13 accepted papers
Optimal path planning aims to determine a sequence of states from a start to a goal while accounting for planning objectives. Popular methods often integrate fixed batch sizes and neglect information on obstacles, which is not problem-specific. This study introduces Adaptively Prolated Trees (APT*),
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and easy-to-fabricate soft bending joint with tunable properties rem
Robotic motion planning faces formidable challenges in constrained environments, particularly in rapidly searching for feasible solutions and converging towards optimal. This study introduces Multi-Sets Tree (MST*), a sampling-based planner designed to accelerate path searching and solution optimiza
Recent progress in multilingual pretraining has yielded strong performance on high-resource languages, albeit with limited generalization to genuinely low-resource settings. While prior approaches have attempted to enhance cross-lingual transfer through representation alignment or contrastive learni
With increasingly more powerful compute capabilities and resources in today’s devices, traditionally compute-intensive automatic speech recognition (ASR) has been moving from the cloud to devices to better protect user privacy. However, it is still challenging to implement on-device ASR on resource-…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and controlling pneumatic actuators via end geometry. We demonst
Localization of robots is a complex task that is often hindered by the sensors these systems use. Due to the majority of field robots being rigid, most of these sensing modalities have the same common faults, such as performance being hindered when their camera vision is obscured. In addition, rigid…
As soft, continuum robots see increasing areas of application, many scenarios have arisen where it is necessary to consider the geometric shape of the robot. The current approaches to robot kinematics, such as the piecewise constant-curvature (PCC) model, are effective in representing simple overall…
We propose an environment adaptation approach that improves deep speech enhancement models via minimizing the Kullback-Leibler divergence between posterior probabilities produced by a multi-condition senone classifier (teacher) fed with noisy speech features and a clean-condition senone classifier (…
Soft, tip-extending "vine" robots offer a unique mode of inspection and manipulation in highly constrained environments. For practicality, it is desirable that the distal end of the robot can be manipulated freely, while the body remains stationary. However, in previous vine robots, either the shape…
In this paper, we propose a cross-modal student-teacher learning framework to make a full use of externally abundant acoustic data in addition to a given task-specific audio-visual training database for improving speech recognition performance under the low signal-to-noise-ratio (SNR) and acoustic m…
Plug-and-play (PnP) is a non-convex framework that integrates modern denoising priors, such as BM3D or deep learning-based denoisers, into ADMM or other proximal algorithms. An advantage of PnP is that one can use pre-trained denoisers when there is not sufficient data for end-to-end training. Altho…
Leveraging upon transfer learning, we distill the knowledge in a conventional wide and deep neural network (DNN) into a narrower yet deeper model with fewer parameters and comparable system performance for speech enhancement. We present three transfer-learning solutions to accomplish our goal. First…