Research
Research
Research
Research
70+ open-access research outputs.
In this paper, we propose a safe adaptive boundary control strategy for a class of parabolic partial differential equation-ordinary differential equation (PDE-ODE) cascaded systems with parametric unc…
This paper develops a data-driven safe control framework for linear systems possessing a known strict-feedback structure, but with most plant parameters, external disturbances, and input delay being u…
Eurich et al. (2024) recently introduced the computationally efficient monaural and binaural audio quality model (eMoBi-Q). This model integrates both monaural and binaural auditory features and has b…
To collaborate with humans, robots must infer goals that are often ambiguous, difficult to articulate, or not drawn from a fixed set. Prior approaches restrict inference to a predefined goal set, rely…
In this paper, we propose a computationally efficient quadratic programming (QP) approach for generating smooth, $C^1$ continuous paths for mobile robots using piece-wise quadratic Bezier (PWB) curves…
The CL-UZH team submitted one system each for the fixed and open conditions of the NIST SRE 2024 challenge. For the closed-set condition, results for the audio-only trials were achieved using the X-ve…
Large-scale pre-training holds the promise to advance 3D medical object detection, a crucial component of accurate computer-aided diagnosis. Yet, it remains underexplored compared to segmentation, whe…
Numerous methods have been proposed to enhance Keyword Spotting (KWS) in adult speech, but children's speech presents unique challenges for KWS systems due to its distinct acoustic and linguistic char…
Automatic Speech Recognition (ASR) systems often struggle to accurately process children's speech due to its distinct and highly variable acoustic and linguistic characteristics. While recent advancem…
Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rap…
Interest in the use of the low earth orbit (LEO) in space - from $160 \text{ km}$ to $2000 \text{ km}$ - has skyrocketed; this is evident by the fact that National Aeronautics and Space Administration…
We study the channel estimation problem for a reconfigurable intelligent surface (RIS)-assisted millimeter-wave (mmWave) multi-user multiple-input multiple-output (MU-MIMO) system. In particular, it i…
Self-supervised learning is a powerful approach for developing traversability models for off-road navigation, but these models often struggle with inputs unseen during training. Existing methods utili…
Vacuum Suction Grabbing Technology. The primary objective of this study was to design the grabbing technique used to determine the vacuum suction gripper and its design parameters for the pocket welti…
In this paper, a triggered Batch Least-Squares Identifier (BaLSI) based adaptive safety control scheme is proposed for uncertain systems with potentially conflicting control objectives and safety cons…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with t…
Forced alignment (FA) plays a key role in speech research through the automatic time alignment of speech signals with corresponding text transcriptions. Despite the move towards end-to-end architectur…
Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execution of tasks and mi…
Robots in 3D spaces with more than six degrees of freedom are redundant. A redundant robot allows multiple configurations of the robot for the given target point in the dexterous workspace. The presen…
GPU decoding significantly accelerates the output of ASR predictions. While GPUs are already being used for online ASR decoding, post-processing and rescoring on GPUs have not been properly investigat…
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