Research
Research
Research
Research
24+ open-access research outputs.
In next-generation wireless communication systems, the newly designated upper mid-band has attracted considerable attention, also called frequency range 3 (FR3), highlighting the need for downlink (DL…
A pinching-antenna systems (PASS)-enabled unmanned aerial vehicle (UAV) delivery framework is proposed, which exploits the capability of PASS to establish a strong line-of-sight link and reduce free-s…
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate es…
We present the RAW domain diffusion model (RDDM), an end-to-end diffusion model that restores photo-realistic images directly from the sensor RAW data. While recent sRGB-domain diffusion methods achie…
The adoption of mobile robotic platforms in complex environments, such as agricultural settings, requires these systems to exhibit a flexible yet effective architecture that integrates perception and …
Recent advances in reinforcement learning, such as Dynamic Sampling Policy Optimization (DAPO), show strong performance when paired with large language models (LLMs). Motivated by this success, we ask…
In recent years, imitation learning from large-scale human demonstrations has emerged as a promising paradigm for training robot policies. However, the burden of collecting large quantities of human d…
3D Gaussian splatting (3DGS) has shown promising results in image rendering and surface reconstruction. However, its potential in volumetric reconstruction tasks, such as X-ray computed tomography, re…
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in effici…
Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theoretical, or algorithm…
Deep unrolling networks that utilize sparsity priors have achieved great success in dynamic magnetic resonance (MR) imaging. The convolutional neural network (CNN) is usually utilized to extract the t…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for…
Mobile robots will play a crucial role in the transition towards sustainable agriculture. To autonomously and effectively monitor the state of plants, robots ought to be equipped with visual perceptio…
In this paper, we report on our use of cloud-robotics solutions to teach a Robotics Applications Programming course at Zurich University of Applied Sciences (ZHAW). The usage of Kubernetes based cloud…
In this paper we discuss our experience in teaching the Robotic Applications Programming course at ZHAW combining the use of a Kubernetes (k8s) cluster and real, heterogeneous, robotic hardware. We di…
Text-to-Speech (TTS) services that run on edge devices have many advantages compared to cloud TTS, e.g., latency and privacy issues. However, neural vocoders with a low complexity and small model foot…
To address the performance gap of English ASR models on L2 English speakers, we evaluate fine-tuning of pretrained wav2vec 2.0 models (Baevski et al., 2020; Xu et al., 2021) on L2-ARCTIC, a non-native…
Deformable Linear Objects (DLOs) such as ropes, cables, and surgical sutures have a wide variety of uses in automotive engineering, surgery, and electromechanical industries. Therefore, modeling of DL…
Pulmonary respiratory motion artifacts are common in four-dimensional computed tomography (4DCT) of lungs and are caused by missing, duplicated, and misaligned image data. This paper presents a geodes…
Sparse signals can be possibly reconstructed by an algorithm which merges a traditional nonlinear optimization method and a certain thresholding technique. Different from existing thresholding methods…
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