Research
Research
Research
Research
17+ open-access research outputs.
Learning-based approaches, particularly reinforcement learning (RL), have become widely used for developing control policies for autonomous agents, such as locomotion policies for legged robots. RL tr…
Remarkable successes were made in Medical Image Classification (MIC) recently, mainly due to wide applications of convolutional neural networks (CNNs). However, adversarial examples (AEs) exhibited im…
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of th…
Conformance is defined as a measure of distance between the behaviors of two dynamical systems. The notion of conformance can accelerate system design when models of varying fidelities are available o…
Stability of graph neural networks (GNNs) characterizes how GNNs react to graph perturbations and provides guarantees for architecture performance in noisy scenarios. This paper develops a self-regula…
The availability of large-scale chest X-ray datasets is a requirement for developing well-performing deep learning-based algorithms in thoracic abnormality detection and classification. However, biome…
We consider the broad class of decentralized optimal resource allocation problems in wireless networks, which can be formulated as a constrained statistical learning problems with a localized informat…
In this review we introduce the framework of reality-assisted evolution to summarize a growing trend towards combining model-based and model-free approaches to improve the design of physically embodie…
Recent studies on learning-based image denoising have achieved promising performance on various noise reduction tasks. Most of these deep denoisers are trained either under the supervision of clean re…
Graph neural networks (GNNs) model nonlinear representations in graph data with applications in distributed agent coordination, control, and planning among others. Current GNN architectures assume ide…
Currently, Coronavirus disease (COVID-19), one of the most infectious diseases in the 21st century, is diagnosed using RT-PCR testing, CT scans and/or Chest X-Ray (CXR) images. CT (Computed Tomography…
To navigate through urban roads, an automated vehicle must be able to perceive and recognize objects in a three-dimensional environment. A high-level contextual understanding of the surroundings is ne…
The large demand for simulated data has made the reality gap a problem on the forefront of robotics. We propose a method to traverse the gap by tuning available simulation parameters. Through the opti…
This paper presents a Bayesian parameter estimation approach and identifiability analysis for a lithium-ion battery model, to determine the uniqueness, evaluate the sensitivity and quantify the uncert…
Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based Parametric models w…
We consider the problem of optimally allocating resources across a set of transmitters and receivers in a wireless network. The resulting optimization problem takes the form of constrained statistical…
The conformance testing problem for dynamical systems asks, given two dynamical models (e.g., as Simulink diagrams), whether their behaviors are "close" to each other. In the semi-formal approach to c…
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