Research
Research
Research
Research
532+ open-access research outputs.
The Laplacian operator transforms the image into its Laplacian field, which usually is sparse and satisfies a stable distribution. On the other hand, an image can be uniquely reconstructed from its La…
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between differen…
The numerical performance of the material point method (MPM) is strongly governed by the particle-grid kernel, which controls the trade-off among smoothness, locality, numerical diffusion, contact acc…
This paper investigates communication-efficient neural network transmission by exploiting structured symmetry constraints in convolutional kernels. Instead of transmitting all model parameters, we pro…
Learner satisfaction prediction from MOOC reviews and behavioral logs is valuable for course quality improvement and platform operations. In practice, models trained on one platform degrade significan…
Learner satisfaction is a critical quality signal in massive open online courses (MOOCs), directly influencing retention, engagement, and platform reputation. Most existing methods infer satisfaction …
Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-O…
We derive a closed-form geometric functional for kernel dynamics on finite graphs by applying the Maximum Caliber (MaxCal) variational principle to the spectral transfer function h(lambda) of the grap…
We study local sensitivity of structured ARX-based data-driven predictive control. Although predictor estimation is linear in the ARX parameters, the lifted multi-step predictor used in MPC depends on…
This paper proposes a method for constructing one-step prediction tubes for nonlinear systems using reproducing kernel Hilbert spaces. We approximate a bounded reproducing kernel Hilbert space (RKHS) …
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks s…
Data-driven approximations of the infinite-dimensional Koopman operator rely on finite-dimensional projections, where the predictive accuracy of the resulting models hinges heavily on the invariance o…
Estimating the dissipativity of nonlinear systems from empirical data is useful for the analysis and control of nonlinear systems, especially when an accurate model is unavailable. Based on a Koopman …
This paper derives an infinite-horizon ergodic controller based on kernel mean embeddings for long-duration coverage tasks on general domains. While existing kernel-based ergodic control methods provi…
Diffusion-based trajectory optimization has emerged as a powerful planning paradigm, but existing methods require either learned score networks trained on large datasets or analytical dynamics models …
Accurate and efficient environment representation is crucial for robotic applications such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a powerful…
The number of spatial degrees of freedom (NDoF) and channel strength in antenna systems are examined within a geometric framework. Starting from a correlation-operator representation of the channel be…
Calibrating chemical kinetics in a reaction-diffusion system is challenging because of complex dynamics governed by tightly coupled chemistry and transport, while experimental observations are often s…
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bo…
Space-filling experimental designs are widely used in engineering computer experiments, where only a limited number of expensive model evaluations can be afforded. Distance-based designs such as Maxim…
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