Research
Research
Research
Research
366+ open-access research outputs.
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
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…
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…
While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large paramet…
In this study, we present Healthcare Codec-Fake Detection (HCFD), a new task for detecting codec-fakes under pathological speech conditions. We intentionally focus on codec based synthetic speech in t…
Deep learning has enabled highly realistic synthetic speech, raising concerns about fraud, impersonation, and disinformation. Despite rapid progress in neural detectors, transparent baselines are need…
Speech deepfake detection (SDD) systems perform well on standard benchmarks datasets but often fail to generalize to expressive and emotional spoofing attacks. Many methods rely on spoof-heavy trainin…
The rapid advancement of generative AI has made it increasingly challenging to distinguish between deepfake audio and authentic human speech. To overcome the limitations of passive detection methods, …
Inspired by the general Vision-and-Language Navigation (VLN) task, aerial VLN has attracted widespread attention, owing to its significant practical value in applications such as logistics delivery an…
This paper investigates the leader-following consensus problem for a class of multi-agent systems subject to adversarial attack-like external inputs. To address this, we formulate the robust leader-fo…
Speech deepfake source verification systems aims to determine whether two synthetic speech utterances originate from the same source generator, often assuming that the resulting source embeddings are …
Grasping target objects is a fundamental skill for robotic manipulation, but in cluttered environments with stacked or occluded objects, a single-step grasp is often insufficient. To address this, pre…
This work presents a comprehensive benchmark evaluation of visual odometry (VO) and visual SLAM (VSLAM) systems for mobile robot navigation in real-world logistical environments. We compare multiple v…
Audio deepfake model attribution aims to mitigate the misuse of synthetic speech by identifying the source model responsible for generating a given audio sample, enabling accountability and informing …
Speech deepfake detection (SDD) is essential for maintaining trust in voice-driven technologies and digital media. Although recent SDD systems increasingly rely on self-supervised learning (SSL) repre…
Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which a…
Building speech deepfake detection models that are generalizable to unseen attacks remains a challenging problem. Although the field has shifted toward a pre-training and fine-tuning paradigm using sp…
Self-supervised learning (SSL) has transformed speech processing, with benchmarks such as SUPERB establishing fair comparisons across diverse downstream tasks. Despite it's security-critical importanc…
Deepfake speech utterances can be forged by replacing one or more words in a bona fide utterance with semantically different words synthesized with speech-generative models. While a dedicated syntheti…
Reliable fall recovery is critical for humanoids operating in cluttered environments. Unlike quadrupeds or wheeled robots, humanoids experience high-energy impacts, complex whole-body contact, and lar…
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