Research
Research
Research
Research
3,601+ open-access research outputs.
This paper introduces a novel zero-force control method for upper-limb exoskeleton robots, which are used in a variety of applications including rehabilitation, assistance, and human physical capabili…
Approximate message passing (AMP) algorithms are iterative methods for signal recovery in noisy linear systems. In some scenarios, AMP algorithms need to operate within a distributed network. To addre…
Models based on the Transformer architecture have seen widespread application across fields such as natural language processing, computer vision, and robotics, with large language models like ChatGPT …
Episodic control, inspired by the role of episodic memory in the human brain, has been shown to improve the sample inefficiency of model-free reinforcement learning by reusing high-return past experie…
Retrieving 3D bone anatomy from biplanar X-ray images is crucial since it can significantly reduce radiation exposure compared to traditional CT-based methods. Although various deep learning models ha…
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observa…
For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. …
In appearance-based localization and mapping, loop closure detection is the process used to determinate if the current observation comes from a previously visited location or a new one. As the size of…
In recent years, with the development of deep learning, electroencephalogram (EEG) classification networks have achieved certain progress. Transformer-based models can perform well in capturing long-t…
When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in local minima. Is there a…
Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also …
Nano-sized unmanned aerial vehicles (UAVs) are ideal candidates for flying Internet-of-Things smart sensors to collect information in narrow spaces. This requires ultra-fast navigation under very tigh…
The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditiona…
Cardiovascular diseases represent a leading cause of mortality worldwide, necessitating accurate and early diagnosis for improved patient outcomes. Current diagnostic approaches for cardiac abnormalit…
This paper presents an architecture for Ultrasound Beamforming using Synthetic Transmit Aperture with Low Complexity and High SNR for medical imaging. Synthetic Transmit Aperture is a novel approach i…
The emergence of new spoofing attacks poses an increasing challenge to audio security. Current detection methods often falter when faced with unseen spoofing attacks. Traditional strategies, such as r…
It is too early to conclude that Mamba is a better alternative to transformers for speech before comparing Mamba with transformers in terms of both performance and efficiency in multiple speech-relate…
Robots reason about the environment through dedicated representations. Popular choices for dense representations exploit Truncated Signed Distance Functions (TSDF) and Octree data structures. However,…
There exist numerous diagnostic tasks in pathology. Conventional computational pathology formulates and tackles them as independent and individual image classification problems, thereby resulting in c…
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