Wireless Robotics Platform (FR3 / TurtleBot4)
I built an FR3/mmWave robotic measurement platform for closed-loop localization and navigation experiments. The system combines Xilinx RFSoC boards, Pi-Radio or Sivers RF front ends, fixed transmitter/receiver baselines, linear-track and D48 pan-tilt sweeps, TurtleBot4 transmitter mobility, and Jackal UGV receiver mobility.
The demo shows the robotic measurement platform executing controlled motion while RF sensing data are collected.
This public demo shows the TurtleBot4-mounted FR3 hardware operating in a live measurement setting.
System capabilities
- RFSoC transmit/receive waveform generation, capture, synchronization, channel estimation, SNR estimation, and AoA processing.
- Pi-Radio/Sivers front-end control, remote TCP/REST control, and synchronized physical metadata logging.
- Scripted TurtleBot4, linear-track, and D48 pan-tilt motion for reproducible measurement grids.
- Physical support for MC-CLE/LOCUS-DT posterior localization and wireless-aware navigation experiments.
The hardware photo shows the deployed TurtleBot4 stack with the RF front end, compute, power, and control layers integrated on the robot.
Haozhe Lei (Graduate Student Member, IEEE) is a Ph.D. candidate in Electrical and Computer Engineering at New York University, advised by Professor Sundeep Rangan in NYU WIRELESS. He received the B.E. degree in electrical engineering and automation from China Agricultural University in 2019 and the M.S. degree in computer engineering from NYU in 2022. His research develops uncertainty-aware wireless intelligence for embodied autonomy and adaptive 6G systems, combining algorithms, digital twins, and physical testbeds to transform sparse RF and multimodal observations into calibrated spatial beliefs and closed-loop decisions.
His current work includes MC-CLE and LOCUS-DT for posterior RF localization, PIRL and wireless digital-twin priors for zero-shot robot navigation, MCMB-HDT for closed-loop multi-band handset adaptation, and object-centric graph memory for multimodal spatial reasoning. He also builds FR3/mmWave RFSoC/Pi-Radio channel-sounding systems with TurtleBot4 and Jackal UGV platforms. He received the 2023 Ernst Weber Fellowship from the NYU Tandon School of Engineering.