Research
Research
Research
Research
140+ open-access research outputs.
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…
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 …
General audio understanding is a fundamental goal for large audio-language models, with audio captioning serving as a cornerstone task for their development. However, progress in this domain is hinder…
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…
In this paper we consider physics-informed detection of terrain material change in radar imagery (e.g., shifts in permittivity, roughness or moisture). We propose a lightweight electromagnetic (EM) fo…
In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to our method lies in a c…
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…
Deep learning models like U-Net and its variants, have established state-of-the-art performance in edge detection tasks and are used by Generative AI services world-wide for their image generation mod…
In this study, we evaluated four binarization methods. Locality-Sensitive Hashing (LSH), Iterative Quantization (ITQ), Kernel-based Supervised Hashing (KSH), and Supervised Discrete Hashing (SDH) on t…
This paper develops an embedding-based approach to solve switched optimal control problems (SOCPs) with an arbitrary number of subsystems. Initially, the discrete switching signal is represented by a …
Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for c…
Reinforcement learning has recently enabled impressive locomotion capabilities on legged robots; however, most policy architectures remain morphology- and symmetry-agnostic, leading to inefficient tra…
We address the problem of optimal evasion in a planar endgame engagement, where a target with bounded lateral acceleration seeks to avoid interception by a missile guided by a linear feedback law. Con…
Generating hand grasps with language instructions is a widely studied topic that benefits from embodied AI and VR/AR applications. While transferring into hand articulatied object interaction (HAOI), …
Conditional differential entropy provides an intuitive measure for relatively ranking time-series complexity by quantifying uncertainty in future observations given past context. However, its direct c…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used t…
Cross-modal drone navigation remains a challenging task in robotics, requiring efficient retrieval of relevant images from large-scale databases based on natural language descriptions. The RoboSense 2…
In Industry 4.0 applications, dynamic environmental interference induces highly nonlinear and strongly coupled interactions between the environmental state and robotic behavior. Effectively representi…
LiDAR-Inertial Odometry (LIO) is a foundational technique for autonomous systems, yet its deployment on resource-constrained platforms remains challenging due to computational and memory limitations. …
This communication on collision avoidance with unexpected obstacles is motivated by some critical appraisals on reinforcement learning (RL) which "requires ridiculously large numbers of trials to lear…
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