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Human body reconstruction with Millimeter Wave (mmWave) radar point clouds has gained significant interest due to its ability to work in adverse environments and its capacity to mitigate privacy concerns associated with traditional…
We present mmFHE, the first system that enables fully homomorphic encryption (FHE) for end-to-end mmWave radar sensing. mmFHE encrypts raw range profiles on a lightweight edge device and executes the entire mmWave signal-processing and ML…
Gesture recognition is a much studied research area which has myriad real-world applications including robotics and human-machine interaction. Current gesture recognition methods have focused on recognising isolated gestures, and existing…
Most Integrated Sensing and Communications (ISAC) systems require dividing airtime across their two modes. However, the specific impact of this decision on sensing performance remains unclear and underexplored. In this paper, we therefore…
Low-cost millimeter automotive radar has received more and more attention due to its ability to handle adverse weather and lighting conditions in autonomous driving. However, the lack of quality datasets hinders research and development. We…
With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic models are able to interpret complex tasks using language…
Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…
Millimeter-wave (mmWave) radar has emerged as a promising sensing modality for human perception due to its robustness under challenging environmental conditions and strong privacy-preserving properties. However, recovering accurate 3D human…
Vision-Language-Action (VLA) models have shown strong potential for general-purpose robot manipulation by unifying perception and action. However, existing VLA systems primarily rely on textual instructions and struggle to resolve spatial…
In recent years, approaches based on radar object detection have made significant progress in autonomous driving systems due to their robustness under adverse weather compared to LiDAR. However, the sparsity of radar point clouds poses…
Micro-Doppler-based target classification capabilities of the automotive radars can provide high reliability and short latency to the future active safety automotive features. A large number of pedestrians surrounding vehicle in practical…
In this paper, we propose Argus, a wearable add-on system based on stripped-down (i.e., compact, lightweight, low-power, limited-capability) mmWave radars. It is the first to achieve egocentric human mesh reconstruction in a multi-view…
Falls in wet bathroom environments are a major safety risk for seniors living alone. Recent work has shown that mmWave-only, vibration-only, and existing multimodal schemes, such as vibration-triggered radar activation, early feature…
Automotive perception systems are obligated to meet high requirements. While optical sensors such as Camera and Lidar struggle in adverse weather conditions, Radar provides a more robust perception performance, effectively penetrating fog,…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Due to its light and weather-independent sensing, millimeter-wave (MMW) radar is essential in smart environments. Intelligent vehicle systems and industry-grade MMW radars have integrated such capabilities. Industry-grade MMW radars are…
Hand gesture recognition has long been a hot topic in human computer interaction. Traditional camera-based hand gesture recognition systems cannot work properly under dark circumstances. In this paper, a Doppler Radar based hand gesture…
In this paper, we introduce a non-rigid registration pipeline for pairs of unorganized point clouds that may be topologically different. Standard warp field estimation algorithms, even under robust, discontinuity-preserving regularization,…
Millimeter-wave (mmWave) radars are being increasingly integrated in commercial vehicles to support new Adaptive Driver Assisted Systems (ADAS) features that require accurate location and Doppler velocity estimates of objects, independent…
Accurate 3D scene motion perception significantly enhances the safety and reliability of an autonomous driving system. Benefiting from its all-weather operational capability and unique perceptual properties, 4D mmWave radar has emerged as…