Dawei Liang

A Bio-Inspired Scalable Parallel Actuation Approach for Modular Reconfigurable Supernumerary Limbs

Supernumerary Robotic Limbs (SRLs) offer considerable promise for assisting wearers in complex tasks, yet their adaptability is often constrained by their inherent fixed morphology. While modular reconfigurable designs present a viable solution, applying it to wearable systems introduces critical si

Back from the Dead: Self-Recovery Strategy for Modular Planetary Exploration Robots (I)

FG-CLIP 2: A Bilingual Fine-grained Vision-Language Alignment Model

Fine-grained vision-language understanding requires precise alignment between visual content and linguistic descriptions, a capability that remains limited in current models, particularly in non-English settings. While models like CLIP perform well on global alignment, they often struggle to capture…

FG-CLIP: Fine-Grained Visual and Textual Alignment

Contrastive Language-Image Pre-training (CLIP) excels in multimodal tasks such as image-text retrieval and zero-shot classification but struggles with fine-grained understanding due to its focus on coarse-grained short captions. To address this, we propose Fine-Grained CLIP (FG-CLIP), which enhances…

Dynamic Speech Endpoint Detection with Regression Targets

Interactive voice assistants have been widely used as input interfaces in various scenarios, e.g. on smart home devices, wearables and on AR devices. Detecting the end of a speech query, i.e. speech end-pointing, is an important task for voice assistants to interact with users. Traditionally, speech…