Tootfinder

From NLVO to NAO: Reactive Robot Navigation using Velocity and Acceleration Obstacles
Asher Stern, Zvi Shiller
https://arxiv.org/abs/2506.06255 https://

From NLVO to NAO: Reactive Robot Navigation using Velocity and Acceleration Obstacles
This paper introduces a novel approach for robot navigation in challenging dynamic environments. The proposed method builds upon the concept of Velocity Obstacles (VO) that was later extended to Nonlinear Velocity Obstacles (NLVO) to account for obstacles moving along nonlinear trajectories. The NLVO is extended in this paper to Acceleration Obstacles (AO) and Nonlinear Acceleration Obstacles (NAO) that account for velocity and acceleration constraints. Multi-robot navigation is achieved by usi…

AS-ASR: A Lightweight Framework for Aphasia-Specific Automatic Speech Recognition
Chen Bao, Chuanbing Huo, Qinyu Chen, Chang Gao
https://arxiv.org/abs/2506.06566

AS-ASR: A Lightweight Framework for Aphasia-Specific Automatic Speech Recognition
This paper proposes AS-ASR, a lightweight aphasia-specific speech recognition framework based on Whisper-tiny, tailored for low-resource deployment on edge devices. Our approach introduces a hybrid training strategy that systematically combines standard and aphasic speech at varying ratios, enabling robust generalization, and a GPT-4-based reference enhancement method that refines noisy aphasic transcripts, improving supervision quality. We conduct extensive experiments across multiple data mix…

Dense matter in a holographic hard-wall model of QCD
Daisuke Fujii, Atsushi Hosaka, Akihiro Iwanaka, Tadakatsu Sakai, Motoi Tachibana
https://arxiv.org/abs/2506.06997

Dense matter in a holographic hard-wall model of QCD
A deeper understanding of QCD matter at strong coupling remains challenging due to its non-perturbative nature. To this end, we study a two-flavor holographic hard-wall model to investigate the properties of QCD at finite-density and zero temperature with a nonvanishing quark mass. A dense matter phase is described by a classical solution of the equations of motion in a homogeneous Ansatz. We apply holographic renormalization to formulate the holographic dictionary that relates UV boundary data…

Very high-order accurate finite volume scheme for the streamfunction-vorticity formulation of incompressible fluid flows with polygonal meshes on arbitrary curved boundaries
Ricardo Costa (Institute for Polymers and Composites, University of Minho, Azur\'em Campus, 4804-058 Guimar\~aes, Portugal, Department of Polymer Engineering, University of Minho, Azur\'em Campus, 4804-058 Guimar\~aes, Portugal), St\'ephane Clain (Centre of Mathematics, University of Coimbra, 3000-143 C…

Very high-order accurate finite volume scheme for the streamfunction-vorticity formulation of incompressible fluid flows with polygonal meshes on arbitrary curved boundaries
Conventional mathematical models for simulating incompressible fluid flow problems are based on the Navier-Stokes equations expressed in terms of pressure and velocity. In this context, pressure-velocity coupling is a key issue, and countless numerical techniques and methods have been developed over the decades to solve these equations efficiently and accurately. In two dimensions, an alternative approach is to rewrite the Navier-Stokes equations regarding two scalar quantities: the streamfunct…

A Group-Wise Narrow Beam Design for Uplink Channel Estimation in Hybrid Beamforming Systems
Yufan Zhou, Yongbo Xiao, An Liu
https://arxiv.org/abs/2506.01043

A Group-Wise Narrow Beam Design for Uplink Channel Estimation in Hybrid Beamforming Systems
In this paper, we consider uplink channel estimation for massive multi-input multi-output (MIMO) systems with partially connected hybrid beamforming (PC-HBF) structures. Existing beam design and channel estimation schemes are usually based on ideal assumptions and require transmitting pilots across multiple timeslots, making them unsuitable for practical PC-HBF systems. To overcome these drawbacks, we propose a novel beam design and a corresponding channel estimation algorithm to achieve accura…

Parity violation in photon quasinormal modes of black holes
Sugumi Kanno, Jiro Soda, Akira Taniguchi
https://arxiv.org/abs/2506.04149 https://

Parity violation in photon quasinormal modes of black holes
Given that black holes are ubiquitous in the universe and axion-like scalar fields are potential candidates for dark energy and/or dark matter, it is natural to consider cosmological black holes endowed with axion hair. We investigate the photon quasinormal modes of a Schwarzschild black hole with axion hair where the electromagnetic field is coupled to the axion field via a Chern-Simons interaction. We derive the master equations for the electromagnetic field as a set of coupled equations for …

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Unsupervised Rhythm and Voice Conversion to Improve ASR on Dysarthric Speech
Karl El Hajal, Enno Hermann, Sevada Hovsepyan, Mathew Magimai. -Doss
https://arxiv.org/abs/2506.01618 …

Unsupervised Rhythm and Voice Conversion to Improve ASR on Dysarthric Speech
Automatic speech recognition (ASR) systems struggle with dysarthric speech due to high inter-speaker variability and slow speaking rates. To address this, we explore dysarthric-to-healthy speech conversion for improved ASR performance. Our approach extends the Rhythm and Voice (RnV) conversion framework by introducing a syllable-based rhythm modeling method suited for dysarthric speech. We assess its impact on ASR by training LF-MMI models and fine-tuning Whisper on converted speech. Experiment…

This https://arxiv.org/abs/2302.11997 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_ees…

Beamforming Design with Partial Channel Estimation and Feedback for FDD RIS-Assisted Systems
Beamforming design with partial channel estimation and feedback for frequency-division duplexing (FDD) reconfigurable intelligent surface (RIS) assisted systems is considered in this paper. We leverage the observation that path angle information (PAI) varies more slowly than path gain information (PGI). Then, several dominant paths are selected among all the cascaded paths according to the known PAI for maximizing the spectral efficiency of downlink data transmission. To acquire the dominating …

This https://arxiv.org/abs/2411.06188 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_grqc_…

The thermodynamic profile of AdS black holes in Lorentz-violating Bumblebee and Kalb-Ramond gravity
Lorentz invariance violation (LIV) is a topic of significant interest in quantum gravity and in extensions of the Standard Model of particle physics. Recently, new classes of black hole solutions have been proposed, involving vector fields and rank-two antisymmetric tensor fields that acquire nontrivial vacuum expectation values, resulting in the Bumblebee and Kalb-Ramond (KR) gravity models, respectively. These models exhibit novel geometric structures and differ in notable ways from standard …