Research
Research
Research
Research
2,307+ open-access research outputs.
Wave-driven desalination systems are an innovative solution to the global freshwater crisis, leveraging the complementary characteristics of seawater reverse osmosis and wave energy converters. Howeve…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TM…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potent…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
Direct Device-to-Satellite (D2S) communications, which enable direct satellite connectivity with unmodified user equipment (UE), not only expand global coverage but also reshape the evolution of futur…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabili…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
This paper introduces PHOTON (PHysical Optical Tracking of Notes), a non-invasive optical sensing system for measuring key-lever motion in historical keyboard instruments. PHOTON tracks the vertical d…
Large language models are increasingly being explored as interfaces between humans and robotic systems, yet there remains limited evidence on how such technologies can be used not only for interaction…
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven e…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In…
Safety of stochastic dynamic systems in environments with dynamic obstacles is studied in this paper through the lens of stochastic barrier functions. We introduce both time-invariant and time-varying…
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bounded. Backup control b…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
Modern world models are becoming too complex to admit explicit dynamical descriptions. We study safety-critical contextual control, where a Planner must optimize a task objective using only feasibilit…
This paper addresses the quantitative verification of finite-time constrained occupation time for stochastic continuous-time systems governed by stochastic differential equations (SDEs). Unlike classi…
This paper addresses the quantitative verification of constrained occupation time in stochastic discrete-time systems, focusing on the probability of visiting a target set at least $k$ times while mai…
Safe and agile trajectory planning is essential for autonomous systems, especially during complex aerobatic maneuvers. Motivated by the recent success of diffusion models in generative tasks, this pap…
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