Research
Research
Research
Research
41,527+ open-access research outputs.
Active Inference is an emerging framework providing a quantitative account of behavioral processes in neuroscience and a principled approach to decision-making under uncertainty. Its application to ag…
Although autonomous underwater vehicles promise the capability of marine ecosystem monitoring, their deployment is fundamentally limited by the difficulty of controlling vehicles under highly uncertai…
In massive machine-type communication (mMTC) applications, a key challenge is joint device activity detection and channel estimation (JADCE) under grant-free random access, as a massive number of devi…
Compensatory trunk movements (CTMs) are commonly observed after stroke and can lead to maladaptive movement patterns, limiting targeted training of affected structures. Objective, continuous detection…
Micro-Doppler signatures are a proven modality for discriminating between drones and birds, but their reliability degrades in low-SNR, data-constrained settings where deep learning models often fail. …
A key challenge in learning-based model predictive control (MPC) is to collect informative data online for model adaptation while ensuring safety and without penalising control performance. In this pa…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body co…
This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and com…
Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology perform…
In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission. Such problems are inherently mixed discrete-continuous: a high-level action sequence and a physically f…
Vision-Language-Action (VLA) models inherit rich world knowledge from vision-language backbones and acquire executable skills via action demonstrations. However, existing evaluations largely focus on …
Speech-aware LLMs (SLLMs) have recently achieved state-of-the-art ASR performance; however, they still fail to accurately transcribe bias words that appear rarely or never in the training data. Contex…
Pneumonia remains a leading cause of childhood mortality worldwide, with a heavy burden in low-resource settings such as Bangladesh where radiologist availability is limited. Most existing deep learni…
As the number of fatalities involving Autonomous Vehicles increase, the need for a universal method of communicating between vehicles and other agents on the road has also increased. Over the past dec…
Audio tokenization has emerged as a critical component in end-to-end audio language models, enabling efficient discrete representation learning for both audio understanding and generation tasks. Howev…
This paper considers a multi-user system, where the users first harvest energy from the base station and then use the harvested energy to transmit information via non-orthogonal multiple access (NOMA)…
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, …
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both …
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering …
Koopman operator theory is a key tool in data assimilation of complex dynamical systems, with the potential to be applied to multimodal data. We formulate the problem of learning Koopman eigenfunction…
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