Research
Research
Research
Research
41,029+ open-access research outputs.
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting c…
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
End-to-end (E2E) autonomous driving presents a promising approach for translating perceptual inputs directly into driving actions. However, prohibitive annotation costs and temporal data quality degra…
This paper introduces a general approximate alternating simulation relation (\emph{$\varepsilon$-gAAS relation}) for continuous-time systems, which relaxes existing simulation relations to tolerate la…
Range anxiety and long recharging times remain critical barriers to electric vehicle adoption. Dynamic Inductive Charging (DIC) offers a compelling solution by enabling wireless power transfer while d…
This paper presents a real-world experimental analysis of a modular reconfigurable intelligent surface (RIS) prototype designed to operate in the 5G N78 band. Unlike most RIS studies in the literature…
Vehicular sensing-based intelligence has made substantial progress in transportation systems, leading to higher levels of safety and sustainability for smart cities and autonomous systems. This paper …
Learned driving agents often degrade when deployed in unseen environments. This paper studies a deliberately bounded instance of that problem in the CARLA simulator: zero-shot transfer of a closed-loo…
Millimeter-wave (mmWave) communication depends on highly directional beamforming, while fast mobility, blockage, and rapid geometry changes in vehicle-to-everything (V2X) scenarios make beam tracking …
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
We study the design of functional incentive mechanisms for dynamical systems, in which a leader designs a fixed incentive function to motivate a self-interested follower to actuate the system benefici…
In this paper, we extend our method [1] for FMCW radar mutual interference mitigation (IM) based on the discrete fractional Fourier transform (DFrFT). Firstly, we propose a radar signal processing cha…
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
This paper proposes a bitwise over-parameterized neural network (ONN) decoder for polar-coded transmission and develops a tractable theoretical performance analysis framework. By modeling each synthes…
Despite the rise of token communication (TokCom) as a new paradigm beyond traditional bit communication, existing approaches have primarily adopted artificial intelligence (AI)-centric designs that re…
Flexible-antenna systems, which use a small number of radio frequency (RF) chains to dynamically access a large set of candidate antenna locations, have emerged as a hardware-efficient architecture fo…
A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human vide…
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local mini…
Multi-talker automatic speech recognition (ASR) in conversational recordings remains an open problem, particularly in scenarios with large portion of overlapping speech where identifying and transcrib…
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
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