Research
Research
Research
Research
226+ open-access research outputs.
This paper provides a concise yet comprehensive review of recent advancements in millimeter-wave (mm-wave) oscillators below 100 GHz and sub-terahertz (sub-THz/THz) oscillators above 100 GHz for next-…
Existing integrated sensing and communication (ISAC) platforms fail to fully utilize the shared spectrum and aperture resources for sensing, resulting in poor sensing performance. Specifically, weak t…
In this paper we discuss a classical geometrical problem of estimating an unknown point's location in $\Real{n}$ from several noisy measurements of the Euclidean distances from this point to a set of …
Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory m…
Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that …
In sequence-to-sequence Transformer ASR, autoregressive (AR) models achieve strong accuracy but suffer from slow decoding, while non-autoregressive (NAR) models enable parallel decoding at the cost of…
This paper introduces the Mechacnially prOgrammed Radius-adjustable PHysical (MORPH) wheel, a fully passive variable-radius wheel that embeds mechanical behavior logic for torque-responsive transforma…
Modeling deformable objects - especially continuum materials - in a way that is physically plausible, generalizable, and data-efficient remains challenging across 3D vision, graphics, and robotic mani…
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike tradition…
Deploying fifth-generation (5G) networks in emerging markets demands a balance between performance targets and constraints in budget, spectrum, and infrastructure. We use MATLAB simulations to quantif…
Joint compression of point cloud geometry and attributes is essential for efficient 3D data representation. Existing methods often rely on post-hoc recoloring procedures and manually tuned bitrate all…
This paper presents a pipeline stage resolved timing characterization of a 32-bit RISC V processor implemented on a 20 nm FPGA and a 7 nm FinFET ASIC platform. A unified analysis framework is introduc…
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners …
Fall recovery is a critical skill for humanoid robots in dynamic environments such as RoboCup, where prolonged downtime often decides the match. Recent techniques using deep reinforcement learning (DR…
This paper addresses multi-object systems, where objects may occlude one another relative to the sensor. The standard point-object model for detection-based sensors is enhanced so that the probability…
As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring…
Ovarian cancer remains one of the most lethal gynecological malignancies, largely due to late diagnosis and extensive heterogeneity across subtypes. Current diagnostic methods are limited in their abi…
With the growing application of deep learning in wearable devices, lightweight and efficient models are critical to address the computational constraints in resource-limited platforms. The performance…
Efficient medium access control (MAC) is critical for enabling low-latency and reliable communication in industrial Machine-to-Machine (M2M) net-works, where timely data delivery is essential for seam…
One key aspect of spatially aware robots is the ability to "find their bearings", ie. to correctly situate themselves in previously seen spaces. In this work, we focus on this particular scenario of c…
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