Research
Research
Research
Research
122,609+ open-access research outputs.
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Supervised contrastive learning (SupCon) is widely used to shape representations, but has seen limited targeted study for audio deepfake detection. Existing work typically combines contrastive terms w…
This paper presents a systematic verification and validation (V\&V) framework for the Evasive Minimum Risk Maneuver (EMRM) feature in autonomous vehicles, addressing a critical gap in existing safety …
This paper presents the optimal-control suggestion for congestion on freeways using data assimilation (DA) of distributed fiber-optic sensing (DFOS). To simultaneously maximize throughput and avoid/mi…
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse co…
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this bran…
We consider the one-dimensional quasilinear heat equation with state-dependent heat capacity and thermal conductivity, and design a boundary-output observer based on the backstepping design for a line…
Localized features such as singularities, sharp gradients, discontinuities, and moving sources require adaptive finite element discretizations. Conventional refinement strategies introduce significant…
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER,…
Federated inference enhances LLM performance in edge computing through weighted averaging of distributed model predictions. However, autoregressive LLM inference requires frequent full-model forward p…
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle ch…
This letter presents a shifted passivity analysis of the single-machine infinite-bus system in the stationary ($\alpha\beta$) reference frame. We study the attractivity of a periodic synchronous stead…
Designing Doppler-resilient unimodular discrete phase-coded waveforms (DPWs) with low delay-Doppler sidelobes is critical for multiple-input multiple-output (MIMO) radar. Existing block coordinate des…
Recent advancements in large audio language models have extended Chain-of-Thought (CoT) reasoning into the auditory domain, enabling models to tackle increasingly complex acoustic and spoken tasks. To…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
The time-dependent deformation of concrete, particularly creep, remains a key challenge for reliable and material-efficient design. Experimental results show that tailored preloading, short-term loads…
Foundation segmentation models such as the Segment Anything Model (SAM) have demonstrated strong generalization across natural images; however, their robustness under clinically realistic medical imag…
Reliable estimation of neuromuscular activation is a key enabler for adaptive and personalized control in wearable robotics. However, surface electromyography (EMG) remains difficult to deploy robustl…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TM…
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