相关论文: Smoother Position-Drift Compensation for Time Doma…
Orthogonal time frequency space (OTFS) modulation is a recently proposed delay-Doppler (DD) domain communication scheme, which has shown promising performance in general wireless communications, especially over high-mobility channels. In…
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based pose estimation of hand-held grippers or…
Measured impulse responses obtained from a dynamic unmanned aerial vehicle (UAV) channel sounding system exhibit effects attributable to time-varying carrier frequency offset (CFO) and sampling frequency offset (SFO). To correct the…
This paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture,…
Training large models with distributed data parallelism (DDP) requires frequent communication of gradients across workers, which can saturate bandwidth. Infrequent communication strategies (e.g., Local SGD) reduce this overhead but, when…
Dynamic mode decomposition (DMD) has become a powerful data-driven method for analyzing the spatiotemporal dynamics of complex, high-dimensional systems. However, conventional DMD methods are limited to matrix-based formulations, which…
The high bandwidth demand of Internet applications has recently driven the need of increasing the residential download speed. A practical solution to the problem has been proposed aggregating the bandwidth of 802.11 Access Points (APs)…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Digital twins (DTs) have emerged as a promising enabler for representing the real-time states of physical worlds and realizing self-sustaining systems. In practice, DTs of physical devices, such as mobile users (MUs), are commonly deployed…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
In this tutorial paper, a comprehensive survey is given on several major systematic approaches in dealing with delay-aware control problems, namely the equivalent rate constraint approach, the Lyapunov stability drift approach and the…
Efficiency and reliability are critical in robotic bin-picking as they directly impact the productivity of automated industrial processes. However, traditional approaches, demanding static objects and fixed collisions, lead to deployment…
The disparity in accuracy between classes in standard training is amplified during adversarial training, a phenomenon termed the robust fairness problem. Existing methodologies aimed to enhance robust fairness by sacrificing the model's…
The Koopman operator framework can be used to identify a data-driven model of a nonlinear system. Unfortunately, when the data is corrupted by noise, the identified model can be biased. Additionally, depending on the choice of lifting…
Temporal Action Localization (TAL) methods typically operate on top of feature sequences from a frozen snippet encoder that is pretrained with the Trimmed Action Classification (TAC) tasks, resulting in a task discrepancy problem. While…
In wideband sub-Terahertz (sub-THz) massive multiple-input multiple-output (MIMO) communication systems, the beam squint effect manifests as a substantial degradation in array gain. To mitigate the aforementioned beam squint effect, a…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
Multi-agent motion planning (MAMP) is a critical challenge in applications such as connected autonomous vehicles and multi-robot systems. In this paper, we propose a space-time conflict resolution approach for MAMP. We formulate the problem…
Time division multiple access (TDMA) is a method for sharing communication media. In wireless communications, TDMA algorithms often divide the radio time into timeslots of uniform size, $\xi$, and then combine them into frames of uniform…
Power grids are evolving toward 100% renewable energy interfaced by inverters. Virtual inertia and damping provided by inverters are essential to synchronism and frequency stability of future power grids. This paper numerically addresses…