Research
Research
Research
Research
81+ open-access research outputs.
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions.…
We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models. The framework deri…
We propose a Physics Informed Learning framework for reconstructing traffic density from sparse trajectory data. The approach combines a second-order Aw-Rascle and Zhang model with a first-order train…
Discrete biological sequence optimization requires iterative refinement under strict syntactic constraints. Diffusion models offer progressive refinement but do not naturally expose controllable discr…
Based on the provided LaTeX code, here is the metadata for the submission form: Title: TokCom-UEP: Semantic Importance-Matched Unequal Error Protection for Resilient Image Transmission Author(s): Kaiz…
The method described in the first part for frequency-selectively measuring the transfer function and the noise power spectral density of the superimposed noise at the output of a disturbed, real syste…
Modeling and congestion mitigation of mixed-autonomy traffic systems consisting of human-driven vehicles (HVs) and autonomous vehicles (AVs) have become increasingly critical with the rapid developmen…
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…
Decentralized exchanges (DEXs) form a cornerstone of the decentralized finance (DeFi) ecosystem, processing token trades worth billions of dollars daily. Yet, a significant fraction of these trades ar…
Vehicles are becoming increasingly automated and interconnected, enabling the formation of cooperative intelligent transport systems (C-ITS) and the use of offboard services. As a result, cloud-native…
Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failures, and partial obs…
We present the RAW domain diffusion model (RDDM), an end-to-end diffusion model that restores photo-realistic images directly from the sensor RAW data. While recent sRGB-domain diffusion methods achie…
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study …
Most autonomous-vehicles (AVs) driving strategies are designed and analyzed at the vehicle level, yet their aggregate impact on macroscopic traffic flow is still not understood, particularly the flow …
Structure-based drug design (SBDD) aims to efficiently discover high-affinity ligands within vast chemical spaces. However, current generative models struggle with objective misalignment and rigid sam…
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple valid actions if the…
Sparse-view 3D CT reconstruction aims to recover volumetric structures from a limited number of 2D X-ray projections. Existing feedforward methods are constrained by the scarcity of large-scale traini…
Multi-contrast magnetic resonance imaging (MRI) plays a vital role in brain tumor segmentation and diagnosis by leveraging complementary information from different contrasts. Each contrast highlights …
Given the scarcity and cost of high-field MRI, the synthesis of high-field MRI from low-field MRI holds significant potential when there is limited data for training downstream tasks (e.g. segmentatio…
This paper designs a high-order positivity-preserving discontinuous Galerkin (DG) scheme for a linear hyperbolic equation. The scheme relies on augmenting the standard polynomial DG spaces with additi…
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