Research
Research
Research
Research
255+ open-access research outputs.
The matrix-free gather-batched-GEMM-scatter pattern eliminates global stiffness assembly for three-dimensional SIMP topology optimization, but the conventional three-stage implementation forces avoida…
Conventional Vision-and-Language Navigation (VLN) benchmarks assume instructions are feasible and the referenced target exists, leaving agents ill-equipped to handle false-premise goals. We introduce …
Real-world robots often operate in settings where objective priorities depend on the underlying context of operation. When the underlying context is unknown apriori, multiple robots may have to coordi…
For robots to navigate safely and efficiently on soft, granular terrains, it is crucial to gather information about the terrain's mechanical properties, which directly affect locomotion performance. R…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile …
To enable fully automated driving of trains, numerous new technological components must be introduced into the railway system. Tasks that are nowadays carried out by the operating stuff, need to be ta…
The reliability and quality of 3D printing processes are critically dependent on the timely detection of mechanical faults. Traditional monitoring methods often rely on visual inspection and hardware …
This paper presents the design and implementation of data-driven optimal derivative feedback controllers for an active magnetic levitation system. A direct, model-free control design method based on t…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven pred…
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Exploration-based sequ…
High altitude platform station (HAPS) systems are becoming crucial facilitators for future wireless communication networks, enhancing connectivity across all vertical communication layers, including s…
LoRa is one of the most widely used low-power wide-area network technology for the Internet of Things. To achieve long-range communication with low power consumption at a low cost, LoRa uses a chirp s…
LiDAR-inertial odometry (LIO) is an active research area, as it enables accurate real-time state estimation in GPS-denied environments. Recent advances in map data structures and spatial indexing have…
The goal of this paper is to explore the accuracy of dashcam footage to predict the actual kinematic motion of a car-like vehicle. Our approach uses ground truth information from the vehicle's on-boar…
This paper introduces an unmanned aerial vehicle (UAV)-enabled network slicing problem to provide content delivery, sensing data gathering, and mobile edge computing (MEC) services. Three tenants prov…
Large antenna arrays and beamforming techniques are key components for exploiting the spectrum-rich FR2 bands in next-generation mobile communication networks. Given the site-specific spatio-temporal …
The pretraining-finetuning paradigm has facilitated numerous transformative advancements in artificial intelligence research in recent years. However, in the domain of reinforcement learning (RL) for …
Recent developments of low cost off-the-shelf programmable components, their modularity, and also rapid prototyping made educational robotics flourish, as it is accessible in most schools today. They …
Imitation learning has shown promise in learning from large-scale real-world datasets. However, pretrained policies usually perform poorly without sufficient in-domain data. Besides, human-collected d…
Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force eq…
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