Research
Research
Research
Research
43,329+ open-access research outputs.
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting c…
The proliferation of capable and efficient machine learning (ML) models marks one of the strongest methodological shifts in signal processing (SP) in its nearly 100-year history. ML models support the…
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, …
This paper introduces a general approximate alternating simulation relation (\emph{$\varepsilon$-gAAS relation}) for continuous-time systems, which relaxes existing simulation relations to tolerate la…
The rapid electrification and intelligence of modern transportation systems place stringent demands on the electromagnetic compatibility, reliability, and adaptability of automotive power electronics.…
Vehicular sensing-based intelligence has made substantial progress in transportation systems, leading to higher levels of safety and sustainability for smart cities and autonomous systems. This paper …
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Vision-Language-Action (VLA) models achieve strong semantic generalization but often lack fine-grained modeling of world dynamics. Recent work explores video generation models as a foundation for worl…
We study the design of functional incentive mechanisms for dynamical systems, in which a leader designs a fixed incentive function to motivate a self-interested follower to actuate the system benefici…
The advancement of automated vehicles introduces complex safety challenges, particularly in dynamic and unpredictable environments where AI-enabled perception systems must operate reliably. Ensuring c…
This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which cou…
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions …
We propose a knowledge-driven approach to speech target extraction in the presence of background sound effects already recorded in cinematic audio. The specific knowledge sources studied are manners o…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
Nasotracheal intubation (NTI) is a critical clinical procedure for establishing and maintaining patient airway patency. Machine-assisted NTI has emerged as a pivotal approach for optimizing procedural…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncert…
Automatic Emergency Braking (AEB) systems represent a safety-critical national interest, with the National Highway Traffic Safety Administration (NHTSA) Federal Motor Vehicle Safety Standard (FMVSS No…
We study finite-horizon budget allocation as a closed-loop economic control problem and evaluate receding-horizon Model Predictive Control (MPC) relative to reactive budgeting policies. Budgets are al…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popul…
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