Research
Research
Research
Research
122,609+ open-access research outputs.
Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing app…
We introduce asRoBallet, to the best of our knowledge, the first successful deployment of reinforcement learning (RL) on a humanoid ballbot hardware. Historically, ballbots have served as a canonical …
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
Computational constraints permeate the controller design process, and yet are rarely treated as explicit design constraints. Towards addressing this gap, we propose a quantitative framework that captu…
We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated uncertainty bounds despi…
Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Convention…
This study proposes an anomaly-detection framework for monitoring exposure-length variations in submarine free-span cables using Distributed Acoustic Sensing (DAS), which is one of the distributed fib…
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridgi…
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
Vehicle-to-Grid (V2G) technology allows bidirectional power flow for real-time grid support, making electric vehicles (EVs) well-suited for ancillary services such as frequency regulation. However, ex…
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structur…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their …
In this paper, we study the reachability of two closely related matrices appearing in the analysis of linear time-varying (LTV) systems over a finite time interval, namely, its closed-loop state trans…
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. …
Radar offers unique advantages for localization in unstructured environments, including robustness to weather, lighting, and airborne particulates. While most prior work has studied radar odometry in …
Visual reinforcement learning aims to empower an agent to learn policies from visual observations, yet it remains vulnerable to dynamic visual perturbations, such as unpredictable shifts in corruption…
Climate change and resource depletion demand a shift from the dominant linear "take-make-use-dispose" paradigm of construction toward circular, low-waste practices. Material reuse offers a promising p…
Accurate estimation of thermospheric mass density is a prerequisite for orbit prediction and space situational awareness, where the upper atmosphere responds nonlinearly to solar and geomagnetic forci…
Proprietary design in commercial windrow-detection systems restricts transparency and limits progress in open autonomous forage-harvesting research. We present a multi-modal dataset combining stereo v…
The escalating data rate demands of future wireless communications necessitate the deployment of extremely large aperture arrays (ELAA) at base stations. In such configurations, wireless channel chara…
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