Research
Research
Research
Research
46,809+ open-access research outputs.
Dense visual odometry (VO), which provides pose estimation and dense 3D reconstruction, serves as the cornerstone for applications ranging from robotics to augmented reality. Recently, feed-forward mo…
Slender beam-like structures frequently occur in engineering applications and often interact at discrete locations through joints or connectors. Accurate modeling of such interactions is particularly …
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Rob…
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling technique is a new c…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathe…
Bayesian optimization is a popular black-box optimization method for parameter learning in control and robotics. It typically requires an objective function that reflects the user's optimization goal.…
Autoregressive neural codec language models have shown strong zero-shot voice cloning ability, but decoder-only architectures treat input text as a prefix that competes with the growing audio sequence…
Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of skills in real time, pa…
To meet the requirements for high data rates and ubiquitous connectivity in 6G networks, higher frequencies and larger array apertures are employed to enhance spatial resolution and spectral efficienc…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we pr…
Associating measurements with tracks is a crucial step in Multi-Object Tracking (MOT) to guarantee the safety of autonomous vehicles. To manage the exponentially growing number of track hypotheses, tr…
Large foundation models enable powerful reasoning for autonomous systems, but mapping semantic intent to reliable real-time control remains challenging. Existing approaches either (i) let Large Langua…
Despite remarkable progress, automatic speaker verification (ASV) systems typically lack the transparency required for high-accountability applications. Motivated by how human experts perform forensic…
Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause sever…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing c…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate t…
The deployment of autonomous systems in safety-critical environments requires control policies that guarantee satisfaction of complex control specifications. These systems are commonly modeled as nonl…
Partially Observable Markov Decision Processes (POMDPs) provide a principled mathematical framework for decision-making under uncertainty. However, the exact solution to POMDPs is computationally intr…
This paper presents a framework for abstracting uncertain or non-polynomial components of dynamical systems using polynomial constraints. This enables the application of polynomial-based analysis tool…
Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty.…
Free open-access publishing with Google Scholar indexing.
Submission Guide →