Research
Research
Research
Research
340+ open-access research outputs.
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Gaussian basis functions provide an efficient and flexible alternative to spline activations in KANs. In this work, we introduce the partition-of-unity Gaussian KAN (PU-GKAN), a Shepard-type normalize…
The Gaussian scale parameter \(\epsilon\) is central to the behavior of Gaussian Kolmogorov--Arnold Networks (KANs), yet its role in deep edge-based architectures has not been studied systematically. …
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
Spatiotemporal chaos in fluid systems exhibits severe parametric sensitivity, rendering classical adjoint-based optimal control intractable because each operating regime requires recomputing the contr…
Accurately modeling agent behaviors is an important task in self-driving. It is also a task with many symmetries, such as equivariance to the order of agents and objects in the scene or equivariance t…
Battery health management is heavily dependent on reliable State-of-Health (SoH) estimation to ensure battery safety with maximized energy utilization. Although SoH estimation can effectively track ba…
Car-following behavior is fundamental to traffic flow theory, yet traditional models often fail to capture the stochasticity of naturalistic driving. This paper introduces a new car-following modeling…
Mechanical vibration monitoring often requires high sampling rates and generates large data volumes, posing challenges for storage, transmission, and power efficiency. Compressive Sensing (CS) offers …
Learning diverse and high-fidelity traffic simulations from human driving demonstrations is crucial for autonomous driving evaluation. The recent next-token prediction (NTP) paradigm, widely adopted i…
Extracellular DNA accumulation in recirculating bioprocesses inhibits microbial growth and reduces productivity. We consider a continuous bioreactor with a recirculating loop and an electrophoretic fi…
Closed-loop evaluation of autonomous-driving policies requires interactive simulation beyond log replay. However, existing generative world models often degrade in closed loop due to (i) history-free …
Safety-critical scenario generation is crucial for evaluating autonomous driving systems. However, existing approaches often struggle to balance three conflicting objectives: adversarial criticality, …
Early diagnosis of battery thermal anomalies is crucial to ensure safe and reliable battery operation by preventing catastrophic thermal failures. Battery diagnostics primarily rely on battery surface…
Safety validation for Level 4 autonomous vehicles (AVs) is currently bottlenecked by the inability to scale the detection of rare, high-risk long-tail scenarios using traditional rule-based heuristics…
Enhancing the generalization capability of robotic learning to enable robots to operate effectively in diverse, unseen scenes is a fundamental and challenging problem. Existing approaches often depend…
Current humanoid motion tracking systems can execute routine and moderately dynamic behaviors, yet significant gaps remain near hardware performance limits and algorithmic robustness boundaries. Marti…
Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at generalizing across dive…
Advancements in foundation models have catalyzed research in Embodied AI to develop interactive agents capable of environmental reasoning and interaction. Developing such agents requires diverse, larg…
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