Research
Research
Research
Research
143+ open-access research outputs.
Using self-supervised learning (SSL) models has significantly improved performance for downstream speech tasks, surpassing the capabilities of traditional hand-crafted features. This study investigate…
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative worst-case ambiguity-…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular…
We present a filtering framework for online joint state estimation and parameter identification in nonlinear, time-varying systems. The algorithm uses Rao-Blackwellization technique to infer joint sta…
Fluid antenna systems (FAS) achieve spatial diversity by dynamically switching among $N$ densely packed ports, but the resulting spatially correlated Rayleigh channels render exact outage analysis int…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization…
We construct a functor that gives a dynamics to an algebraic model of interacting components. The construction generalises a computational model of Fontana and Buss in the field of artificial life kno…
Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in compl…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from comple…
Flow-based vision-language-action (VLA) models excel in embodied control but suffer from intractable likelihoods during multi-step sampling, hindering online reinforcement learning. We propose \textbf…
Safely moving through environments affected by fire is a critical capability for autonomous mobile robots deployed in disaster response. In this work, we present a novel approach for mobile robots to …
Visual navigation is fundamental to autonomous systems, yet generating reliable trajectories in cluttered and uncertain environments remains a core challenge. Recent generative models promise end-to-e…
We propose a digital backpropagation method that employs machine-learning-aided joint optimization of dispersion step lengths and nonlinear phase rotation filters within an FFT-based enhanced split-st…
The fundamental mechanism driving MIMO beamforming is the relative phases of signals departing the transmit array and arriving at the receive array. If a propagation channel affects all transmitted si…
Near-field sensing with extremely large-scale antenna arrays (ELAAs) in practical 6G systems is expected to operate over broad bandwidths, where delay, Doppler, and spatial effects become tightly coup…
Extremely large-scale antenna arrays (ELAAs) envisioned for 6G enable high-resolution sensing. However, the ELAAs worked in extremely high frequency will push operation into the near-field region, whe…
This paper introduces an adaptive preprocessing technique to enhance the accuracy of channel state information-based physical layer authentication (CSI-PLA) alleviating CSI variations and inconsistenc…
This paper introduces a direct comparative study of Physics-Informed Neural Networks (PINNs) and Long Short-Term Memory (LSTM) networks for adaptive steam temperature control in Heat Recovery Steam Ge…
This paper presents a novel fault-tolerant control framework for steam temperature regulation in Heat Recovery Steam Generators (HRSGs) subject to actuator faults. Addressing the critical challenge of…
Near-field beamforming enables target discrimination in both range (axial) and angle (lateral) dimensions. Elevated sidelobes along either dimension, however, increase susceptibility to interference a…
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