Publications (21)
Sim2Radar: Toward Bridging the Radar Sim-to-Real Gap with VLM-Guided Scene Reconstruction
Emily Bejerano, Federico Tondolo, Ayaan Qayyum +2
Millimeter-wave (mmWave) radar provides reliable perception in visually degraded indoor environments (e.g., smoke, dust, and low light), but learning-based radar perception is bott…
KLDrive: Fine-Grained 3D Scene Reasoning for Autonomous Driving based on Knowledge Graph
Ye Tian, Jingyi Zhang, Zihao Wang +4
Autonomous driving requires reliable reasoning over fine-grained 3D scene facts. Fine-grained question answering over multi-modal driving observations provides a natural way to eva…
DroneFL: Federated Learning for Multi-UAV Visual Target Tracking
Xiaofan Yu, Yuwei Wu, Katherine Mao +3
Multi-robot target tracking is a fundamental problem that requires coordinated monitoring of dynamic entities in applications such as precision agriculture, environmental monitorin…
DailyLLM: Context-Aware Activity Log Generation Using Multi-Modal Sensors and LLMs
Ye Tian, Xiaoyuan Ren, Zihao Wang +3
Rich and context-aware activity logs facilitate user behavior analysis and health monitoring, making them a key research focus in ubiquitous computing. The remarkable semantic unde…
Lifelong Intelligence Beyond the Edge using Hyperdimensional Computing
Xiaofan Yu, Anthony Thomas, Ivannia Gomez Moreno +2
On-device learning has emerged as a prevailing trend that avoids the slow response time and costly communication of cloud-based learning. The ability to learn continuously and inde…
Client Selection in Federated Learning with Data Heterogeneity and Network Latencies
Harsh Vardhan, Xiaofan Yu, Tajana Rosing +1
Federated learning (FL) is a distributed machine learning paradigm where multiple clients conduct local training based on their private data, then the updated models are sent to a…
HyperLiDAR: Adaptive Post-Deployment LiDAR Segmentation via Hyperdimensional Computing
Ivannia Gomez Moreno, Yi Yao, Ye Tian +7
LiDAR semantic segmentation plays a pivotal role in 3D scene understanding for edge applications such as autonomous driving. However, significant challenges remain for real-world d…
SensorQA: A Question Answering Benchmark for Daily-Life Monitoring
Benjamin Reichman, Xiaofan Yu, Lanxiang Hu +5
With the rapid growth in sensor data, effectively interpreting and interfacing with these data in a human-understandable way has become crucial. While existing research primarily f…
Orthogonal Calibration for Asynchronous Federated Learning
Jiayun Zhang, Shuheng Li, Haiyu Huang +3
Asynchronous federated learning mitigates the inefficiency of conventional synchronous aggregation by integrating updates as they arrive and adjusting their influence based on stal…
LAVIFT: Latent-Action-Guided Vision Fine-Tuning for Surgical Interaction Recognition
Jiajun Cheng, Subarna Tripathi, Sainan Liu +2
Understanding instrument-tissue interactions is essential for context-aware surgical AI and autonomous robotic surgery. Pretrained vision-language models (VLMs) and vision encoders…
Bridging the Gap Between Hyperdimensional Computing and Kernel Methods via the Nyström Method
Quanling Zhao, Anthony Hitchcock Thomas, Ari Brin +2
Hyperdimensional computing (HDC) is an approach from the cognitive science literature for solving information processing tasks using data represented as high-dimensional random vec…
TrajPred: Trajectory-Conditioned Joint Embedding Prediction for Surgical Instrument-Tissue Interaction Recognition in Vision-Language Models
Jiajun Cheng, Xiaofan Yu, Subarna Tripathi +2
Recognizing instruments' interactions with tissues is essential for building context-aware AI assistants in robotic surgery. Vision-language models (VLMs) have opened a new avenue…
FedUHD: Unsupervised Federated Learning using Hyperdimensional Computing
You Hak Lee, Xiaofan Yu, Quanling Zhao +2
Unsupervised federated learning (UFL) has gained attention as a privacy-preserving, decentralized machine learning approach that eliminates the need for labor-intensive data labeli…
Async-HFL: Efficient and Robust Asynchronous Federated Learning in Hierarchical IoT Networks
Xiaofan Yu, Ludmila Cherkasova, Harsh Vardhan +5
Federated Learning (FL) has gained increasing interest in recent years as a distributed on-device learning paradigm. However, multiple challenges remain to be addressed for deployi…
SCALE: Online Self-Supervised Lifelong Learning without Prior Knowledge
Xiaofan Yu, Yunhui Guo, Sicun Gao +1
Unsupervised lifelong learning refers to the ability to learn over time while memorizing previous patterns without supervision. Although great progress has been made in this direct…
SurgXBench: Explainable Vision-Language Model Benchmark for Surgery
Jiajun Cheng, Xianwu Zhao, Sainan Liu +5
Innovations in digital intelligence are transforming robotic surgery with more informed decision-making. Real-time awareness of surgical instrument presence and actions (e.g., cutt…
SensorChat: Answering Qualitative and Quantitative Questions during Long-Term Multimodal Sensor Interactions
Xiaofan Yu, Lanxiang Hu, Benjamin Reichman +5
Natural language interaction with sensing systems is crucial for addressing users' personal concerns and providing health-related insights into their daily lives. When a user asks…
RadarTwin: Scene-Specific mmWave Radar Simulation and Learning for Mobile Indoor Perception
Emily Bejerano, Federico Tondolo, Devang Gupta +5
Millimeter-wave (mmWave) radar perception is limited by data scarcity: models trained on existing radar datasets fail to generalize to new objects, environments, and sensing trajec…
Quantum Tunneling in the Surface Diffusion of Single Hydrogen Atoms on Cu(001)
Xiaofan Yu, Yangwu Tong, Yong Yang
The adsorption and diffusion of hydrogen atoms on Cu(001) are studied using first-principles calculations. By taking into account the contribution of zero-point energy (ZPE), the o…
Activated Dissociation of H2 on Cu(001): The Role of Quantum Tunneling
Xiaofan Yu, Yangwu Tong, Yong Yang
The activation and dissociation of H2 molecules on Cu(001) surface is studied theoretically. The activation barrier for the dissociation of H2 on Cu(001) is determined by first-pri…
A Robotic Auto-Focus System based on Deep Reinforcement Learning
Xiaofan Yu, Runze Yu, Jingsong Yang +1
Considering its advantages in dealing with high-dimensional visual input and learning control policies in discrete domain, Deep Q Network (DQN) could be an alternative method of tr…