4 accepted papers
Speculative decoding (SD) has emerged as a promising technique to accelerate LLM inference by employing a small, efficient draft model to propose draft tokens in advance, and subsequently validating them in parallel with the large target model. However, the existing SD methods still remain fundament…
The nonlinearities of soft robots bring control challenges like hysteresis but also provide them with computational capacities. This letter introduces a fuzzy pneumatic physical reservoir computing (FPRC) model for feedforward hysteresis compensation in motion tracking control of soft actuators. Our
Hysteresis brings challenges to both the control and state perception of soft robots. This work proposes a real-time gain-scheduled feedforward proportional controller design and a Physical Reservoir Computing (PRC) model to address hysteresis effects in the motion control and unobstructed state est
Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this challenge, we propose an adaptive control method to compensate f