11 citations · 29 across the 34 of their papers we have counts for
38 papers
Distributed Adaptive Estimation of Unknown Nonlinear Systems without Input Sharing
Moh Kamalul Wafi, Milad Siami
This paper studies distributed adaptive state estimation for discrete-time nonlinear systems with unknown source dynamics over directed communication networks. Each sensing agent e…
Beyond Amplitude: Channel State Information Phase-Aware Deep Fusion for Robotic Activity Recognition
Rojin Zandi, Hojjat Salehinejad, Milad Siami
Wi-Fi Channel State Information (CSI) has emerged as a promising non-line-of-sight sensing modality for human and robotic activity recognition. However, prior work has predominantl…
A Passivity-Agnostic Framework for Distributed Adaptive Synchronization under Unknown Leader Dynamics
Moh Kamalul Wafi, Milad Siami
We present a passivity-agnostic framework for distributed adaptive synchronization under position-only communication, bounded disturbances, and unknown leader dynamics. By passivit…
Bio-Inspired Event-Based Visual Servoing for Ground Robots
Maral Mordad, Kian Behzad, Debojyoti Biswas +2
Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspi…
Generative Myopia: Why Diffusion Models Fail at Structure
Milad Siami
Graph Diffusion Models (GDMs) optimize for statistical likelihood, implicitly acting as \textbf{frequency filters} that favor abundant substructures over spectrally critical ones.…
Distributed Adaptive Estimation with ISS Guarantees for Sensor Networks with Partially Unknown Source Dynamics
Moh Kamalul Wafi, Hamidreza Montazeri Hedesh, Milad Siami
This paper studies distributed adaptive estimation over sensor networks with partially unknown source dynamics. We present parallel continuous-time and discrete-time designs in whi…
Delay Independent Safe Control with Neural Networks: Positive Lur'e Certificates for Risk Aware Autonomy
Hamidreza Montazeri Hedesh, Milad Siami
We present a risk-aware safety certification method for autonomous, learning enabled control systems. Focusing on two realistic risks, state/input delays and interval matrix uncert…
Non-submodular Visual Attention for Robot Navigation
Reza Vafaee, Kian Behzad, Milad Siami +2
This paper presents a task-oriented computational framework to enhance Visual-Inertial Navigation (VIN) in robots, addressing challenges such as limited time and energy resources.…
Real-Time Adaptive Motion Planning via Point Cloud-Guided, Energy-Based Diffusion and Potential Fields
Wondmgezahu Teshome, Kian Behzad, Octavia Camps +3
Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real tim…
Local Stability and Region of Attraction Analysis for Neural Network Feedback Systems under Positivity Constraints
Hamidreza Montazeri Hedesh, Moh Kamalul Wafi, Milad Siami
We study the local stability of nonlinear systems in the Lur'e form with static nonlinear feedback realized by feedforward neural networks (FFNNs). By leveraging positivity system…
Robust Stability Analysis of Positive Lure System with Neural Network Feedback
Hamidreza Montazeri Hedesh, Moh. Kamalul Wafi, Bahram Shafai +1
This paper investigates the robustness of the Lur'e problem under positivity constraints, drawing on results from the positive Aizerman conjecture and robustness properties of Metz…
RoboMNIST: A Multimodal Dataset for Multi-Robot Activity Recognition Using WiFi Sensing, Video, and Audio
Kian Behzad, Rojin Zandi, Elaheh Motamedi +2
We introduce a novel dataset for multi-robot activity recognition (MRAR) using two robotic arms integrating WiFi channel state information (CSI), video, and audio data. This multim…
Convergence Analysis of Gradient Flow for Overparameterized LQR Formulations
Arthur Castello B. de Oliveira, Milad Siami, Eduardo D. Sontag
Motivated by the growing use of artificial intelligence (AI) tools in control design, this paper analyses the intersection between results from gradient methods for the model-free…
Enhancing Robotic Arm Activity Recognition with Vision Transformers and Wavelet-Transformed Channel State Information
Rojin Zandi, Kian Behzad, Elaheh Motamedi +2
Vision-based methods are commonly used in robotic arm activity recognition. These approaches typically rely on line-of-sight (LoS) and raise privacy concerns, particularly in smart…
Ensuring Both Positivity and Stability Using Sector-Bounded Nonlinearity for Systems with Neural Network Controllers
Hamidreza Montazeri Hedesh, Milad Siami
This paper introduces a novel method for the stability analysis of positive feedback systems with a class of fully connected feedforward neural networks (FFNN) controllers. By esta…
Regularizing Numerical Extremals Along Singular Arcs: A Lie-Theoretic Approach
Arthur Castello Branco de Oliveira, Milad Siami, Eduardo D. Sontag
Numerical ``direct'' approaches to time-optimal control often fail to find solutions that are singular in the sense of the Pontryagin Maximum Principle, performing better when sear…
Distributed Adaptive Control of Disturbed Interconnected Systems with High-Order Tuners
Moh. Kamalul Wafi, Milad Siami
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to…
Robustness Evaluation of Machine Learning Models for Robot Arm Action Recognition in Noisy Environments
Elaheh Motamedi, Kian Behzad, Rojin Zandi +2
In the realm of robot action recognition, identifying distinct but spatially proximate arm movements using vision systems in noisy environments poses a significant challenge. This…
RoboFiSense: Attention-Based Robotic Arm Activity Recognition with WiFi Sensing
Rojin Zandi, Kian Behzad, Elaheh Motamedi +2
Despite the current surge of interest in autonomous robotic systems, robot activity recognition within restricted indoor environments remains a formidable challenge. Conventional m…
Robot Motion Prediction by Channel State Information
Rojin Zandi, Hojjat Salehinejad, Kian Behzad +2
Autonomous robotic systems have gained a lot of attention, in recent years. However, accurate prediction of robot motion in indoor environments with limited visibility is challengi…
On the ISS Property of the Gradient Flow for Single Hidden-Layer Neural Networks with Linear Activations
Arthur Castello B. de Oliveira, Milad Siami, Eduardo D. Sontag
Recent research in neural networks and machine learning suggests that using many more parameters than strictly required by the initial complexity of a regression problem can result…
Centrality-Based Traffic Restriction in Delayed Epidemic Networks
Atefe Darabi, Milad Siami
During an epidemic, infectious individuals might not be detectable until some time after becoming infected. The studies show that carriers with mild or no symptoms are the main con…
Stability and Robustness Analysis of Commensurate Fractional-order Networks
Milad Siami
Motivated by biochemical reaction networks, a generalization of the classical secant condition for the stability analysis of cyclic interconnected commensurate fractional-order sys…
Edge Selection in Bilinear Dynamical Networks
Arthur Castello B. de Oliveira, Milad Siami, Eduardo D. Sontag
We develop some basic principles for the design and robustness analysis of a continuous-time bilinear dynamical network, where an attacker can manipulate the strength of the interc…