Speech intelligibility evaluation for hearing-impaired (HI) listeners is essential for assessing hearing aid performance, traditionally relying on listening tests or intrusive methods like HASPI. However, these methods require clean reference signals, which are often unavailable in real-world conditions, creating a gap between lab-based and real-world assessments. To address this, we propose a non-intrusive intelligibility prediction framework that leverages speech enhancers to provide a parallel enhanced-signal pathway, enabling robust predictions without reference signals. We evaluate three state-of-the-art enhancers and demonstrate that prediction performance depends on the choice of enhancer, with ensembles of strong enhancers yielding the best results. To improve cross-dataset generalization, we introduce a 2-clips augmentation strategy that enhances listener-specific variability, boosting robustness on unseen datasets. Our approach consistently outperforms the non-intrusive baseline, CPC2 Champion across multiple datasets, highlighting the potential of enhancer-guided non-intrusive intelligibility prediction for real-world applications.

--In this paper, we present a novel neural architecture for channel estimation (CE) in 5G and beyond, the Recurrent Equivariant UERS Estimation Network (ReQuestNet). It incorporates several practical considerations in wireless communication systems, such as ability to handle variable number of resource block (RB), dynamic number of transmit layers, physical resource block groups (PRGs) bundling size (BS), demodulation reference signal (DMRS) patterns with a single unified model, thereby, drastically simplifying the CE pipeline. Besides it addresses several limitations of the legacy linear MMSE solutions, for example, by being independent of other reference signals and particularly by jointly processing MIMO layers and differently precoded channels with unknown precoding at the receiver . ReQuestNet comprises of two sub-units, CoarseNet followed by RefinementNet. CoarseNet performs per PRG, per transmit-receive (Tx-Rx) stream channel estimation, while Refinement-Net refines the CoarseNet channel estimate by incorporating correlations across differently precoded PRGs, and correlation across multiple input multiple output (MIMO) channel spatial dimensions (cross-MIMO). Simulation results demonstrate that ReQuestNet significantly outperforms genie minimum mean squared error (MMSE) CE across a wide range of channel conditions, delay-Doppler profiles, achieving up to 10dB gain at high SNRs. Notably, ReQuestNet generalizes effectively to unseen channel profiles, efficiently exploiting inter-PRG and cross-MIMO correlations under dynamic PRG BS and varying transmit layer allocations. The advent of 5G NR and the anticipated evolution toward sixth-generation (6G) networks have ushered in an era of unprecedented connectivity, data throughput, and system complexity. These developments necessitate advanced techniques for low-power, compute-efficient, and reliable wireless communication. Orthogonal Frequency Division Multiplexing (OFDM), a foundational modulation scheme in 5G NR, creates parallel communication channels across a large time-frequency grid. To acquire channel state information (CSI), the pilot signals known as demodulation reference signal (DMRS) is used, whose time-frequency positions and values are known a priori to both transmitter and receiver. Work completed while affiliated with Qualcomm Technologies Inc., USA.

In the near future, Structural Health Monitoring (SHM) technologies will be capable of overcoming the drawbacks in the current maintenance and life-cycle management paradigms, namely: cost, increased downtime, less-than-optimal safety management paradigm and the limited applicability of fully-autonomous operations. In the context of SHM, one of the most challenging tasks is damage quantification. Current methods face accuracy and/or robustness issues when it comes to varying operating and environmental conditions. In addition, the damage/no-damage paradigm of current frameworks does not offer much information to maintainers on the ground for proper decision-making. In this study, a novel structural damage quantification framework is proposed based on widely-used Damage Indices (DIs) and Gaussian Process Regression Models (GPRMs). The novelty lies in calculating the probability of an incoming test DI point originating from a specific state, which allows for probability-educated decision-making. This framework is applied to three test cases: a Carbon Fiber-Reinforced Plastic (CFRP) coupon with attached weights as simulated damage, an aluminum coupon with a notch, and an aluminum coupon with attached weights as simulated damage under varying loading states. The state prediction method presented herein is applied to single-state quantification in the first two test cases, as well as the third one assuming the loading state is known. Finally, the proposed method is applied to the third test case assuming neither the damage size nor the load is known in order to predict both simultaneously from incoming DI test points. In applying this framework, two forms of GPRMs (standard and variational heteroscedastic) are used in order to critically assess their performances with respect to the three test cases.

The integration of unmanned aerial vehicles (UAVs) into cellular networks presents significant mobility management challenges, primarily due to frequent handovers caused by probabilistic line-of-sight conditions with multiple ground base stations (BSs). To tackle these challenges, reinforcement learning (RL)-based methods, particularly deep Q-networks (DQN), have been employed to optimize handover decisions dynamically. However, a major drawback of these learning-based approaches is their black-box nature, which limits interpretability in the decision-making process. This paper introduces an explainable AI (XAI) framework that incorporates Shapley Additive Explanations (SHAP) to provide deeper insights into how various state parameters influence handover decisions in a DQN-based mobility management system. By quantifying the impact of key features such as reference signal received power (RSRP), reference signal received quality (RSRQ), buffer status, and UAV position, our approach enhances the interpretability and reliability of RL-based handover solutions. To validate and compare our framework, we utilize real-world network performance data collected from UAV flight trials. Simulation results show that our method provides intuitive explanations for policy decisions, effectively bridging the gap between AI-driven models and human decision-makers.

The intrinsic nonlinearities of soft robots present significant control but simultaneously provide them with rich computational potential. Reservoir computing (RC) has shown effectiveness in online learning systems for controlling nonlinear systems such as soft actuators. Conventional RC can be extended into physical reservoir computing (PRC) by leveraging the nonlinear dynamics of soft actuators for computation. This paper introduces a PRC-based online learning framework to control the motion of a pneumatic soft bending actuator, utilizing another pneumatic soft actuator as the PRC model. Unlike conventional designs requiring two RC models, the proposed control system employs a more compact architecture with a single RC model. Additionally, the framework enables zero-shot online learning, addressing limitations of previous PRC-based control systems reliant on offline training. Simulations and experiments validated the performance of the proposed system. Experimental results indicate that the PRC model achieved superior control performance compared to a linear model, reducing the root-mean-square error (RMSE) by an average of over 37% in bending motion control tasks. The proposed PRC-based online learning control framework provides a novel approach for harnessing physical systems' inherent nonlinearities to enhance the control of soft actuators.

In this paper, we consider the importance of channel measurement data from specific sites and its impact on air interface optimization and test. Currently, a range of statistical channel models including 3GPP 38.901 tapped delay line (TDL), clustered delay line (CDL), urban microcells (UMi) and urban macrocells (UMa) type channels are widely used for air interface performance testing and simulation. However, there remains a gap in the realism of these models for air interface testing and optimization when compared with real world measurement based channels. To address this gap, we compare the performance impacts of training neural receivers with 1) statistical 3GPP TDL models, and 2) measured macro-cell channel impulse response (CIR) data. We leverage our OmniPHY-5G neural receiver for NR PUSCH uplink simulation, with a training procedure that uses statistical TDL channel models for pre-training, and fine-tuning based on measured site specific MIMO CIR data. The proposed fine-tuning method achieves a 10% block error rate (BLER) at a 1.85 dB lower signal-to-noise ratio (SNR) compared to pre-training only on simulated TDL channels, illustrating a rough magnitude of the gap that can be closed by site-specific training, and gives the first answer to the question "how much can fine-tuning the RAN for site-specific channels help?"

We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our hypothesis is that once the contact between a finger and an object is detected, a controller that keeps a desired difference between the finger bending measurement and its bending at the moment of contact is sufficient to maintain and modulate the contact force. This approach can be simultaneously applied to both fingers while getting in contact with a single object. We successfully tested the hypothesis, and characterized the contact and peak pull-out force magnitude vs. the desired difference expressed by a multiplicative factor. All of the results are performed on a real physical device.

The nonlinearities of soft robots bring control challenges like hysteresis but also provide them with computational capacities. This paper introduces a fuzzy pneumatic physical reservoir computing (FPRC) model for feedforward hysteresis compensation in motion tracking control of soft actuators. Our method utilizes a pneumatic bending actuator as a physical reservoir with nonlinear computing capacities to control another pneumatic bending actuator. The FPRC model employs a Takagi-Sugeno (T-S) fuzzy model to process outputs from the physical reservoir. In comparative evaluations, the FPRC model shows equivalent training performance to an Echo State Network (ESN) model, whereas it exhibits better test accuracies with significantly reduced execution time. Experiments validate the proposed FPRC model's effectiveness in controlling the bending motion of the pneumatic soft actuator with open and closed-loop control systems. The proposed FPRC model's robustness against environmental disturbances has also been experimentally verified. To the authors' knowledge, this is the first implementation of a physical system in the feedforward hysteresis compensation model for controlling soft actuators. This study is expected to advance physical reservoir computing in nonlinear control applications and extend the feedforward hysteresis compensation methods for controlling soft actuators.

Many application domains, e.g., in medicine and manufacturing, can greatly benefit from pneumatic Soft Robots (SRs). However, the accurate control of SRs has remained a significant challenge to date, mainly due to their nonlinear dynamics and viscoelastic material properties. Conventional control design methods often rely on either complex system modeling or time-intensive manual tuning, both of which require significant amounts of human expertise and thus limit their practicality. In recent works, the data-driven method, Automatic Neural ODE Control (ANODEC) has been successfully used to -- fully automatically and utilizing only input-output data -- design controllers for various nonlinear systems in silico, and without requiring prior model knowledge or extensive manual tuning. In this work, we successfully apply ANODEC to automatically learn to perform agile, non-repetitive reference tracking motion tasks in a real-world SR and within a finite time horizon. To the best of the authors' knowledge, ANODEC achieves, for the first time, performant control of a SR with hysteresis effects from only 30 seconds of input-output data and without any prior model knowledge. We show that for multiple, qualitatively different and even out-of-training-distribution reference signals, a single feedback controller designed by ANODEC outperforms a manually tuned PID baseline consistently. Overall, this contribution not only further strengthens the validity of ANODEC, but it marks an important step towards more practical, easy-to-use SRs that can automatically learn to perform agile motions from minimal experimental interaction time.

This work aims to tackle the labor-intensive and resource-consuming task of indoor positioning by proposing an efficient approach. The proposed approach involves the introduction of a semi-supervised learning (SSL) with a biased teacher (SSLB) algorithm, which effectively utilizes both labeled and unlabeled channel data. To reduce measurement expenses, unlabeled data is generated using an updated channel simulator (UCHS), and then weighted by adaptive confidence values to simplify the tuning of hyperparameters. Simulation results demonstrate that the proposed strategy achieves superior performance while minimizing measurement overhead and training expense compared to existing benchmarks, offering a valuable and practical solution for indoor positioning.