arXiv subjects

Yiwei Tao

Publications and source records attributed to Yiwei Tao.

9 recordsLinked to original sources

arXiv2026

Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning

Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this capability affordable to build. Two effects produce that saving. Routing force through a cable removes the requirement that a motor fit inside the joint it drives, so smaller and cheaper motors suffice, and one motor can drive several joints through a single cable, so fewer motors are needed. They are also harder to learn on than a direct-drive hand. The underactuated transmission that produces the saving is itself difficult to represent in a simulator, and the joints one cable drives are not independently commandable. We present Aero Hand Open, a tendon-driven anthropomorphic hand that is released simulation-ready. Three things ship with it. A simulation model reproduces the cable transmission itself. An identified actuation map connects that model to the motor commands in both directions, including the three-way coupling of the thumb. A reinforcement learning package trains policies for the hand. Together they let a policy be trained entirely in simulation and run on the hand with no fine-tuning and no state estimation. We release the mechanical design, the simulation model, the identified mapping, the training environment and the deployment stack.

cs.RO↗

arXiv2026

Differential Spatial Modulation with Transmit Diversity for Pinching-Antenna Systems

Pinching antenna (PA) systems provide a new spatial degree of freedom by flexible activation of pinching positions. However, the resulting effective channel strongly depends on the activated pinching positions, rendering conventional coherent transmission generally relies on accurate acquisition of instantaneous channel state information (CSI) and incurring substantial pilot overhead. To address this challenge, we propose a differential spatial modulation (DSM) scheme for PA systems, termed as DSM-PA. Specifically, a differential transmission scheme with an embedded Alamouti coding structure is designed, where information bits are conveyed via phase variations between adjacent symbol blocks. This design enables noncoherent transmission without requiring instantaneous CSI while simultaneously achieving transmit diversity. Moreover, to fully exploit the spatial degrees of freedom of PA systems, a pinching position-based index modulation (IM) rule is developed to enhance spectral efficiency. An asymptotically tight upper bound on the average bit error rate (BER) over quasi-static Rician fading channels is derived using the moment-generating function (MGF) method. The diversity analysis also reveals that the proposed DSM-PA scheme achieves full transmit diversity. Finally, simulation results verify the accuracy of the BER analysis and demonstrate the effectiveness of the proposed DSM-PA scheme.

eess.SP↗

arXiv2026

Telecom World Models: Unifying Digital Twins, Foundation Models, and Predictive Planning for 6G

The integration of machine learning tools into telecom networks, has led to two prevailing paradigms, namely, language-based systems, such as Large Language Models (LLMs), and physics-based systems, such as Digital Twins (DTs). While LLM-based approaches enable flexible interaction and automation, they lack explicit representations of network dynamics. DTs, in contrast, offer a high-fidelity network simulation, but remain scenario-specific and are not designed for learning or decision-making under uncertainty. This gap becomes critical for 6G systems, where decisions must take into account the evolving network states, uncertainty, and the cascading effects of control actions across multiple layers. In this article, we introduce the {Telecom World Model}~(TWM) concept, an architecture for learned, action-conditioned, uncertainty-aware modeling of telecom system dynamics. We decompose the problem into two interacting worlds, a controllable system world consisting of operator-configurable settings and an external world that captures propagation, mobility, traffic, and failures. We propose a three-layer architecture, comprising a field world model for spatial environment prediction, a control/dynamics world model for action-conditioned Key Performance Indicator (KPI) trajectory prediction, and a telecom foundation model layer for intent translation and orchestration. We showcase a comparative analysis between existing paradigms, which demonstrates that TWM jointly provides telecom state grounding, fast action-conditioned roll-outs, calibrated uncertainty, multi-timescale dynamics, model-based planning, and LLM-integrated guardrails. Furthermore, we present a proof-of-concept on network slicing to validate the proposed architecture, showing that the full three-layer pipeline outperforms single-world baselines and accurately predicts KPI trajectories.

cs.RO↗

arXiv2026

Antenna Placement Design for Interference Exploitation in Pinching-Antenna Systems

Pinching-antenna systems (PASs) have been proposed as a flexible antenna technology to fulfill the stringent requirements of high data rate and large-scale equipment deployment in future wireless networks. The principle of PA involves mapping a signal over dielectric waveguides for transmission. By adjusting the positions of pinching antennas (PAs) over the waveguides, with the aim of gain enhancement for line-of-sight links and the reduction of large-scale path loss. Symbol-level precoding (SLP) is a nonlinear precoding technique, which converts multi-user interference into constructive interference via beamforming design at symbol level. In this paper, we study the combination of SLP and PAS, leveraging the advantages of PAS to further enhance the ability of SLP to convert constructive interference. The transmit power minimization problem is formulated and solved for the multiple waveguides multiple PAs system by jointly beamforming and PAs' positions design under the SLP principle. The alternating optimization (AO) framework is applied to decouple the beamforming vector and the position coefficient of PA. For the given beamforming vectors, a new objective function is formulated with respect to the positions of the PAs. With the characteristics of the formulated objective function, the optimization problem for the position coefficients of PAs can be decomposed into multiple independent subproblems, each corresponding to a PA's position coefficient, and a projected gradient descent (PGD)-based method, constrained by the feasible movable region of each PA, is then developed to obtain the suboptimal position coefficients. The performance improvements achieved by the combination of PAS and SLP, as well as the effectiveness of the proposed algorithm are verified through the simulation results.

eess.SP↗

arXiv2024

Affine Frequency Division Multiplexing with Index Modulation: Full Diversity Condition, Performance Analysis, and Low-Complexity Detection

Affine frequency division multiplexing (AFDM) is a novel modulation technique based on chirp signals that has been recently proposed as an effective solution for highly reliable communications in high-mobility scenarios. In this paper, we focus on the design of robust index modulation (IM) schemes under the multiple-antenna AFDM transmission framework. To this end, the cyclic delay diversity (CDD) technique is employed to harvest the transmit diversity gain. As a result, we propose two novel AFDM-IM schemes with transmit diversity, termed as CDD-AFDM-IM-I and CDD-AFDM-IM-II. We analyze the full diversity conditions and parameter settings of the proposed CDD-AFDM-IM schemes for both integer and fractional Doppler cases over linear time-varying (LTV) channels. Moreover, we prove that IM enables AFDM to have stronger diversity protection when the full diversity condition is not satisfied. Asymptotically tight upper bounds on the average bit error rates (BERs) of the proposed schemes with maximum-likelihood (ML) detection are derived in closed-form. Furthermore, we propose a low-complexity double-layer message passing (DLMP) algorithm for practical large-dimensional signal detection in the proposed CDD-AFDM-IM systems. Comparison with existing detections shows that the proposed DLMP algorithm achieves a better tradeoff between the BER performance and the computational complexity. Finally, BER simulation results confirm that our proposed CDD-AFDM-IM schemes with both the ML and DLMP detections outperform the benchmark schemes over the LTV channels.

eess.SP↗

arXiv2024

DAFT-Spread Affine Frequency Division Multiple Access for Downlink Transmission

Affine frequency division multiplexing (AFDM) and orthogonal AFDM access (O-AFDMA) are promising techniques based on chirp signals, which are able to suppress the performance deterioration caused by Doppler shifts in high-mobility scenarios. However, the high peak-to-average power ratio (PAPR) in AFDM or O-AFDMA is still a crucial problem, which severely limits their practical applications. In this paper, we propose a discrete affine Fourier transform (DAFT)-spread AFDMA scheme based on the properties of the AFDM systems, named DAFT-s-AFDMA to significantly reduce the PAPR by resorting to the DAFT. We formulate the transmitted time-domain signals of the proposed DAFT-s-AFDMA schemes with localized and interleaved chirp subcarrier allocation strategies. Accordingly, we derive the guidelines for setting the DAFT parameters, revealing the insights of PAPR reduction. Finally, simulation results of PAPR comparison in terms of the complementary cumulative distribution function (CCDF) show that the proposed DAFT-s-AFDMA schemes with localized and interleaved strategies can both attain better PAPR performances than the conventional O-AFDMA scheme.

cs.IT↗

arXiv2023

Affine Frequency Division Multiplexing With Index Modulation

Affine frequency division multiplexing (AFDM) is a new multicarrier technique based on chirp signals tailored for high-mobility communications, which can achieve full diversity. In this paper, we propose an index modulation (IM) scheme based on the framework of AFDM systems, named AFDM-IM. In the proposed AFDM-IM scheme, the information bits are carried by the activation state of the subsymbols in discrete affine Fourier (DAF) domain in addition to the conventional constellation symbols. To efficiently perform IM, we divide the subsymbols in DAF domain into several groups and consider both the localized and distributed strategies. An asymptotically tight upper bound on the average bit error rate (BER) of the maximum-likelihood detection in the existence of channel estimation errors is derived in closed-form. Computer simulations are carried out to evaluate the performance of the proposed AFDM-IM scheme, whose results corroborate its superiority over the benchmark schemes in the linear time-varying channels. We also evaluate the BER performance of the index and modulated bits for the AFDM-IM scheme with and without satisfying the full diversity condition of AFDM. The results show that the index bits have a stronger diversity protection than the modulated bits even when the full diversity condition of AFDM is not satisfied.

eess.SP↗

arXiv2023

Design of a Reconfigurable Intelligent Surface-Assisted FM-DCSK-SWIPT Scheme with Non-linear Energy Harvesting Model

In this paper, we propose a reconfigurable intelligent surface (RIS)-assisted frequency-modulated (FM) differential chaos shift keying (DCSK) scheme with simultaneous wireless information and power transfer (SWIPT), called RIS-FM-DCSK-SWIPT scheme, for low-power, low-cost, and high-reliability wireless communication networks. In particular, the proposed scheme is developed under a non-linear energy-harvesting (EH) model which can accurately characterize the practical situation. The proposed RIS-FM-DCSK-SWIPT scheme has an appealing feature that it does not require channel state information, thus avoiding the complex channel estimation. We further derive the closed-form theoretical expressions for the energy shortage probability and bit error rate (BER) of the proposed scheme over the multipath Rayleigh fading channel. In addition, we investigate the influence of key parameters on the performance of the proposed transmission scheme in two different scenarios, i.e., RIS-assisted access point (RIS-AP) and dual-hop communication (RIS-DH). Finally, we carry out various Monte-Carlo experiments to verify the accuracy of the theoretical derivation, illustrate the performance advantage of the proposed scheme, and give some design insights for future study.

cs.IT↗

arXiv2022

SR-DCSK Cooperative Communication System with Code Index Modulation: A New Design for 6G New Radios

This paper proposes a high-throughput short reference differential chaos shift keying cooperative communication system with the aid of code index modulation, referred to as CIM-SR-DCSK-CC system. In the proposed CIM-SR-DCSK-CC system, the source transmits information bits to both the relay and destination in the first time slot, while the relay not only forwards the source information bits but also sends new information bits to the destination in the second time slot. To be specific, the relay employs an $N$-order Walsh code to carry additional ${{\log }_{2}}N$ information bits, which are superimposed onto the SR-DCSK signal carrying the decoded source information bits. Subsequently, the superimposed signal carrying both the source and relay information bits is transmitted to the destination. Moreover, the theoretical bit error rate (BER) expressions of the proposed CIM-SR-DCSK-CC system are derived over additive white Gaussian noise (AWGN) and multipath Rayleigh fading channels. Compared with the conventional DCSK-CC system and SR-DCSK-CC system, the proposed CIM-SR-DCSK-CC system can significantly improve the throughput without deteriorating any BER performance. As a consequence, the proposed system is very promising for the applications of the 6G-enabled low-power and high-rate communication.

cs.IT↗