Research
Research
Research
Research
122,609+ open-access research outputs.
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typicall…
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical inter…
Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vi…
Gaussian basis functions provide an efficient and flexible alternative to spline activations in KANs. In this work, we introduce the partition-of-unity Gaussian KAN (PU-GKAN), a Shepard-type normalize…
Consistency models (CMs) learn a consistent mapping from multiple noise levels to the data endpoint and can therefore perform generative inference in one or a few steps. This property makes them attra…
Physics-aware symbolic simulation of 3D scenes is critical for robotics, embodied AI, and scientific computing, requiring models to understand natural language descriptions of physical phenomena and t…
The advancement of robot learning is currently hindered by the scarcity of large-scale, high-quality datasets. While established data collection methods such as teleoperation and universal manipulatio…
This study proposes post-quantum encrypted control systems based on dynamic-key Learning with Errors (LWE) encryption schemes. The proposed method develops update maps that simultaneously update the p…
The growing number of Internet-of-Things (IoT) based artificial intelligence (AI) applications deployed at resource-constrained network edge call for ultra-reliable and low-latency data processing pip…
Learning to solve the Alternating Current Optimal Power Flow (AC-OPF) problem by neural networks (NNs) is a promising approach in real-time applications. Existing methods to ensure the physical feasib…
Unified 2D and 3D radio map construction supports network planning, wireless digital twins, and unmanned aerial vehicle (UAV) applications. In urban environments, blockage, reflection, and diffraction…
To enable larger apertures in multipleinput multipleoutput MIMO systems the trihybrid MIMO architecture offers a promising lowcost and lowpower solution by introducing reconfigurable antennas as a thi…
Accurately characterizing wind power uncertainty under icing and post-disaster conditions remains a critical challenge for resilient power system operation. To address this issue, this paper proposes …
In high-conflict mixed-traffic scenarios involving human-driven and autonomous vehicles, most existing autonomous driving systems default to overly conservative behaviors, lack proactive interaction, …
This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the length of the path is …
We present CRC-SAM, a unified framework for colorectal cancer segmentation across colonoscopy, CT, and histopathology images. Unlike prior single-modality methods, CRC-SAM provides consistent, modalit…
This paper develops a dynamic programming (DP) approach for decentralized stochastic optimal control problems with delayed sharing information patterns, which exhibits the fundamental Properties of cl…
Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage…
Neural networks can be trained to learn task-relevant representations from data. Understanding how these networks make decisions falls within the Explainable AI (XAI) domain. This paper proposes to st…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing …
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