Research
Research
Research
Research
10,103+ open-access research outputs.
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly a…
Selective State Space Models (SSMs), notably Mamba, employ diagonal state transitions that limit both memory retention and bilinear computational capacity. We propose a factorized bilinear input modul…
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in …
Linear-threshold networks (LTNs) capture the mesoscale behavior of interacting populations of neurons and are of particular interest to control theorists due to their dynamical richness and relative e…
Consumer LiDARs in mobile devices and robots typically output a single depth value per pixel. Yet internally, they record full time-resolved histograms containing direct and multi-bounce light returns…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally li…
Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfi…
Porous media containing cracks, fractures, or internal discontinuities arise throughout subsurface geomechanics, biomechanics, and materials science. Numerical simulation of the coupled hydromechanica…
Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while …
Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skills. However, existin…
Safe navigation for an ego vehicle in uncertain environments characterized by dynamic obstacles with unknown nonlinear dynamics is a challenging problem of significant practical interest. Existing app…
Objective. Standard Magnetic Resonance Imaging (MRI) reconstruction pipelines discard phase information captured during acquisition, despite evidence that it encodes tissue properties relevant to tumo…
Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-base…
Dynamic Mode Decomposition (DMD) is a data-driven method for approximating the spatiotemporal modes of a system. The eigenvectors and eigenvalues of the system are approximated from a series of time-s…
Designing robust architectures that can mitigate sophisticated attacks is now a key priority for modern wireless systems. This paper investigates a single-cell bistatic integrated sensing and communic…
The invariance principle, through which the steady-state behavior of nonlinear systems was introduced by Isidori and Byrnes, is leveraged in this article to bring forth a unifying characterization of …
Reduced-order models (ROMs) are essential for rapid simulation of complex biomechanical systems and for bridging the gap between high fidelity models and clinical application. However, ROMs for tissue…
Co-training, which combines limited in-domain real-world data with abundant surrogate data such as simulation or cross-embodiment robot data, is widely used for training generative robot policies. Des…
We present UNRIO, an uncertainty-aware radar-inertial odometry system that estimates ego-velocity directly from raw mmWave radar IQ signals rather than processed point clouds. Existing radar-inertial …
Brain digital twins aim to provide faithful, individualized computational representations of brains as dynamical systems, enabling mechanistic understanding and supporting prediction of clinical inter…
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