Research
Research
Research
Research
3,135+ open-access research outputs.
Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning and carefully chosen …
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
This work presents the design and analysis of a sixth-order triple-coupled transformer-based tank, enabling third-harmonic expansion for mmWave VCOs. Unlike conventional fourth-order tanks, the propos…
Metasurfaces' ability to control electromagnetic wave propagation has led to a rapid paradigm shift in wireless operation. These metasurfaces are often called reconfigurable intelligent surfaces (RISs…
Learning methods are increasingly used to synthesize controllers from data, yet existing sample-complexity characterizations for continuous control are sharp only in the fully observed setting. This p…
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modif…
While Vision-Language-Action (VLA) models have been demonstrated possessing strong zero-shot generalization for robot control, their massive parameter sizes typically necessitate cloud-based deploymen…
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…
Multi-modal trajectory generation is essential for safe autonomous driving, yet existing diffusion-based planners suffer from high inference latency due to iterative neural function evaluations. This …
While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language a…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic …
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset…
Achieving truly fluid interaction with robots with speech interfaces remains a hard problem, and the experience of current Human-Robot Interaction (HRI) remains laboured and frustrating. Some of the b…
Safety filters have been shown to be effective tools to ensure the safety of control systems with unsafe nominal policies. To address scalability challenges in traditional synthesis methods, learning-…
Current learning-based wireless methods struggle with generalization due to the fragmented processing of communication and sensing data. WiFo-MiSAC addresses this as a task-agnostic foundation model t…
Tillage operations account for a large share of on-farm diesel consumption, yet the fuel efficiency of the combined tractor-implement system is not optimised in current practice. Modern continuously v…
This paper considers multi-agent embodied question answering (MA-EQA), which aims to query robot teams on what they have seen over a long horizon. In contrast to existing edge resource management meth…
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. …
Bitcoin transaction fees will become more important as the block subsidy declines, but fee formation is hard to study with blockchain data alone because the relevant queueing environment is unobserved…
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 …
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