Research
Research
Research
Research
48+ open-access research outputs.
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions …
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a n…
Language-conditioned local navigation requires a robot to infer a nearby traversable target location from its current observation and an open-vocabulary, relational instruction. Existing vision-langua…
One of the main limitations of multirotor UAVs is their short flight time due to battery constraints. A practical solution for continuous operation is to power the drone from the ground via a tether. …
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both planning and control. In th…
Multi-organ medical segmentation is a crucial component of medical image processing, essential for doctors to make accurate diagnoses and develop effective treatment plans. Despite significant progres…
Autoregressive modeling has driven major advances in multimodal AI, yet its application to medical imaging remains constrained by the absence of a unified image tokenizer that simultaneously preserves…
State-Space Models (SSMs) have proven to be powerful tools for modeling long-range dependencies in sequential data. While the recent method known as HiPPO has demonstrated strong performance, and form…
In concrete troweling for building construction, robots can significantly reduce workload and improve automation level. However, as a primary task of coverage path planning (CPP) for troweling, delimi…
Autonomous vehicles must negotiate with pedestrians in ways that are both safe and socially compliant. We present an interaction-aware model predictive decision-making (IAMPDM) framework that integrat…
Purpose: Foundation models, trained on multitudes of public datasets, often require additional fine-tuning or re-prompting mechanisms to be applied to visually distinct target domains such as surgical…
Metal artifacts in computed tomography (CT) images can significantly degrade image quality and impede accurate diagnosis. Supervised metal artifact reduction (MAR) methods, trained using simulated dat…
We present the implementation of a novel economic model predictive control (E-MPC) strategy for froth flotation, the largest tonnage mineral separation process. A previously calibrated and validated d…
This study presents GreenLight-Gym, a new, fast, open-source benchmark environment for developing reinforcement learning (RL) methods in greenhouse crop production control. Built on the state-of-the-a…
Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have e…
The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based optimization into this process remains ch…
In this paper, we propose a novel Risk-Aware Local Trajectory Planner (RALTPER) for autonomous vehicles in complex environments characterized by Gaussian uncertainty. The proposed method integrates ri…
The task of determining the physical coordinates of a target in indoor environments is still a key factor for many applications including people and robot navigation, user tracking, location-based adv…
The ability of snapshot compressive imaging (SCI) systems to efficiently capture high-dimensional (HD) data depends on the advent of novel optical designs to sample the HD data as two-dimensional (2D)…
Incomplete-view computed tomography (CT) can shorten the data acquisition time and allow scanning of large objects, including sparse-view and limited-angle scenarios, each with various settings, such …
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