15 accepted papers
Learning humanoid control from video provides a scalable alternative to the scarcity of high-fidelity robot data. Existing methods, however, often rely on curated datasets and treat video as passive kinematic priors. They fail to capture dynamic humanoid interactions with the environment, which are …
Diffusion models manifest evident benefits across diverse domains, yet their high sampling cost, requiring dozens of sequential model evaluations, remains a major limitation. Prior efforts mainly accelerate sampling via optimized solvers or distillation, which treat each query independently. In cont…
Parameter-efficient fine-tuning (PEFT) is a standard way to adapt multimodal large language models, yet extremely low-rank settings---especially rank-1 LoRA---are often unstable. We show that this instability is not solely due to limited capacity: in the rank-1 regime, optimization is highly sensiti…
Polite speech poses a fundamental alignment challenge for large language models (LLMs). Humans deploy a rich repertoire of linguistic strategies to balance informational and social goals – from positive approaches that build rapport (compliments, expressions of interest) to negative strategies that
Large reasoning models (LRMs), such as OpenAI o1 and DeepSeek-R1, have significantly enhanced their reasoning capabilities by generating longer chains of thought, demonstrating outstanding performance across a variety of tasks. However, this performance gain comes at the cost of a substantial increa…
This paper describes our submission to the fourth Acoustic Echo Cancellation (AEC) Challenge, which is part of ICASSP 2023 Signal Processing Grand Challenge. The proposed system is developed based on our earlier system submitted to the ICASSP 2022 AEC challenge with significant latency and network s…
Deep learning based wideband (16kHz) acoustic echo cancellation (AEC) approaches have surpassed traditional methods. This work proposes a deep hierarchical fusion (DHF) network with intra-network and inter-network fusion to further improve the wideband AEC performance. Meanwhile, this work extends t…
This paper presents four data-driven system models for a magnetically controlled swimmer. The models were derived directly from experimental data, and the accuracy of the models was experimentally demonstrated. Our previous study successfully implemented two non-model-based control algorithms for 3D…
This work presents an online trajectory generation algorithm using a sinusoidal jerk profile. The generator takes initial acceleration, velocity and position as input, and plans a multi-segment trajectory to a goal position under jerk, acceleration, and velocity limits. By analyzing the critical con…
Micro/millimeter-scale magnetic robots have many potential biomedical applications. However, there are major challenges in using these devices for <i>in vivo</i> tasks due to limitations of imaging technology for real-time detection and navigation inside the human body. Ultrasound is a popular senso
This letter focuses on the 3D path-following ofa spiraltype helical magnetic swimmer in a water-filled workspace. The swimmer has a diameter of 2.5 mm, a length of 6 mm, and is controlled by an external time-varying magnetic field. A method to compensate undesired magnetic gradient forces is propose
Rotating miniature magnetic swimmers are de-vices that could navigate within the bloodstream to access remote locations of the body and perform minimally invasive procedures. The rotational movement could be used, for example, to abrade a pulmonary embolus. Some regions, such as the heart, are chall…
This study investigates the high speed 3D navigation of rotating millimeter-scale swimmers. The swimmers have a spiral-shaped surface to ensure propulsion. The rotational movement is used for propulsion and, in future work, could provide the power needed to remove blood clots. For instance, an abras…
Consider many particles actuated by a uniform global external field (e.g. gravitational or magnetic fields). This paper presents analytical results using workspace obstacles and global inputs to reshape such a group of particles. Shape control of many particles is necessary for conveying information…
Fluidic transmission mechanisms use fluids to transmit force through conduits. We previously presented a transmission mechanism called solid-media transmission (SMT), which uses conduits filled with spheres and spacers for push-only bidirectional transmission. In this paper, we present new designs o…