7 accepted papers
To enable broader deployment of Large Language Models (LLMs), it is essential to identify the best-performing model under strict memory constraints. We present AMQ, Automated Mixed-Precision Weight-Only Quantization, a framework that assigns layer-wise quantization bit-widths to optimally balance mo
Neural networks trained with ERM (empirical risk minimization) sometimes learn unintended decision rules, in particular when their training data is biased, i.e., when training labels are strongly correlated with undesirable features. To prevent a network from learning such features, recent methods a…
Exosuits can reduce metabolic demand and improve gait. Controllers explicitly derived from biological mechanisms that reflect the user's joint or muscle dynamics should in theory allow for individualized assistance and enable adaptation to changing gait. With the goal of developing an exosuit contro…
Recent human-in-the-loop (HIL) optimization studies using wearable devices have shown an improved average metabolic reduction by optimizing a small number of control parameters during short-duration walking experiments. However, the slow metabolic dynamics, high measurement noise, and experimental t…
Soft exosuits are a new approach for assisting with human locomotion, which applies assistive torques to the wearer through functional apparel. In this paper, we present a new version of autonomous multi-joint soft exosuit for gait assistance, particularly designed for overground walking. The soft e…
This study proposes a Direction of Arrival (DoA)-aided attack detection scheme to identify cyberattacks on networked multi-robot systems. For each agent, a local estimator is designed to generate robust residuals, and a parametric statistical tool corresponding to the residuals is elaborated to buil…
The soft exosuit is a new approach for applying assistive forces over the wearer's body through load paths configured by the textile architecture. In this paper, we present a body-worn lower-extremity soft exosuit and a new control approach that can independently control the level of assistance that