrete g…
Recently, a novel ultra-low-power indoor localization system based on Zero-Energy Devices (ZEDs) has shown promising results in ambient backscatter communication. In this paper, we study detection of …
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 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 …
We propose a non-intrusive, Autoencoder-based framework for reduced-order modeling in continuum mechanics. Our method integrates three stages: (i) an unsupervised Autoencoder compresses high-dimension…
Free open-access publishing with Google Scholar indexing.
Submission Guide →