相关论文: Weighted delay-and-sum beamforming guided by visua…

Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints and angles, even in the presence of optical distortions. In robotics, this ability is referred to as visual servoing: moving a tool or…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…

Although mask-based beamforming is a powerful speech enhancement approach, it often requires manual parameter tuning to handle moving speakers. Recently, this approach was augmented with an attention-based spatial covariance matrix…

The development of dual-functional radar-communication (DFRC) systems, where vehicle localization and tracking can be combined with vehicular communication, will lead to more efficient future vehicular networks. In this paper, we develop a…

Optical aberrations prevent telescopes from reaching their theoretical diffraction limit. Once estimated, these aberrations can be compensated for using deformable mirrors in a closed loop. Focal plane wavefront sensing enables the…

We propose BeamTransformer, an efficient architecture to leverage beamformer's edge in spatial filtering and transformer's capability in context sequence modeling. BeamTransformer seeks to optimize modeling of sequential relationship among…

Speech dereverberation aims to alleviate the negative impact of late reverberant reflections. The weighted prediction error (WPE) method is a well-established technique known for its superior performance in dereverberation. However, in…

Speaker diarization systems are challenged by a trade-off between the temporal resolution and the fidelity of the speaker representation. By obtaining a superior temporal resolution with an enhanced accuracy, a multi-scale approach is a way…

Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

We propose a robust two-dimensional polynomial beamformer design method, formulated as a convex optimization problem, which allows for flexible steering of a previously proposed data-independent robust beamformer in both azimuth and…

To let the state-of-the-art end-to-end ASR model enjoy data efficiency, as well as much more unpaired text data by multi-modal training, one needs to address two problems: 1) the synchronicity of feature sampling rates between speech and…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…

Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal…

Invariance to microphone array configuration is a rare attribute in neural beamformers. Filter-and-sum (FS) methods in this class define the target signal with respect to a reference channel. However, this not only complicates formulation…

Reconfigurable distributed antenna and reflecting surface (RDARS) is a promising architecture for future sixth-generation (6G) wireless networks. In particular, the dynamic working mode configuration for the RDARS-aided system brings an…

Reverberations are unavoidable in enclosures, resulting in reduced intelligibility for hearing impaired and non native listeners and even for the normal hearing listeners in noisy circumstances. It also degrades the performance of machine…

We introduce a U-net model for 360{\deg} acoustic source localization formulated as a spherical semantic segmentation task. Rather than regressing discrete direction-of-arrival (DoA) angles, our model segments beamformed audio maps (azimuth…

Distributed transmit beamforming is a technique that adjusts the signals from cooperating radios to combine coherently at a destination radio. To achieve coherent combining, the radios can exchange preambles with the destination for…