Research
Research
Research
Research
1,640+ open-access research outputs.
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Foundation segmentation models such as the Segment Anything Model (SAM) have demonstrated strong generalization across natural images; however, their robustness under clinically realistic medical imag…
Electrooculogram (EOG) is a non-invasive bio-signal generated by the potential difference between the retina and cornea during eye movement, and is widely utilized in Human-Computer Interaction (HCI) …
Variable impedance model predictive control (MPC) formulations that treat joint stiffness as an instantaneous decision variable operate on a feasible set strictly larger than the physically realizable…
Discrete-event systems and supervisory control theory provide a rigorous framework for specifying correct-by-construction behavior. However, their practical application to swarm robotics remains large…
In this paper, we aim to extend the traditional point-mass-like robot representation in swarm robotics and instead study a swarm of long Heavy Articulated Vehicles (HAVs). HAVs are kinematically const…
Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic …
Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains larg…
Near-field propagation is often unavoidable at terahertz (THz) frequencies due to the large apertures needed for sufficient array gain, yet near-field operation complicates practical system design, es…
Instruction-following text-to-speech (TTS) has emerged as an important capability for controllable and expressive speech generation, yet its evaluation remains underdeveloped due to limited benchmark …
Standard risk models reduce the rich dependence structure of financial markets to scalar volatility estimates, discarding the topological information encoded in cross-asset correlation networks. We pr…
Accurate segmentation of gastrointestinal (GI) organs in magnetic resonance enterography (MRE) is critical for diagnosing inflammatory bowel disease (IBD). However, anatomical variability, class imbal…
Behavior cloning (BC) policies on position-controlled robots inherit the closed-loop response of the underlying PD controller, yet the effect of controller gains on BC failure lacks a nonasymptotic th…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of pl…
Compensatory trunk movements (CTMs) are commonly observed after stroke and can lead to maladaptive movement patterns, limiting targeted training of affected structures. Objective, continuous detection…
Micro-Doppler signatures are a proven modality for discriminating between drones and birds, but their reliability degrades in low-SNR, data-constrained settings where deep learning models often fail. …
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled mobility and dexterit…
Global navigation information and local scene understanding are two crucial components of autonomous driving systems. However, our experimental results indicate that many end-to-end autonomous driving…
This paper proposes a two-stage optimization framework to evaluate whether cost-optimal electric vehicle (EV) charging infrastructure translates into effective operation under distribution grid constr…
In the field of medical image segmentation, the scarcity of labeled data poses a major challenge for existing models to accurately perceive target regions. Compared with manual annotation, gaze data i…
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