Papers

Simultaneous readout of large-scale cryogenic detector arrays relies on multiplexing schemes such as the FDM (Frequency-Division Multiplexing) with microwave SQUID multiplexers and highly customized readout electronics. In traditional detector systems, where mixed-signal ASICs are used in detector front-ends and typically provide a digital interface, HIL (Hardware-in-the-Loop) testing can be readily implemented by reusing the existing digital logic of the front-end for emulation purposes. Such straightforward emulation is not possible for FDM low-temperature detectors, where the sensor signal is encoded in a high-frequency microwave carrier via a two-stage modulation scheme depending on the cryogenic resonators and the SQUID response. To address this challenge, we present CryoDE, a digital cryogenic-detector emulator for microwave SQUID multiplexed detector systems. CryoDE generates the encoded detector signals, including realistic pulse responses, enabling full HIL testing of the room-temperature DAQ system without requiring the cryogenic hardware. This resource-efficient FPGA-based detector twin integrates seamlessly into existing DAQ systems and allows experiment-specific adjustment of detector-signal parameters. We describe the internal architecture and capabilities of CryoDE within our custom HIL framework and demonstrate its use in evaluating the performance of real-time signal processing firmware optimized for different microwave SQUID multiplexed cryogenic-detector experiments.

Art has long played a profound role in shaping human emotion, cognition, and behavior. While visual arts such as painting and architecture have been studied through eye tracking, revealing distinct gaze patterns between experts and novices, analogous methods for auditory art forms remain underdeveloped. Music, despite being a pervasive component of modern life and culture, still lacks objective tools to quantify listeners' attention and perceptual focus during natural listening experiences. To our knowledge, this is the first attempt to decode selective attention to musical elements using naturalistic, studio-produced songs and a lightweight consumer-grade EEG device with only four electrodes. By analyzing neural responses during real world like music listening, we test whether decoding is feasible under conditions that minimize participant burden and preserve the authenticity of the musical experience. Our contributions are fourfold: (i) decoding music attention in real studio-produced songs, (ii) demonstrating feasibility with a four-channel consumer EEG, (iii) providing insights for music attention decoding, and (iv) demonstrating improved model ability over prior work. Our findings suggest that musical attention can be decoded not only for novel songs but also across new subjects, showing performance improvements compared to existing approaches under our tested conditions. These findings show that consumer-grade devices can reliably capture signals, and that neural decoding in music could be feasible in real-world settings. This paves the way for applications in education, personalized music technologies, and therapeutic interventions.

We present a method for computing explicit solutions to parametric generalized Nash equilibrium (GNE) problems with convex quadratic cost functions and linear coupling and local constraints. Assuming that the parameters enter only the linear terms of the cost functions and the constraint right-hand sides, we provide the exact multiparametric solution of the GNE problem. Such a solution enables: (i) minimal real-time computation; (ii) inherent interpretability and explainability, as well as exact enumeration of all multiple equilibria; (iii) selection of desired GNE solution types in the case of infinitely many equilibria; and (iv) zero-shot updates of the GNE solution in response to changes in constraint right-hand sides and/or linear costs. In line with explicit model predictive control (MPC) approaches, we apply our method to solve game-theoretic MPC problems, also known as receding horizon games, explicitly. We compare its performance against centralized solvers in a battery charging game and a toy two-mass-spring-damper system control problem. A Python implementation of the algorithms presented in this paper is available at https://github.com/bemporad/nash_mpqp.

EEG recordings are inherently contaminated by artifacts such as ocular, muscular, and environmental noise, which obscure neural activity and complicate preprocessing. Artifact classification offers advantages in stability and transparency, providing a viable alternative to ICA-based methods that enable flexible use alongside human inspections and across various applications. However, artifact classification is limited by its training data as it requires extensive manual labeling, which cannot fully cover the diversity of real-world EEG. Semi-synthetic data (SSD) methods have been proposed to address this limitation, but prior approaches typically injected single artifact types using ICA components or required separately recorded artifact signals, reducing both the realism of the generated data and the applicability of the method. To overcome these issues, we introduce SSDLabeler, a framework that generates realistic, annotated SSDs by decomposing real EEG with ICA, epoch-level artifact verification using RMS and PSD criteria, and reinjecting multiple artifact types into clean data. When applied to train a multi-label artifact classifier, it improved accuracy on raw EEG across diverse conditions compared to prior SSD and raw EEG training, establishing a scalable foundation for artifact handling that captures the co-occurrence and complexity of real EEG.

This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS) specifications. The approach employs circular spatiotemporal tubes (STTs), characterized by smoothly time-varying center and radius, to define dynamic safe corridors that guide the robot from the start region to the goal while avoiding obstacles. In particular, we first develop a sampling-based synthesis algorithm to construct a feasible STT that satisfies the prescribed timing and safety constraints with formal guarantees. To ensure that the robot remains confined within this tube, we then analytically design a closed-form control that is computationally efficient and robust to disturbances. The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods, demonstrating superior robustness, accuracy, and computational efficiency.

Although distributed Gaussian process regression (GPR) enables multiple agents to jointly learn a model of the target function, its collaborative nature poses a risk of private data leakage. To address this, we propose a privacy-preserving fully distributed GPR protocol based on secure multi-party computation, which hides each agent's individual contribution from semi-honest coalitions of bounded size, beyond what is implied by the aggregated value. Building upon a secure distributed average consensus algorithm, it guarantees that each agent's local model practically converges to the same global model obtained by the standard distributed GPR. Formal privacy guarantees are established within the simulation based security paradigm. The protocol is further extended to privacy-preserving optimization of kernel hyperparameters, which is critical yet often overlooked in the literature. Experimental results demonstrate the effectiveness and practical applicability of the proposed method.

Beyond Diagonal Reconfigurable Intelligent Surfaces (BD-RIS) has emerged as a promising evolution of RIS technology. By enabling interconnections between RIS elements, BD-RIS architectures offer greater flexibility in wave manipulation compared to traditional diagonal RIS designs. However, these interconnections introduce new research challenges for channel estimation, making existing approaches developed for conventional diagonal RISs ineffective and significantly increasing pilot overhead. To address these challenges, we propose a novel individual channel estimation framework that separately estimates the BS-RIS channel, which typically remains static over time, and the RIS-user channels, which vary rapidly due to user mobility. Specifically, we develop a full-duplex (FD) approach to estimate the BS-RIS channel by leveraging its inherent sparsity. Following this, the RIS-user channels are estimated using a least squares (LS) approach. Numerical results demonstrate that the proposed framework achieves significantly higher channel estimation accuracy, particularly when the number of RIS elements is large, while substantially reducing pilot overhead compared to conventional cascaded channel estimation methods.

The gray-box modeling approach, which uses a semi-physical thermal network model, has been widely used in building prediction applications, such as model predictive control (MPC). However, unmeasured disturbances, such as occupants, lighting, and in/exfiltration loads, make it challenging to apply this approach to practical buildings. In this study, we propose a hybrid modeling approach that integrates the gray-box model with a model for unmeasured disturbance. After reviewing several system identification approaches, we systematically designed the unmeasured disturbance model with a model selection process based on statistical tests to make it robust. We generated data based on the building model calibrated by real operational data and then trained the hybrid model for two different weather conditions. The Hybrid model approach demonstrates the reduction of RMSE approximately 0.2-0.9C and 0.3-2C on 1-day ahead temperature prediction compared to the Conventional approach for mild (Berkeley, CA) and cold (Chicago, IL) climates, respectively. In addition, this approach was applied for experimental data obtained from the laboratory building to be used for the MPC application, showing superior prediction performances.

Deep learning based semantic communication (DeepSC) system has emerged as a promising paradigm for efficient wireless transmission. However, existing image DeepSC methods, frequently encounter challenges in balancing rate-distortion performance and computational complexity, and often exhibit inferior performance compared to traditional schemes, especially on high-resolution datasets. To address these limitations, we propose a novel image DeepSC system, using quadtree partition-based joint semantic-channel coding, named Quad-DeepSC, which maintains low complexity while achieving state-of-the-art transmission performance. Based on maturing learned image compression technologies, we establish a unified DeepSC system design and training pipeline. The proposed Quad-DeepSC integrates quadtree partition-based entropy estimation and feature coding modules with lightweight feature extraction and reconstruction networks to form an end-to-end architecture. During training, all components except the feature coding modules are jointly optimized as a compact learned image codec, Quad-LIC, for source compression tasks. The pretrained Quad-LIC is then embedded into Quad-DeepSC and fine-tuned end-to-end over wireless channels. Extensive experimental results demonstrate that Quad-DeepSC is the first DeepSC system to surpass conventional communication systems, which employ VTM for source coding and adopt the optimal MCS index under 3GPP standards for channel coding and digital modulation, in performance across datasets of varying resolutions. Notably, both Quad-DeepSC and Quad-LIC exhibit minimal latency, rendering them well-suited for deployment in real-time wireless communication systems.

This paper investigates the linear output regulation problem with both the exosystem and the plant fully unknown. A data-driven regulator is proposed to achieve asymptotic regulation and closed-loop stability without performing model identification. The method constructs a nominal approximate internal model and filters of input and outputs, thereby yielding a stabilizable cascaded nominal system whose states are available. For this nominal system, a stabilizing law is derived from an offline dataset that has been acquired from the plant during experiments, such that the system states exponentially converge to a subspace. An identifier in discrete-time is, then, implemented to correct the internal model and update the stabilizing law; as a result, the regulation error can be steered to zero asymptotically under some persistent excitation conditions.

This paper investigates a fluid antenna (FA) array-enhanced over-the-air computation (AirComp) system in the presence of hardware impairments (HWIs), exploiting the new degrees of freedom offered by reconfigurable antenna positioning. To minimize the mean squared error (MSE) of the aggregated signal, we jointly optimize transmit power control, receive beamforming, and the antenna position vector (APV), subject to practical constraints such as HWI-induced distortion noise, FA movement energy consumption, and total power budgets. The resulting optimization problem is non-convex and highly coupled. To address it efficiently, we adopt a block coordinate descent (BCD) framework, decomposing it into three manageable subproblems. For each subproblem, closed-form solutions or efficient numerical algorithms are derived. Simulation results demonstrate that the proposed joint transceiver and APV design significantly reduces the MSE compared to conventional fixed-position antenna (FPA) arrays and exhibits enhanced robustness against hardware impairments. The effectiveness and convergence of the proposed algorithm are further validated under various system configurations.

This paper proposes a novel generalized cross-correlation (GCC) method, termed GCC-MSIF, to improve time difference of arrival (TDOA) estimation accuracy in noisy environments. Conventional GCC methods often suffer from performance degradation under low signal-to-noise ratio (SNR) conditions, particularly when the signal bandwidth is unknown. GCC-MSIF introduces a "mean signal" estimated from multi-channel inputs and an "inverse filter" to virtually reconstruct the source signal, enabling adaptive suppression of out-of-band noise. Numerical simulations simulating a small-scale array demonstrate that GCC-MSIF significantly outperforms conventional methods, such as GCC-PHAT and GCC-SCOT, in low SNR regions and achieves robustness comparable to or exceeding the maximum likelihood (GCC-ML) method. Furthermore, the estimation accuracy improves scalably with the number of array elements. These results suggest that GCC-MSIF is a promising solution for robust passive localization in practical blind environments.

In this paper, we compare several representative barrier-like conditions from the literature for infinite-horizon reach-avoid verification of stochastic discrete-time systems. Our comparison examines both their theoretical properties and computational tractability, highlighting each condition's strengths and limitations that affect applicability and conservativeness. Finally, we illustrate their practical performance through computational experiments using semidefinite programming (SDP) and counterexample-guided inductive synthesis (CEGIS).

We consider the problem of learning the parameters of a $N$-dimensional stochastic linear dynamics under both full and partial observations from a single trajectory of time $T$. We introduce and analyze a new estimator that achieves a small maximum element-wise error on the recovery of symmetric dynamic matrices using only $T=\mathcal{O}(\log N)$ observations, irrespective of whether the matrix is sparse or dense. This estimator is based on the method of moments and does not rely on problem-specific regularization. This is especially important for applications such as structure discovery.

Future wireless networks demand a more accurate understanding of channel behavior to enable efficient communication with reduced interference. Uncrewed Aerial Vehicles (UAVs) are poised to play an integral role in these networks, offering versatile applications and flexible deployment options. However, accurately characterizing the shadow fading (SF) behavior in UAV communications remains a challenge. Traditional SF correlation models rely on spatial distance and neglect the UAV's 3D orientation and elevation angle. Yet even slight variations in pitch angle (5 to 10 degrees) can significantly affect the signal strength observed by a UAV. In this study, we investigate the impact of UAV pitch and elevation geometry on SF and propose an elevation- and tilt-aware spatial correlation model. We use a real-world fixed-altitude UAV measurement dataset collected in a rural environment at 3.32 GHz with a 125 kHz bandwidth. Results show that a 10-degree tilt-angle separation and a 20-degree elevation-angle separation can reduce the SF correlation by up to 15% and 40%, respectively. In addition, integrating the proposed correlation model into the ordinary Kriging (OK) framework for signal strength prediction yields an approximate 1.5 dB improvement in median RMSE relative to the traditional correlation model that ignores UAV orientation and elevation.

Accurate segmentation of thalamic nuclei from magnetic resonance images is important due to the distinct roles of these nuclei in overall brain function and to their differential involvement in neurological and psychiatric disorders. However, segmentation remains challenging given the small size of many nuclei, limited intrathalamic contrast and image resolution, and inter-subject anatomical variability. In this work, we present CATNUS (Coordinate-Aware Thalamic Nuclei Segmentation), segmenting 13 thalamic nuclei (or nuclear groups) using a 3D U-Net architecture enhanced with coordinate convolution layers, which provide more precise localization of both large and small nuclei. To support broad clinical applicability, we provide pre-trained model variants that can operate on quantitative T1 maps as well as on widely used magnetization-prepared rapid gradient echo (MPRAGE) and fast gray matter acquisition T1 inversion recovery (FGATIR) sequences. We benchmarked CATNUS against established methods, including FreeSurfer, THOMAS and HIPS-THOMAS, demonstrating improved segmentation accuracy and robust test-retest reliability across multiple nuclei. Furthermore, CATNUS demonstrated strong out-of-distribution generalization on traveling-subject datasets spanning multiple scanners, field strengths, and vendors, producing reliable and anatomically coherent segmentations across diverse acquisition conditions. Overall, CATNUS provides an accurate and generalizable solution for thalamic nuclei segmentation, with strong potential to facilitate large-scale neuroimaging studies and support real-world clinical assessment.

Prediction error and maximum likelihood methods are powerful tools for identifying linear dynamical systems and, in particular, enable the joint estimation of model parameters and the Kalman filter used for state estimation. A key limitation, however, is that these methods require solving a generally non-convex optimization problem to global optimality. This paper analyzes the statistical behavior of local minimizers in the special case where only the Kalman gain is estimated. We prove that these local solutions are statistically consistent estimates of the true Kalman gain. This follows from asymptotic unimodality: as the dataset grows, the objective function converges to a limit with a unique local (and therefore global) minimizer. We further provide guidelines for designing the optimization problem for Kalman filter tuning and discuss extensions to the joint estimation of additional linear parameters and noise covariances. Finally, the theoretical results are illustrated using three examples of increasing complexity. The main practical takeaway of this paper is that difficulties caused by local minimizers in system identification are, at least, not attributable to the tuning of the Kalman gain.

Designing controllers that simultaneously achieve strong performance and provable closed-loop stability remains a central challenge in control engineering. This work introduces a diffusion-based generative framework for linear controller synthesis grounded in the Youla-Kucera parameterization, enabling the construction of stabilizing controllers by design. The diffusion model learns a conditional mapping from plant dynamics and desired performance metrics to feasible Youla parameters, guaranteeing internal stability while flexibly accommodating user-specified targets. Trained on synthetically generated stable SISO plants with fixed-order Youla parameters, the proposed approach reliably synthesizes controllers that meet prescribed sensitivity and settling-time specifications on previously unseen systems. To the best of our knowledge, this work provides the first demonstration that diffusion models can generate stabilizing controllers, combining rigorous control-theoretic guarantees with the versatility of modern generative modeling.

Accurately and efficiently addressing the multiple source localization (MSL) problem in urban environments, particularly designing a general method adaptable to an arbitrary number of sources, plays a crucial role in various fields such as cognitive radio (CR). Existing methods either fail to effectively utilize received signal strength (RSS) information without redundancy or lack generalizability to an arbitrary number of sources. In this work, we propose the Local Radio Map-Aided Multiple Source Localization Framework (LRM-MSL), which is a general method capable of handling an arbitrary number of sources. First, this framework constructs a local radio map that retains only the RSS information around the sources and binarizes it. Then, the connected component analysis tool is applied to the binarized map, which implements multi-source separation, transforming the MSL problem into a series of single-source localization (SSL) tasks. Finally, we design a numerical coordinate regression network to perform the SSL tasks. Since there is no publicly available RSS dataset for MSL, we construct the VaryTxLoc dataset to evaluate the performance of LRM-MSL. Experimental results demonstrate that LRM-MSL is an accurate and effective method, outperforming state-of-the-art approaches. Our code and dataset can be downloaded from https://github.com/hereis77/LRM-MSL.

Voice authentication systems deployed at the network edge face dual threats: a) sophisticated deepfake synthesis attacks and b) control-plane poisoning in distributed federated learning protocols. We present a framework coupling audio physical dynamics deepfake detection with uncertainty-aware in edge learning. The framework fuses interpretable physics features modeling vocal tract dynamics with representations coming from a self-supervised learning module. The representations are then processed via a streamlined Multi-Layer Perceptron backbone, followed by a Bayesian ensemble providing uncertainty estimates. Incorporating audio physical characteristics evaluations and uncertainty estimates of audio samples allows our proposed framework to remain robust to advanced deepfake attacks, while our trust-based aggregation protocol secures the control plane against poisoning in network edge voice authentication systems.

Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a real-time augmented reality (AR) collision avoidance system that provides personalized spatial alerts to VRUs via wearable AR headsets. By fusing roadside 360{\deg} 3D LiDAR with SLAM-based headset tracking and an automatic 3D calibration procedure, ARCAS accurately overlays world-locked 3D bounding boxes and directional arrows onto approaching hazards in the user's passthrough view. The system also enables multi-headset coordination through shared world anchoring. Evaluated in real-world pedestrian interactions with e-scooters and vehicles (180 trials), ARCAS nearly doubles pedestrians' time to collision and increases counterparts' reaction margins by up to 4x compared to unaided eye conditions. Results validate the feasibility and effectiveness of LiDAR-driven AR guidance and highlight the potential of wearable AR as a promising next generation safety tool for urban mobility.

In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop controller to track, is typically exposed to users. In this work, we focus on the development of an easily integrated add-on at the outer-loop layer by combining disturbance rejection control and robust control barrier function for high-performance tracking and safe control of the whole dynamic system of an industrial manipulator. This is particularly beneficial when 1) the inner-loop controller is imperfect, unmodifiable, and uncertain; and 2) the dynamic model exhibits significant uncertainty. Stability analysis, formal safety guarantee proof, and hardware experiments with a PUMA robotic manipulator are presented. Our solution demonstrates superior performance in terms of simplicity of implementation, robustness, tracking precision, and safety compared to the state of the art. A demonstration video is available at https://youtu.be/e0palGVU_50.

As mobile robots increasingly operate alongside humans in shared workspaces, ensuring safe, efficient, and interpretable Human-Robot Interaction (HRI) has become a pressing challenge. While substantial progress has been devoted to human behavior prediction, limited attention has been paid to how humans perceive, interpret, and trust robots' inferences and how robots plan safe and efficient trajectories based on predicted human behaviors. To address these challenges, this paper presents XR-DT, an eXtended Reality-enhanced Digital Twin framework for mobile robots, which bridges physical and virtual spaces to enable bi-directional understanding between humans and robots. Our hierarchical XR-DT architecture integrates augmented-, virtual-, and mixed-reality layers, fusing real-time sensor data, simulated environments in the Unity game engine, and human feedback captured through wearable XR devices. Within this framework, we design a novel Human-Aware Model Predictive Path Integral (HA-MPPI) control model, an MPPI-based motion planner that incorporates ATLAS (Attention-based Trajectory Learning with Anticipatory Sensing), a multi-modal Transformer model designed for egocentric human trajectory prediction via XR headsets. Extensive real-world experimental results demonstrate accurate human trajectory prediction, and safe and efficient robot navigation, validating the HA-MPPI's effectiveness within the XR-DT framework. By embedding human behavior, environmental dynamics, and robot navigation into the XR-DT framework, our system enables interpretable, trustworthy, and adaptive HRI.

Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans, physical access to place calibration patterns, or synchronized video streams. This paper presents a novel two-stage calibration method that overcomes these limitations. In the first stage, partial calibration of individual cameras is performed based on an operator's annotation of natural geometric primitives (parallel, perpendicular, and vertical lines, or line segments of equal length). This allows estimating key parameters (roll, pitch, focal length) and projecting the camera's Effective Field of View (EFOV) onto the horizontal plane in a base 3D coordinate system. In the second stage, precise system calibration is achieved through interactive manipulation of the projected EFOV polygons. The operator adjusts their position, scale, and rotation to align them with the floor plan or, in its absence, using virtual calibration elements projected onto all cameras in the system. This determines the remaining extrinsic parameters (camera position and yaw). Calibration requires only a static image from each camera, eliminating the need for physical access or synchronized video. The method is implemented as a practical web service. Comparative analysis and demonstration videos confirm the method's applicability, accuracy, and flexibility, enabling the deployment of precise multi-camera tracking systems in scenarios previously considered infeasible.

Segmentation of magnetic resonance images (MRI) facilitates analysis of human brain development by delineating anatomical structures. However, in infants and young children, accurate segmentation is challenging due to development and imaging constraints. Pediatric brain MRI is notoriously difficult to acquire, with inconsistent availability of imaging modalities, substantial non-head anatomy in the field of view, and frequent motion artifacts. This has led to specialized segmentation models that are often limited to specific image types or narrow age groups, or that are fragile for more variable images such as those acquired clinically. We address this method fragmentation with BabySeg, a deep learning brain segmentation framework for infants and young children that supports diverse MRI protocols, including repeat scans and image types unavailable during training. Our approach builds on recent domain randomization techniques, which synthesize training images far beyond realistic bounds to promote dataset shift invariance. We also describe a mechanism that enables models to flexibly pool and interact features from any number of input scans. We demonstrate state-of-the-art performance that matches or exceeds the accuracy of several existing methods for various age cohorts and input configurations using a single model, in a fraction of the runtime required by many existing tools.

Long context reasoning in large language models (LLMs) has demonstrated enhancement of their cognitive capabilities via chain-of-thought (CoT) inference. Training such models is usually done via reinforcement learning with verifiable rewards (RLVR) in reasoning based problems, like math and programming. However, RLVR is limited by several bottlenecks, such as, lack of dense reward, and inadequate sample efficiency. As a result, it requires significant compute resources in post-training phase. To overcome these limitations, in this work, we propose Semantic Soft Bootstrapping (SSB), a self-distillation technique, in which the same base language model plays the role of both teacher and student, but receives different semantic contexts about the correctness of its outcome at training time. The model is first prompted with a math problem and several rollouts are generated. From them, the correct and most common incorrect response are filtered, and then provided to the model in context to produce a more robust, step-by-step explanation with a verified final answer. This pipeline automatically curates a paired teacher-student training set from raw problem-answer data, without any human intervention. This generation process also produces a sequence of logits, which is what the student model tries to match in the training phase just from the bare question alone. In our experiment, Qwen2.5-3B-Instruct on GSM8K dataset via parameter-efficient fine-tuning. We then tested its accuracy on MATH500, and AIME2024 benchmarks. Our experiments show a jump of 10.6%, and 10% improvements in accuracy, respectively, over group relative policy optimization (GRPO), which is a commonly used RLVR algorithm. Our code is available at https://github.com/purbeshmitra/semantic-soft-bootstrapping, and the model, curated dataset is available at https://huggingface.co/purbeshmitra/semantic-soft-bootstrapping.

Interactive surfaces have evolved from capacitive touch and IR based systems into a diverse ecosystem of sensing technologies that support rich and expressive human computer interaction. This survey traces that progression, beginning with infrared vision based approaches, such as FTIR and diffuse illumination, and the rise of capacitive touch as the dominant technology in modern devices, to focusing on contemporary modalities including vision and acoustic sensing. New technologies under development are also discussed, including mmWave radar, and vibration based techniques. Each sensing technique is examined in terms of its operating principles, resolution, scalability, and applications, along with discussions of multimodal integration. By comparing tradeoffs between sensing modalities, the survey highlights the technical and design factors that shape interactive surface performance and user experience. The review concludes by identifying persistent challenges, including sensing accuracy, power constraints, and privacy concerns, and outlines how emerging sensing modalities can enable future interactive environments to be ubiquitous and intelligent.

Privacy has become a critical concern in modern multi-robot systems, driven by both ethical considerations and operational constraints. As a result, growing attention has been directed toward privacy-preserving coordination in dynamical multi-robot systems. This work introduces a randomized scheduling mechanism for privacy-preserving robot rendezvous. The proposed approach achieves improved privacy even at lower communication rates, where privacy is quantified via pointwise maximal leakage. We show that lower transmission rates provide stronger privacy guarantees and prove that rendezvous is still achieved under the randomized scheduling mechanism. Numerical simulations are provided to demonstrate the effectiveness of the method.

Accurate estimation of three-dimensional ground reaction forces and moments (GRFs/GRMs) is crucial for both biomechanics research and clinical rehabilitation evaluation. In this study, we focus on insole-based GRF/GRM estimation and further validate our approach on a public walking dataset. We propose a Dual-Path Region-Guided Attention Network that integrates anatomy-inspired spatial priors and temporal priors into a region-level attention mechanism, while a complementary path captures context from the full sensor field. The two paths are trained jointly and their outputs are combined to produce the final GRF/GRM predictions. Conclusions: Our model outperforms strong baseline models, including CNN and CNN-LSTM architectures on two datasets, achieving the lowest six-component average NRMSE of 5.78% on the insole dataset and 1.42% for the vertical ground reaction force on the public dataset. This demonstrates robust performance for ground reaction force and moment estimation.

Sparse antenna array sensing of source/target via direction of arrival (DoA) estimation motivates design of the sensing framework in joint communication and sensing (JCAS) systems for sixth generation (6G) communication systems. Recently, it is established by Mahdavifar, Rajamäki, and Pal that array geometry of sparse arrays has fundamental connections with the design of subspace codes in coding theory. This was then utilized to design efficient sensing subspace codes that estimate the DoA with good resolution. Specifically, the Bose-Chowla sensing subspace code provides near optimal code design for unique DoA estimation with tight theoretical upper bound on the error performance. However, the currently known decoder for these codes, to estimate the DoA, is a traditional Maximum-a-Posterior (MAP) decoder with complexity that is cubic with the number of antennas. In this work, we propose novel efficient decoding algorithms for sensing subspace codes, that reduce the complexity down to quadratic while providing new knobs to tune in order to tradeoff complexity with error performance. The decoders are further evaluated for their performance via Monte Carlo simulations for a range of SNRs demonstrating promising performance that smoothly approaches the MAP performance as the complexity grows from quadratic to cubic in the number of antennas.