Research
Research
Research
Research
273+ open-access research outputs.
We introduce asRoBallet, to the best of our knowledge, the first successful deployment of reinforcement learning (RL) on a humanoid ballbot hardware. Historically, ballbots have served as a canonical …
As computational complexity in electromagnetics increases with frequency, full-wave solvers become computationally infeasible for electrically large problems. To address this limitation, we present a …
Realistic modeling of scattering from curved metallic bodies - such as vehicles and roadside structures - is essential for cellular and vehicular channel modeling as well as radar applications. A prac…
Stackelberg prediction games (SPGs) model strategic data manipulation in adversarial learning via a leader--follower interaction between a learner and a self-interested data provider, leading to chall…
Panoramic multi-object tracking is important for industrial safety monitoring, wide-area robotic perception, and infrastructure-light deployment in large workspaces. In these settings, the sensing sys…
The increasing demand for accelerated scientific discovery, driven by global challenges, highlights the need for advanced AI-driven robotics. Deploying robotic chemists in human-centric labs is key fo…
Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training d…
This paper presents a shared-control rehabilitation policy for a custom 6-degree-of-freedom (6-DoF) upper-limb robot that decomposes complex reaching tasks into decoupled spatial axes. The patient gov…
Nonlinearity in coherent fiber links is fundamentally driven by the temporal statistics and spectral structure of signal intensity. This paper develops a unified framework that links block-level energ…
Deep learning-based Personal Sound Zones (PSZs) rely on simulated acoustic transfer functions (ATFs) for training, yet idealized point-source models exhibit large sim-to-real gaps. While physically in…
This paper studies a downlink multi-user multiple-input multiple-output (MU-MIMO) system, where the precoding matrix is computed at a baseband unit (BBU) and then transmitted to the remote antenna arr…
Integrating artificial intelligence (AI) into wireless channel modeling requires large, accurate, and physically consistent datasets derived from real measurements. Such datasets are essential for tra…
Trajectory tracking for microswimmers remains a key challenge in microrobotics, where low-Reynolds-number dynamics make control design particularly complex. In this work, we formulate the trajectory t…
We consider how model-based solvers can be leveraged to guide training of a universal policy to control from any feasible start state to any feasible goal in a contact-rich manipulation setting. While…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of comp…
Angular sensing capability is realized using highly reconfigurable pixel antenna (HRPA) with joint radiating aperture and feeding ports reconfiguration. Pixel antennas represent a general class of rec…
A binaural rendering framework for personal sound zones (PSZs) is proposed to enable multiple head-tracked listeners to receive fully independent stereo audio programs. Current PSZ systems typically r…
The geometric design of fully-actuated and omnidirectional N-rotor aerial vehicles is conventionally formulated as a parametric optimization problem, seeking a single optimal set of N orientations wit…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory plannin…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angu…
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