Research
Research
Research
Research
46,809+ open-access research outputs.
Tensegrity robots offer compliance and adaptability, but their nonlinear, and underconstrained dynamics make state estimation challenging. Reliable continuous-time estimation of all rigid links is cru…
Unmanned Aerial Vehicles (UAVs) have emerged as a key enabler technology for data collection from Internet of Things (IoT) devices. However, effective data collection is challenged by resource constra…
In the last decades, energy-based models (EBMs) have become an important class of probabilistic models in which a component of the likelihood is intractable and therefore cannot be evaluated explicitl…
We present $\phi-$DeepONet, a physics-informed neural operator designed to learn mappings between function spaces that may contain discontinuities or exhibit non-smooth behavior. Classical neural oper…
Embodied agents are increasingly expected to improve over time by updating their executable capabilities rather than rewriting the agent itself. Prior work has separately studied modular capability pa…
Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translating passenger open-e…
Autonomous indoor flight for critical asset inspection presents fundamental challenges in perception, planning, control, and learning. Despite rapid progress, there is still a lack of a compact, activ…
Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid cont…
Multi-Agent Path Finding (MAPF) is a fundamental coordination problem in large-scale robotic and cyber-physical systems, where multiple agents must compute conflict-free trajectories with limited comp…
Large language models (LLMs) have recently demonstrated strong potential for autonomous vehicle motion planning by reformulating trajectory prediction as a language generation problem. However, deploy…
Perimeter control is an effective urban traffic management strategy that regulates inflow to congested urban regions using aggregate network dynamics. While existing approaches primarily optimize syst…
Embodied agents are evolving from passive reasoning systems into active executors that interact with tools, robots, and physical environments. Once granted execution authority, the central challenge b…
Harnessing the demand-side flexibility in building and mobility sectors can help to better integrate renewable energy into power systems and reduce global CO2 emissions. Enabling this sector coupling …
This paper focuses on embodied task planning, where an agent acquires visual observations from the environment and executes atomic actions to accomplish a given task. Although recent Vision-Language M…
Network coordination games are widely used to model collaboration among interconnected agents, with applications across diverse domains including economics, robotics, and cyber-security. We consider n…
We present GPU-SLS, a GPU-parallelized framework for safe, robust nonlinear model predictive control (MPC) that scales to high-dimensional uncertain robotic systems and long planning horizons. Our met…
In this paper, we consider the data-driven discovery of stable dynamical models with a single equilibrium. The proposed approach uses a basis-function parameterization of the differential equations an…
Embodied-AI agents must reason about how objects move and interact in 3-D space over time, yet existing smaller frontier Large Language Models (LLMs) still mis-handle fine-grained spatial relations, m…
Electrodermal activity (EDA) is a widely used physiological signal for assessing sympathetic nervous activity, such as arousal, stress, and pain. However, reliable decomposition into tonic and phasic …
Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing metho…
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