8 accepted papers
Diffusion large language models (dLLMs) offer a theoretical advantage in parallel generation over standard autoregressive models. However, parallel generation alone does not guarantee practical speedups. Realizing this efficiency requires specialized inference mechanisms, such as diffusion-aware cac
Self-Taught Reasoners (STaR), synonymously known as Rejection sampling Fine-Tuning (RFT), is an integral part of the training pipeline of self-improving reasoning Language Models (LMs). The self-improving mechanism often employs random observation (data) sampling. However, this results in trained…
Hip assistance with cable-driven devices has been proven to help decrease the metabolic cost of gait. However, most existing devices use heavy actuating modules or provide assistance in only one direction, limiting the effectiveness. Cable-driven devices are also difficult to accurately estimate the
To provide an alternative to conventional large-scale fitness equipment, we previously developed a soft passive wearable device for upper limb resistance exercises that utilized elastic exercise bands. However, the user was required to manually adjust the level of strength. In this paper, we introdu…
An increase in health awareness has fueled the development of fitness equipment or devices nowadays. Most conventional fitness devices have had some issues in space limitation and the high cost of equipment. With the advance in wearable robotics, we proposed a soft passive fitness wearable device fo…
This paper presents an adjustable knee joint for a wearable robot for the elderly, to provide physical gait assistance. In order to compensate for the translational and rotational movements of the knee in the sagittal plane as well as aligning the frontal plane, the proposed knee joint is implemente…
This paper proposes a new concept called “a flexible exoskeleton” and presents the design of a wearable walking assistance device to provide physical gait assistance for the elderly. To overcome some limitations of previous wearable walking assistance devices, 3 novel mechanisms are proposed: 1) fle…
This paper presents an adjustable knee mechanism for walking assistance devices for the elderly to provide physical gait assistance. The adjustable knee mechanism can assist in flexion/extension motions of the knee joint and compensate for the transitional movements of the knee in the sagittal plane…