We present an approach for simultaneously separating and localizing multiple sound sources using recorded microphone data.

--While most micro -robots face difficulty traveling on rugged and uneven terrain, b eetles can walk smoothly on the complex substrate without slipping or getting stuck o n the surface due to their stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we found that beetles actively bent and expand ed their claws regularly to crawl freely on mesh surfaces. Inspired by the crawling mechanism of the beetles, we designed an 8 -cm miniature climbing robot equipping artificial claw s to open and bend in the same cyclic manner as natural beetles. The robot can climb freely with a controllable gait on the mesh surface, steep incline of the angle of 60, and even transition surface. To our best knowledge, this is the first micro -scale robot that can climb both the mesh surface and cliffy incline. Their small size, lightweight, and strong navigation capabilities allow them to be deployed in complicated environments quickly. Numerous insect -scale robots have been developed with diversiform locomotion modes, including crawling [1-3], rolling [4-6], jumping[7-9], gliding [10, 11], and flying [12-14]. The actuators are diverse from traditional motor s [15] and pneumatic [16] to shape memory alloy [17], piezoelectric ceramics [18], and dielectric elastomer [19]. However, they can only locomote on a nearly level surface, which makes them unable to overcome barriers several times larger than their body size.

We introduce the Divergence Phase Index (DPI), a novel framework for quantifying phase differences in one and multidimensional signals, grounded in harmonic analysis via the Riesz transform. Based on classical Hilbert Transform phase measures, the DPI extends these principles to higher dimensions, offering a geometry-aware metric that is invariant to intensity scaling and sensitive to structural changes. We applied this method on both synthetic and real-world datasets, including intracranial EEG (iEEG) recordings during epileptic seizures, high-resolution microscopy images, and paintings. In the 1D case, the DPI robustly detects hypersynchronization associated with generalized epilepsy, while in 2D, it reveals subtle, imperceptible changes in images and artworks. Additionally, it can detect rotational variations in highly isotropic microscopy images. The DPI's robustness to amplitude variations and its adaptability across domains enable its use in diverse applications from nonlinear dynamics, complex systems analysis, to multidimensional signal processing.

Understanding and predicting video content is essential for planning and reasoning in dynamic environments. Despite advancements, unsupervised learning of object representations and dynamics remains challenging. We present VideoPCDNet, an unsupervised framework for object-centric video decomposition and prediction. Our model uses frequency-domain phase correlation techniques to recursively parse videos into object components, which are represented as transformed versions of learned object prototypes, enabling accurate and interpretable tracking. By explicitly modeling object motion through a combination of frequency domain operations and lightweight learned modules, VideoPCDNet enables accurate unsupervised object tracking and prediction of future video frames. In our experiments, we demonstrate that VideoPCDNet outperforms multiple object-centric baseline models for unsupervised tracking and prediction on several synthetic datasets, while learning interpretable object and motion representations.

Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control, allowing both individual mobility and coordinated locomotion. A hierarchical Central Pattern Generator (CPG) framework governs motion, with a low-level CPG controlling individual modules and a high-level CPG synchronizing inter-module coordination, enabling smooth transitions between independent and collective behaviors. To validate the system, we conduct simulations in MuJoCo and hardware experiments, evaluating locomotion across different configurations. We first analyze single-module motion, followed by two-module cooperative locomotion. Results demonstrate the effectiveness of the CPG-based control framework in achieving robust, flexible, and scalable locomotion. The proposed modular architecture has potential applications in search and rescue, environmental monitoring, and autonomous exploration, where adaptability and reconfigurability are essential.

This study proposes a new deep learning method for reconstructing depth images of moving objects within a specific area using Wi-Fi channel state information (CSI). The Wi-Fi-based depth imaging technique has novel applications in domains such as security and elder care. However, reconstructing depth images from CSI is challenging because learning the mapping function between CSI and depth images, both of which are high-dimensional data, is particularly difficult. To address the challenge, we propose a new approach called Wi-Depth. The main idea behind the design of Wi-Depth is that a depth image of a moving object can be decomposed into three core components: the shape, depth, and position of the target. Therefore, in the depth-image reconstruction task, Wi-Depth simultaneously estimates the three core pieces of information as auxiliary tasks in our proposed VAE-based teacher-student architecture, enabling it to output images with the consistency of a correct shape, depth, and position. In addition, the design of Wi-Depth is based on our idea that this decomposition efficiently takes advantage of the fact that shape, depth, and position relate to primitive information inferred from CSI such as angle-of-arrival, time-of-flight, and Doppler frequency shift.

Nano-drones, with their small, lightweight design, are ideal for confined-space rescue missions and inherently safe for human interaction. However, their limited payload restricts the critical sensing needed for ego-velocity estimation and obstacle detection to single-bean laser-based time-of-flight (ToF) and low-resolution optical sensors. Although those sensors have demonstrated good performance, they fail in some complex real-world scenarios, especially when facing transparent or reflective surfaces (ToFs) or when lacking visual features (optical-flow sensors). Taking inspiration from bats, this paper proposes a novel two-way ranging-based method for ego-velocity estimation and obstacle avoidance based on down-and-forward facing ultra-low-power ultrasonic sensors, which improve the performance when the drone faces reflective materials or navigates in complete darkness. Our results demonstrate that our new sensing system achieves a mean square error of 0.019 m/s on ego-velocity estimation and allows exploration for a flight time of 8 minutes while covering 136 m on average in a challenging environment with transparent and reflective obstacles. We also compare ultrasonic and laser-based ToF sensing techniques for obstacle avoidance, as well as optical flow and ultrasonic-based techniques for ego-velocity estimation, denoting how these systems and methods can be complemented to enhance the robustness of nano-drone operations.

High-dimensional vectors have been proposed as a neural method for representing information in the brain using Vector Symbolic Algebras (VSAs). While previous work has explored decoding and cleaning up these vectors under the noise that arises during computation, existing methods are limited. Cleanup methods are essential for robust computation within a VSA. However, cleanup methods for continuous-value encodings are not as effective. In this paper, we present an iterative optimization method to decode and clean up Fourier Holographic Reduced Representation (FHRR) vectors that are encoding continuous values. We combine composite likelihood estimation (CLE) and maximum likelihood estimation (MLE) to ensure convergence to the global optimum. We also demonstrate that this method can effectively decode FHRR vectors under different noise conditions, and show that it outperforms existing methods.

Cross-domain few-shot segmentation (CD-FSS) is proposed to first pre-train the model on a large-scale source-domain dataset, and then transfer the model to data-scarce target-domain datasets for pixel-level segmentation. The significant domain gap between the source and target datasets leads to a sharp decline in the performance of existing few-shot segmentation (FSS) methods in cross-domain scenarios. In this work, we discover an intriguing phenomenon: simply filtering different frequency components for target domains can lead to a significant performance improvement, sometimes even as high as 14% mIoU. Then, we delve into this phenomenon for an interpretation, and find such improvements stem from the reduced inter-channel correlation in feature maps, which benefits CD-FSS with enhanced robustness against domain gaps and larger activated regions for segmentation. Based on this, we propose a lightweight frequency masker, which further reduces channel correlations by an Amplitude-Phase Masker (APM) module and an Adaptive Channel Phase Attention (ACPA) module. Notably, APM introduces only 0.01% additional parameters but improves the average performance by over 10%, and ACPA imports only 2.5% parameters but further improves the performance by over 1.5%, which significantly surpasses the state-of-the-art CD-FSS methods.

Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal gaits are robust and versatile. By observing animals, and attempting to extract general principles of locomotion from their movement, we aim to design a single decentralised controller applicable to diverse morphologies and environments. The controller implements the three components 1) undulation, 2) peristalsis, and 3) leg motion, which we believe are the essential elements in most animal gaits. The controller is tested on a variety of simulated centipede-like robots. The centipede is chosen as inspiration because it moves using both body contractions and legged locomotion. For a controller to work in qualitatively different settings, it must also be able to exhibit qualitatively different behaviors. We find that six different modes of locomotion emerge from our controller in response to environmental and morphological changes. We also find that different parts of the centipede model can exhibit different modes of locomotion, simultaneously, based on local morphological features. This controller can potentially aid in the design or evolution of robots, by quickly testing the potential of a morphology, or be used to get insights about underlying locomotion principles in the centipede.