Research
Research
Research
Research
722+ open-access research outputs.
Dynamic manipulation, such as robot tossing or throwing objects, has recently gained attention as a novel paradigm to speed up logistic operations. However, the focus has predominantly been on the obj…
Forced response curves (FRCs) of nonlinear systems can exhibit complex behaviors, including hardening/softening behavior and bifurcations. Although topology optimization holds great potential for tuni…
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robust…
Embodied Visual Tracking (EVT) is a fundamental ability that underpins practical applications, such as companion robots, guidance robots and service assistants, where continuously following moving tar…
We study optimizing a destination-to-chutes task mapping to improve throughput in Robotic Sorting Systems (RSS), where a team of robots sort packages on a sortation floor by transporting them from ind…
In this paper, a single Unmanned-Aerial-Vehicle (UAV)-aided localization algorithm which uses both Doppler and Time of Arrival (ToA) measurements is presented. In contrast to Doppler-based localizatio…
Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR solutions using event…
Effective stroke recovery requires continuous rehabilitation integrated with daily living. To support this need, we propose a home-based rehabilitation exercise and feedback system. The system consist…
Electromagnetic analysis of antennas embedded in or interacting with large surrounding structures poses inherent multiscale challenges: the antenna is electrically small yet geometrically detailed, wh…
We introduce Reduced-Order Model-Guided Reinforcement Learning (ROM-GRL), a two-stage reinforcement learning framework for humanoid walking that requires no motion capture data or elaborate reward sha…
We propose DeepASA, a multi-purpose model for auditory scene analysis that performs multi-input multi-output (MIMO) source separation, dereverberation, sound event detection (SED), audio classificatio…
Based on Synesthesia of Machines (SoM), a large language model (LLM) is adapted for multipath generation (LLM4MG) for the first time. Considering a typical sixth-generation (6G) vehicle-to-infrastruct…
In supervisory control settings, autonomous systems are not monitored continuously. Instead, monitoring often occurs at sporadic intervals within known bounds. We study the problem of deception, where…
Robust autonomous navigation for Autonomous Aerial Vehicles (AAVs) in complex environments is a critical capability. However, modern end-to-end navigation faces a key challenge: the high-frequency con…
Wireless image transmission underpins diverse networked intelligent services and becomes an increasingly critical issue. Existing works have shown that deep learning-based joint source-channel coding …
In this paper, we introduce a novel self-calibrating integrate-and-fire time encoding machine (S-IF-TEM) that enables simultaneous parameter estimation and signal reconstruction during sampling, there…
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the propo…
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external di…
Data-driven control methods need to be sample-efficient and lightweight, especially when data acquisition and computational resources are limited -- such as during learning on hardware. Most modern da…
The design and technology development of 6G-enabled networked intelligent systems needs an accurate real-time channel model as the cornerstone. However, with the new requirements of 6G-enabled network…
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