Papers

We study exact-regenerating codes for entanglement-assisted distributed storage systems. Consider an $(n,k,d,\alpha,\beta_{\mathsf{q}},B)$ distributed system that stores a file of $B$ classical symbols across $n$ nodes with each node storing $\alpha$ symbols. A data collector can recover the file by accessing any $k$ nodes. When a node fails, any $d$ surviving nodes share an entangled state, and each of them transmits a quantum system of $\beta_{\mathsf{q}}$ qudits to a newcomer. The newcomer then performs a measurement on the received quantum systems to generate its storage. Recent work [1] showed that, under functional repair where the regenerated content may differ from that of the failed node, there exists a unique optimal regenerating point that \emph{simultaneously minimizes both storage $\alpha$ and repair bandwidth $d \beta_{\mathsf{q}}$} when $d \geq 2k-2$. In this paper, we show that, under exact repair, where the newcomer reproduces exactly the same content as the failed node, this optimal point remains achievable. Our construction builds on the classical product-matrix framework and the Calderbank-Shor-Steane (CSS)-based stabilizer formalism.

To address the issues of high interruption time and measurement report overhead under user equipment (UE) mobility especially in high speed 5G use cases the use of AI/ML techniques (AI/ML beam management and mobility procedures) have been proposed. These techniques rely heavily on data that are most often simulated for various scenarios and do not accurately reflect real deployment behavior or user traffic patterns. Therefore, there is an utmost need for realistic datasets under various conditions. This work presents a dataset collected from a commercially deployed network across various modes of mobility (pedestrian, bike, car, bus, and train) and at multiple speeds to depict real time UE mobility. When collecting the dataset, we focused primarily on handover (HO) scenarios, with the aim of reducing the HO interruption time and maintaining continuous throughput during and immediately after HO execution. To support this research, the dataset includes timing advance (TA) measurements at various signaling events such as RACH trigger, MAC CE, and PDCCH grant which are typically missing in existing works. We cover a detailed description of the creation of the dataset; experimental setup, data acquisition, and extraction. We also cover an exploratory analysis of the data, with a primary focus on mobility, beam management, and TA. We discuss multiple use cases in which the proposed dataset can facilitate understanding of the inference of the AI/ML model. One such use case is to train and evaluate various AI/ML models for TA prediction.

Basilisk is an open-source astrodynamics simulation framework widely used for spacecraft guidance, navigation, and control (GN&C) research and development. Despite its flexibility and computational capabilities, configuring Basilisk consistently across heterogeneous development environments presents practical challenges due to dependency management, operating system compatibility, and software configuration requirements. This paper presents a Docker-based containerization workflow for Basilisk that encapsulates the complete build environment, dependencies, and simulation infrastructure within a portable container image. The workflow is demonstrated through a progression of simulation scenarios of increasing complexity, from standalone orbital dynamics scripts to BSKSim-based attitude dynamics and control simulations with Monte Carlo analysis. The BSKSim class hierarchy, dynamics model architecture, flight software implementation, and scenario execution patterns are described in detail. The presented workflow provides a self-contained implementation reference for GN&C engineers and researchers seeking reproducible and portable Basilisk simulation environments. This work expands upon a workshop presentation delivered at the 46th Rocky Mountain AAS GN&C Conference, February 2024, available at https://doi.org/10.5281/zenodo.15008785.

Deep learning-based channel state information (CSI) feedback has achieved empirical success in massive multiple-input multiple-output (MIMO) systems. However, existing approaches largely rely on dense artificial neural networks (ANNs), whose computational overhead limits their practical applications. In this article, we exploit bio-inspired spiking neural networks (SNNs) for massive MIMO CSI feedback, referred to as SpikingCSINet, where both the feedback and the main network computations are implemented through spikes. To overcome the information bottleneck of binary spikes in high-dimensional reconstruction, we develop a progressive residual (PR) architecture that exploits the natural temporal dimension of SNNs, encoding successive residuals across time steps to enhance information compactness. Experiments on the COST 2100 benchmark show that SpikingCSINet attains a more favorable performance-efficiency tradeoff than lightweight convolutional baselines. Moreover, it achieves performance competitive with Transformer-based feedback while reducing energy consumption by over $93\%$.

Motor imagery (MI) BCIs are sensitive to EEG artifacts, yet the practical impact of automated artifact rejection on downstream MI decoding performance remains unclear. While most work focuses on decoder design, the contribution of data curation, particularly automated rejection policies, has received comparatively less attention, despite its importance for robust machine learning pipelines. Here, we propose Fast Automatic Artifact Rejection (FAAR), a lightweight method that computes a compact set of artifact-sensitive features, derives an epoch-level Signal Quality Index, adaptively selects rejection thresholds, and automatically rejects contaminated epochs without requiring prior knowledge of artifact types or manual threshold tuning. We evaluate FAAR on 13 publicly available MI datasets and compare it to a no-rejection baseline, AutoReject, and Isolation Forest. We show rejection effects are strongly subject- and regime-dependent, with the largest gains in low-baseline/low-SNR conditions, so it should be used adaptively. FAAR reduces inter-subject performance variability, an important property for MI-BCI reliability and BCI-illiteracy, without aggressive data removal. Finally, FAAR's lightweight and fully automated thresholding yields consistent rejection behavior across offline curation, training, and online filtering, and supports real-time BCI constraints.

Egocentric 3D hand pose estimation and gesture recognition are essential for immersive augmented/virtual reality, human-computer interaction, and robotics. However, conventional frame-based cameras suffer from motion blur and limited dynamic range, while existing event-based methods are hindered by ego-motion interference, monocular depth ambiguity, and the lack of large-scale real-world stereo datasets. To overcome these limitations, we propose EgoEV-HandPose, an end-to-end framework for joint 3D bimanual pose estimation and gesture recognition from stereo event streams. Central to our approach is KeypointBEV, a flexible stereo fusion module that lifts features into a canonical bird's-eye-view space and employs an iterative reprojection-guided refinement loop to progressively resolve depth uncertainty and enforce kinematic consistency. In addition, we introduce EgoEVHands, the first large-scale real-world stereo event-camera dataset for egocentric hand perception, containing 5,419 annotated sequences with dense 3D/2D keypoints across 38 gesture classes under varying illumination. Extensive experiments demonstrate that EgoEV-HandPose achieves state-of-the-art performance with an MPJPE of 30.54mm and 86.87% Top-1 gesture recognition accuracy, significantly outperforming RGB-based stereo and prior event-camera methods, particularly in low-light and bimanual occlusion scenarios, thereby setting a new benchmark for event-based egocentric perception. The established dataset and source code will be publicly released at https://github.com/ZJUWang01/EgoEV-HandPose.

Over the past two decades, the task of musical beat tracking has transitioned from heuristic onset detection algorithms to highly capable deep neural networks (DNN). Although DNN-based beat tracking models achieve near-perfect performance on mainstream, percussive datasets, the SMC dataset has stubbornly yielded low F-measure scores. By testing how well state-of-the-art models detect beats on individual tracks in the SMC dataset, we identify three distinct failure modes: octave errors, continuity errors, and complete tracking failure where all metrics fall below 0.3. We reveal that state-of-the-art models tend to generate "confident-but-wrong" activations. Furthermore, we show that the standard DBN's default minimum tempo of 55 BPM prevents it from inferring the correct tempo for 21% of SMC tracks, forcing double-tempo predictions on slow music. By exposing such fundamental oversights, we provide concrete directions for improving beat and downbeat detection, specifically emphasizing training data diversification and multi-hypothesis tempo estimation.

The modulating function method is an algebraic estimation framework that has been used for state and parameter estimation, as well as fault detection, of linear and some nonlinear systems. At the core of the method is the modulating function: a function that evaluates to 0 at the left or right boundaries up to a certain order of derivatives, being classified as left, right, or total modulating functions. Despite being an algebraic framework, there is no paper that analyzes the algebraic properties of the three types of modulating functions and the consequences of these properties. In light of this gap, this paper discusses the algebraic properties of modulating functions and, after formalizing their closedness and group properties, simple algorithms to construct new modulating functions are proposed, discussed, and illustrated. Moreover, the fact that total modulating functions form an algebra and a vector space is exploited to construct orthonormal modulating functions, which are then used to significantly improve the well-known matrix conditioning issue of the modulating function method, illustrated with the parameter estimation of a boat's nonlinear roll dynamics.

Specialized foundation models are beginning to emerge in various medical subdomains, but pretraining methodologies and parametric scaling with the size of the pretraining dataset are rarely assessed systematically and in a like-for-like manner. This work focuses on foundation models for electrocardiography (ECG) data, one of the most widely captured physiological time series world-wide. We present a comprehensive assessment of pretraining methodologies, covering five different contrastive and non-contrastive self-supervised learning objectives for ECG foundation models, and investigate their scaling behavior with pretraining dataset sizes up to 11M input samples, exclusively from publicly available sources. Pretraining strategy has a meaningful and consistent impact on downstream performance, with contrastive predictive coding (slightly ahead of JEPA) yielding the most transferable representations across diverse clinical tasks. Scaling pretraining data continues to yield meaningful improvements up to 11M samples for most objectives. We also compare model architectures across all pretraining methodologies and find evidence for a clear superiority of structured state space models compared to transformers and CNN models. We hypothesize that the strong inductive biases of structured state space models, rather than pretraining scale alone, are the primary driver of effective ECG representation learning, with important implications for future foundation model development in this and potentially other physiological signal domains.

Accurate wheel speed information is crucial for vehicle control and state estimation. Conventional sensors suffer from quantization and latency, especially at low velocities, while motor-speed signals in electric vehicles are distorted by drivetrain torsion. This work presents a neural-network-based virtual wheel-speed sensor that fuses wheel-speed and motor-speed signals to reduce errors from both sources. Validated on real-world Volkswagen ID.7 data, the real-time capable model achieves an error reduction of up to 85% compared to the production sensor and 47% compared to an optimized zero-phase filter, providing a smooth signal for driver-assistance functions. The results demonstrate robust generalization across diverse real-world maneuvers within the vehicle platform.

Identifying control-friendly models of nonlinear systems remains one of the major challenges at the intersection of system identification and control. The Linear Parameter-Varying (LPV) framework offers a promising solution, but existing identification methods often rely on model structures with affine scheduling dependency. Instead, this work proposes the use of LPV models with Linear Fractional Representation (LFR) admitting a rational scheduling-dependency, capable of modelling complex nonlinear systems with fewer scheduling variables compared to affine models. This work introduces a direct parameterization to ensure well-posedness of rational LPV-LFR models, which by joint-estimation of an LPV plant and scheduling map, using only input-output data, is capable of modelling complex nonlinear systems. Accuracy of the proposed approach is shown on two simulation examples.

We propose Block-Filtered Long-Context Attention (BFLA), a training-free sparse prefill method that combines deterministic Lightning-style block indexing, query-tile sharing, and length-adaptive Ratio-$K$ selection with block-sparse execution. BFLA evaluates attention using the original Q/K/V, requires no retraining or per-model parameter retuning, and integrates with vLLM while preserving native decoding. For fixed Q/K/V, we bound local attention-output error in terms of the omitted attention mass, indexer-score distortion, retention budget, and query-tile sharing. Evaluations on Gemma4-E4B-IT, Qwen3.6-27B, Qwen3.8-27B, and Qwen3.8-Flash-Next across LongBench-v2, RULER, InfiniteBench, and Terminal Bench 2.1 show BFLA matches or even outperforms dense baselines. BFLA shows up to approximately $4\times$ time-to-first-token and $3.72\times$ end-to-end request speedups over the corresponding dense-prefill baselines. Comparisons with state-of-the-art FlashPrefill V2 and Qwen Sparse Attention also demonstrate that BFLA has better performance and efficiency trade-offs. These findings highlight the value of BFLA for the acceleration of long-context serving. Project website: https://github.com/Alicewithrabbit/BFLA.

Movable antenna (MA) has recently emerged as a promising paradigm for enhancing wireless communication performance by exploiting spatial degrees of freedom through flexible antenna repositioning. However, most existing designs rely on short-term user-specific instantaneous/statistical channel state information (CSI), which incurs excessive channel estimation overhead and complexity due to frequent antenna movement. To address this issue, this paper proposes a new design framework for antenna position optimization over a much longer timescale based on the cell-level statistical channel information acquired at the base station (BS). To this end, a cell-specific statistical channel model is developed for MA-aided multiuser communication systems, based on which the antenna position optimization framework for maximizing the ergodic system utility is formulated. Then, the covariance-eigenvalues-balancing antenna positions (CEBAP) design is derived to asymptotically approximate optimal solutions by statistically reducing users' channel correlation. Notably, the CEBAP solution solely depends on the BS-side angular power spectrum (APS) of wireless channels for mobile users across the cell, which significantly alleviates the overhead of channel acquisition and antenna movement, and yet remains effective for improving various system utilities over long timescales, such as weighted sum rate and minimum signal-to-interference-plus-noise ratio. Moreover, a low-complexity log-barrier penalized optimization (LOBPO) method is proposed to numerically solve the CEBAP. Simulation results based on realistic urban layouts and ray-tracing channels demonstrate consistent performance gains of the proposed CEBAP over fixed-position antenna systems across different utility functions, which closely approaches the upper bound achieved by instantaneous CSI-based MA optimization for moderately large antenna regions.

This work employs structured input-output analysis (SIOA) to study Waleffe flow. The SIOA framework employs structured uncertainty to include the componentwise structure of nonlinearity in Navier-Stokes equations, and SIOA quantifies the flow response using structured singular values. The structured input-output analysis identifies the wavelength and inclination angle of oblique turbulent bands observed in large-domain direct numerical simulations. The structured input-output response scales over Reynolds number as $\sim Re^{1.7}$.

Low-dose computed tomography (LDCT) is the standard modality for lung cancer screening, known for its low radiation dose but high noise levels. While existing literature focuses on denoising LDCT images, comparative research on simulating LDCT characteristics to directly use these images for model development is lacking. This study shifts the focus from denoising images to degrading available standard-dose CT (SDCT) data, generating synthetic images for data augmentation to train classifiers for screening-detected nodules. We compare three degradation methods: (1) a sinogram domain statistical noise insertion; (2) replicate a validated physics-based simulation using Pix2Pix; and (3) unpaired CycleGAN. The generated images were utilized to simulate LDCT screening scenario replacing 695 SDCT cases from the LIDC-IDRI dataset, from which radiomic features were extracted to train machine learning models for lung nodule classification. Regarding image quality, CycleGAN achieved the best Fréchet inception distance (0.1734) and kernel inception distance (0.0813; 0.1002) scores, indicating distributional alignment with the target low-dose domain. In the nodule classification task, results confirmed the necessity of domain adaptation since a baseline model trained on non-degraded SDCT data failed to generalize to the real LDCT set (AUC 0.789) with a low sensitivity (0.571). Degraded images generated using CycleGAN approach led to the most balanced performance on the classification task using Adam Booster classifier, achieving an AUC of 0.861, sensitivity of 0.743 and specificity of 0.858 in the independent test. Our findings confirm that generating synthetic LDCT data from standard-dose scans is a viable strategy for training robust nodule classifiers for screening detected nodules.

We present an optimal control-based strategy to enhance the estimation of impulse-like disturbances in continuously monitored linear classical and quantum systems by exploiting non-equilibrium states. Using optimal estimation techniques for linear Gaussian systems to collect information from the temporal vicinity of the disturbance, we cast the minimization of disturbance estimation uncertainty as a nonlinear optimal control problem over time-dependent system parameters. The resulting method dynamically shapes the estimation covariances through parametric modulation, maximizing information gain at a known impulse time. This differs fundamentally from conventional squeezing protocols using periodic modulation that effectively degrade inference of impulse-like disturbances. Applied to nanomechanical resonators and levitated nanoparticles, optimal parametric driving reduces estimation variance by up to a factor of two relative to steady-state operation

We present STRUM (Spectral Transcription and Rhythm Understanding Model), an audio-to-chart pipeline that converts raw recordings into playable Clone Hero / YARG charts for drums, guitar, bass, vocals, and keys without any oracle metadata. STRUM is a multi-stage hybrid: a two-stage CRNN onset detector and a six-model ensemble classifier for drums; neural onset detectors with monophonic pitch tracking for guitar and bass; word-aligned ASR for vocals; and spectral keyboard detection for keys. We evaluate on a 30-song in-envelope benchmark constructed by screening candidate songs on a single audio-quality criterion – the median 1-second drum-stem RMS after htdemucs_6s source separation. On this benchmark STRUM achieves drums onset F1 = 0.838, bass F1 = 0.694, guitar F1 = 0.651, and vocals F1 = 0.539 at a +/- 100 ms tolerance with per-song global offset search. We report a complete ablation of seven drum-pipeline components with paired per-song Wilcoxon tests, an analysis of ground-truth-to-audio timing distributions in community Clone Hero charts, and a per-class confusion matrix for the drum classifier. Code, model weights, and the full benchmark manifest are released.

Speech enhancement (SE) systems are typically evaluated using a variety of instrumental metrics. The use of automatic speech recognition (ASR) systems to evaluate SE performance is common in literature, usually in terms of word error rate (WER). However, WER scores depend heavily on the choice of ASR system and text normalization pipeline. In this paper, we investigate how modern ASR models correlate with human recognition of enhanced speech. A listening experiment reveals that modern ASR models with large-scale noisy training and embedded language models correlate more with human WER than simpler ones, with a transducer model providing the most reliable transcriptions. Nevertheless, we also show that these models' robustness to noise and use of context can be uninformative to an acoustics-focused evaluation of enhancement performance.

In this paper, we propose a low-complexity blind estimator for the average noise power, average signal power, and signal-to-noise ratio (SNR) in millimeter-wave (mmWave) massive multi-antenna uplink systems. In particular, the proposed method is designed to operate using only a single received signal sample, without relying on pilot signals, iterative optimization, or multiple observations, and without requiring prior knowledge of the transmitted signal. By exploiting the inherent sparsity of mmWave channels in the beamspace domain, the estimator identifies noise-dominant components through a sorting-based procedure combined with a finite-difference criterion. This separation is further supported by the order statistics of noise power under Gaussian assumptions, enabling statistically grounded discrimination between signal and noise elements. The average noise power is estimated from the identified noise-only components, and the signal power and SNR are subsequently obtained through simple arithmetic operations. The proposed algorithm achieves low computational complexity and is well-suited for real-time implementation. To demonstrate its practical feasibility, a hardware-efficient very large-scale integration (VLSI) architecture is developed and implemented on a AMD-Xilinx Kintex UltraScale+ KCU116 Evaluation Kit, with corresponding field-programmable gate array (FPGA) results provided. The implementation exhibits low latency and sublinear scaling of hardware resource utilization with respect to the number of antennas, and enables parameter estimation within a duration shorter than a single symbol of conventional wireless systems. Simulation results verify that the proposed estimator achieves high estimation accuracy compared to existing single-sample-based methods.

Designing learnable information-theoretic objectives for robot exploration remains challenging. Such objectives aim to guide exploration toward data that reduces uncertainty in model parameters, yet it is often unclear what information the collected data can actually reveal. Although reinforcement learning (RL) can optimize a given objective, constructing objectives that reflect parametric learnability is difficult in high-dimensional robotic systems. Many parameter directions are weakly observable or unidentifiable, and even when identifiable directions are selected, omitted directions can still influence exploration and distort information measures. To address this challenge, we propose Quasi-Optimal Experimental Design (Q{\footnotesize OED}), an adaptive information objective grounded in optimal experimental design. Q{\footnotesize OED} (i) performs eigenspace analysis of the Fisher information matrix to identify an observable subspace and select identifiable parameter directions, and (ii) modifies the exploration objective to emphasize these directions while suppressing nuisance effects from non-critical parameters. Under bounded nuisance influence and limited coupling between critical and nuisance directions, Q{\footnotesize OED} provides a constant-factor approximation to the ideal information objective that explores all parameters. We evaluate Q{\footnotesize OED} on simulated and real-world navigation and manipulation tasks, where identifiable-direction selection and nuisance suppression yield performance improvements of \SI{35.23}{\percent} and \SI{21.98}{\percent}, respectively. When integrated as an exploration objective in model-based policy optimization, Q{\footnotesize OED} further improves policy performance over established RL baselines.

Fully actuated multirotor platforms decouple translational force generation from vehicle attitude, enabling independent control of position and orientation and shifting performance limitations from attitude authority to actuator dynamics and control effectiveness. This paper compares a model-based nonlinear dynamic inversion controller (geometric NDI) with a sensor-based incremental dynamic inversion controller (INDI) on a fixed-tilt fully actuated hexarotor. Both controllers share an identical outer-loop structure and are both executed at 500 Hz; therefore, performance differences can be attributed primarily to the inversion strategy. Controller performance is evaluated in five experiments covering attitude step tracking under nominal conditions and under a 50% mismatch in the rotor force coefficient, hover disturbance rejection under an external lateral load, waypoint tracking in the presence of wind gust disturbances, reduced control frequency, and injected sensor degradation. The results show that INDI offers clear advantages under parameter mismatch, gust disturbances, and sensor degradation, and maintains lower position errors across the controller-frequency sweep. However, its advantages are not universal: geometric NDI yields better attitude tracking at reduced control frequencies. To the authors' best knowledge, this work presents the first experimental validation of a full pose tracking INDI controller with decoupled translational and rotational dynamics. These findings highlight the trade-off between measurement-based and model-based inversion for robust control and rapid deployment of fully actuated UAVs.

While speech Large Language Models (LLMs) excel at conventional tasks like basic speech recognition, they lack fine-grained, multi-dimensional perception. This deficiency is evident in their struggle to disentangle complex features like micro-acoustic cues, acoustic scenes, and paralinguistic signals. This resulting incomplete comprehension of real-world speech fundamentally bottlenecks the development of perceptive and empathetic next-generation speech systems. At its core, this persistent perceptual limitation primarily stems from three interacting factors: scarce high-quality expressive data, absent fine-grained modeling for multi-dimensional attributes, and reliance on restricted coverage, coarse-grained benchmarks. We address these challenges through three pillars: First, our robust data curation pipeline resolves complex acoustic environments and long-audio timestamp alignment challenges to extract a high-quality spontaneous speech corpus from audiovisual sources. Second, we construct FMSU-Bench, a pioneering benchmark covering 14 speech attribute dimensions to rigorously assess the fine-grained, multi-dimensional speech understanding capabilities of current models. Third, empowered by our curated corpus, we introduce FM-Speech. Driven by a decoupled attribute modeling and progressive curriculum fine-tuning framework, it substantially elevates fine-grained, multi-dimensional acoustic perception. Extensive evaluations on FMSU-Bench reveal that current speech LLMs still require significant improvement in multi-dimensional, fine-grained understanding. In contrast, FM-Speech substantially outperforms current open-source models, establishing a robust paradigm for real-world speech understanding.

We propose a novel spectral vision transformer architecture for efficient tokenization in limited data, with an emphasis on medical imaging. We outline convenient theoretical properties arising from the choice of basis including spatial invariance and optimal signal-to-noise ratio. We show reduced complexity arising from the spectral projection compared to spatial vision transformers. We show equitable or superior performance with a reduced number of parameters as compared to a variety of models including compact and standard vision transformers, convolutional neural networks with attention, shifted window transformers, multi-layer perceptrons, and logistic regression. We include simulated, public, and clinical data in our analysis and release our code at: \verb+github.com/agr78/spectralViT+.

Recent years have seen a significant increase in the interest in reactive synthesis from specifications that relate to infinite state spaces. We present sweap, a tool for synthesis of infinite-state Linear Integer Arithmetic reactive systems. sweap implements a CEGAR approach, relying on state-of-the-art finite-state synthesis tools as black boxes to solve abstract synthesis problems. sweap supports most common input formalisms for infinite-state reactive-synthesis problems: Temporal Stream Logic Modulo Theories, Reactive Program Games, the bespoke input of the ISSY tool, and our own bespoke input. We present a mature version of sweap with novel features: a dual abstraction approach that improves its capabilities in proving unrealisability, support for nondeterministic and unbounded updates, more general initialization of variables, and equirealisable reductions for optimisation. Experimental evaluation shows that sweap outperforms its only competitor in this domain.

Collisions at non-line-of-sight (NLOS) intersections remain a major safety concern because drivers have limited visibility of approaching traffic. V2X based warnings can reduce these risks, yet many vehicles are not equipped with V2X and drivers may ignore in vehicle alerts. Collective perception (CP) can compensate for low V2X penetration by extending the awareness of connected vehicles, but it cannot influence unconnected vehicles. To fill this gap, our work introduces a complementary concept that adds a cooperative humanoid robot as an active traffic moderator capable of physically stopping a vehicle that attempts to merge into an unseen traffic stream. The system operates on two parallel perception pathways. A dual camera infrastructure unit detects the position, speed and motion of approaching vehicles and transmits this information to the robot as a collective perception message (CPM). The robot also receives cooperative awareness messages (CAM) from connected vehicles through its onboard V2X unit and can act as a relay for decentralized environmental notification messages (DENM) when safety events originate elsewhere along the road. A fusion module combines these streams to maintain a robust real time view of the main road. A Zone of Danger (ZoD) is defined and used to predict whether an approaching vehicle creates a collision risk for a merging road user. When such a risk is detected, the robot issues a human-like STOP gesture and blocks the merging path until the hazard disappears. The full system was deployed at the Future Mobility Park (FMP) in Rotterdam. Experiments show that the combined vision and V2X perception allows the robot to detect approaching vehicles early, predict hazards reliably and prevent unsafe merges in real world NLOS conditions.

Superconducting radio frequency cavities with a high quality factor enable energy-efficient accelerator operation but are very sensitive to mechanical disturbances that detune their resonance. Accurate detuning estimation is therefore essential for efficient resonance control and stable beam conditions. This paper introduces Kalman-Inspired Neural Decomposition (KIND), a data-driven estimator that fuses a Dynamic Mode Decomposition model for stationary modal behavior with a Transformer-based predictor for transient dynamics. KIND further outputs learned uncertainty signals that indicate regime changes, enabling anomaly detection. Using operational cavity data, we compare KIND with a classical Kalman filtering baseline and discuss its potential as a foundation for future uncertainty-aware, forecast-based control.

Accurate multi-vehicle trajectory prediction in expressway merge and diverge areas is fundamental to the decision-making frameworks of autonomous vehicle systems. However, the majority of existing graph-based prediction models are developed and validated on mainline freeway segments and do not address the geometrically distinct interaction structures that characterize merge zones. Furthermore, standard evaluation protocols rely exclusively on displacement error metrics, leaving the safety consequences of predicted trajectories unquantified. This paper proposes a Lane-Aware Graph Attention Network (LA-GAT) that encodes vehicle interaction within dynamic scene graphs, augmented with a trainable lane-relationship attention bias that prioritizes merge-conflict interactions from the outset of training. The model is pre-trained on the raw NGSIM US-101 and I-80 datasets and subsequently fine-tuned on UAV-captured UTE SQM-W-1 trajectory data from a Chinese expressway merge area, with final evaluation on the held-out SQM-W-2 dataset. Evaluation spans both displacement metrics (ADE, FDE at 1s, 3s, 5s horizons) and surrogate safety measures (TTC violation rate, DRAC exceedance rate, collision rate). Fine-tuned results on SQM-W-2 yield ADE of 0.865 m at 1s and 2.518 m at 3s, demonstrating that drone-informed fine-tuning substantially reduces the cross-dataset transfer gap. The deliberate use of unfiltered NGSIM data is shown to characterize raw-condition generalization limits, with the performance degradation attributed to the well-documented measurement errors in that dataset.

This paper addresses the challenge of power control in Rate-Splitting Multiple Access (RSMA) systems for downlink Multi-Input Multi-Output (MIMO) networks under practical impairments such as spatial correlation, imperfect Channel State Information (CSI), and residual Successive Interference Cancellation (SIC) errors. We propose a novel degeneracyaware framework that adaptively adjusts the power allocation between the common and private streams, ensuring optimal performance despite CSI uncertainty and imperfect SIC. Our approach incorporates a dynamic switching mechanism between RSMA and Orthogonal Multiple Access (OMA) to maintain system feasibility and resilience in the face of these impairments. Extensive analytical and simulation results demonstrate that the proposed framework significantly enhances power efficiency, mitigates outage probability, and improves overall system robustness, making RSMA a viable and efficient solution for modern wireless networks with realistic CSI and SIC conditions.

We propose a new method for spatial power spectrum estimation in array processing that leverages the Riemannian geometry of Hermitian positive definite (HPD) matrices. We show that conventional approaches minimize variants of the Euclidean distance between the sample covariance matrix and a model covariance matrix, without considering the fact that covariance matrices lie on the Riemannian manifold of HPD matrices. By exploiting this manifold, we present a Riemannian-aware covariance matching algorithm, termed SERCOM, using the Jensen-Bregman LogDet (JBLD) divergence, which, unlike other Riemannian distances, can be evaluated efficiently without eigen-decomposition. We theoretically compare the JBLD divergence to other Euclidean- and Riemannian-based distances, demonstrating robustness to spectral distortions. Experimental results demonstrate that SERCOM consistently outperforms existing methods in direction-of-arrival (DOA) and power estimation, particularly in challenging scenarios with low SNR, limited number of snapshots, and correlated sources.

In this paper, we propose a resource allocation framework for federated learning (FL) in integrated sensing and communication (ISAC) systems, where we consider not only the reliability of model transfer through communication, but also the quality of data acquisition through sensing in the first place. Unlike existing works that assume training data is pre-collected or only impose a fixed sensing signal-to-noise ratio (SNR) threshold to reflect data quality, we explicitly characterize the relationship between sensing data quality (measured by sensing SNR), dataset size, and the upload reliability in FL training, and exploit this relationship to allocate resources between sensing and communication under a shared energy budget. This is non-trivial due to the intricate coupling among sensing data quality, transmission reliability, and communication resource allocation; nevertheless, it enables a principled joint optimization framework that directly enhances learning performance. Specifically, we derive a closed-form convergence upper bound that quantifies the joint impact of these factors on the FL optimality gap. Utilizing this upper bound, the original intractable optimization problem can be reformulated into a tractable resource allocation problem that jointly optimizes the sensing transmit power, number of sensing snapshots, and communication transmit power at each device subject to individual energy budget constraints. To solve the reformulated problem, we propose a two-layer optimization algorithm with linear complexity, where the outer layer employs golden section search and the inner layer solves per-device subproblems with closed-form solutions.