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The robotic assembly task poses a key challenge in building generalist robots due to the intrinsic complexity of part interactions and the sensitivity to noise perturbations in contact-rich settings. The assembly agent is typically designed…
Cross-facility knowledge transfer in Controlled Environment Agriculture (CEA) can reduce HVAC energy consumption by 30-38% and accelerate new facility commissioning from months to days. However, facility operators refuse to share raw…
Recently, probabilistic predictive coding that directly models the conditional distribution of latent features across successive frames for temporal redundancy removal has yielded promising results. Existing methods using a single-scale…
Virtual Network Embedding (VNE) is a key enabler of network slicing, yet most formulations assume that each Virtual Network Request (VNR) has a fixed topology. Recently, VNE with Alternative topologies (VNEAP) was introduced to capture…
In collaborative perception, an agent's performance can be degraded by heterogeneity arising from differences in model architecture or training data distributions. To address this challenge, we propose HyDRA (Hybrid Domain-Aware Robust…
Optimal decision-making compels us to anticipate the future at different horizons. However, in many domains connecting together predictions from multiple time horizons and abstractions levels across their organization becomes all the more…
The Hierarchical Inference (HI) paradigm employs a tiered processing: the inference from simple data samples are accepted at the end device, while complex data samples are offloaded to the central servers. HI has recently emerged as an…
Distributed control of large-scale systems is challenging due to the need for scalable and localized communication and computation. In this work, we introduce a Predictive System-Level Synthesis PredSLS framework that designs controllers by…
Time-critical control applications typically pose stringent connectivity requirements for communication networks. The imperfections associated with the wireless medium such as packet losses, synchronization errors, and varying delays have a…
For protecting users' private data, local differential privacy (LDP) has been leveraged to provide the privacy-preserving range query, thus supporting further statistical analysis. However, existing LDP-based range query approaches are…
We present a hierarchical model predictive control approach for large-scale systems based on dual decomposition. The proposed scheme allows coupling in both dynamics and constraints between the subsystems and generates a primal feasible…
Multi-robot cooperative transport is crucial in logistics, housekeeping, and disaster response. However, it poses significant challenges in environments where objects of various weights are mixed and the number of robots and objects varies.…
Link prediction, as a frontier task in complex network topology analysis, aims to infer the existence of latent links between node pairs based on observed nodes and structural information. We propose an ensemble link prediction model that…
Wearable sensors provide abundant physiological time series, yet the principles governing their predictive utility remain unclear. We hypothesize that temporal resolution is a fundamental axis of representation learning, with different…
Model predictive control (MPC) with learned world models has emerged as a promising paradigm for embodied control, particularly for its ability to generalize zero-shot when deployed in new environments. However, learned world models often…
Collaboration requires agents to align their goals on the fly. Underlying the human ability to align goals with other agents is their ability to predict the intentions of others and actively update their own plans. We propose hierarchical…
Epistemic Planning (EP) is an important research area dedicated to reasoning about the knowledge and beliefs of agents in multi-agent cooperative or adversarial settings. The Justified Perspective (JP) model is the state-of-the-art approach…
General perception systems such as Perceivers can process arbitrary modalities in any combination and are able to handle up to a few hundred thousand inputs. They achieve this generality by using exclusively global attention operations.…
Coherently forecasting the behaviour of a target variable across both coarse and fine temporal scales is crucial for profit-optimized decision-making in several business applications, and remains an open research problem in temporal…
In this article, the prospects and enabling technologies for high-efficiency device positioning and location-aware communications in emerging 5G networks are reviewed. We will first describe some key technical enablers and demonstrate by…