10 accepted papers
Generalizing local navigation policies across diverse robot morphologies is a critical challenge. Progress is often hindered by the need for costly and embodiment-specific data, the tight coupling of planning and control, and the "disastrous averaging" problem where deterministic models fail to capt…
Discrete-time joint acceleration bounds are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Actuator-Aware Joi…
Quadruped manipulators require precise detection of external forces to perform a series of force-related tasks during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. Conventional momentum based observer
Multimodal fake news detection has garnered significant attention due to its profound implications for social security. While existing approaches have contributed to understanding cross-modal consistency, they often fail to leverage modal-specific representations and explicit discrepant features. To
Quadruped manipulators require precise detection of external impact forces to ensure safe and compliant responses during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. This study introduces a whole-body
LLMs have transformed NLP and shown promise in various fields, yet their potential in finance is underexplored due to a lack of comprehensive benchmarks, the rapid development of LLMs, and the complexity of financial tasks. In this paper, we introduce FinBen, the first extensive open-source evaluati…
Recent advancements in large language models (LLMs) focus on aligning to heterogeneous human expectations and values via multi-objective preference alignment. However, existing methods are dependent on the policy model parameters, which require high-cost repetition of their alignment algorithms for…
In normal operations, when quadruped manipulators with impedance control experience external disturbances, they may become unstable and lose balance due to actuation saturation, affecting their stability, safety, and compliance with the environment. To address this issue, we propose a whole-body com…
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped manipulator to track the motion of a dynamic object moving with un…
The latest large language models (LLMs) such as ChatGPT, exhibit strong capabilities in automated mental health analysis. However, existing relevant studies bear several limitations, including inadequate evaluations, lack of prompting strategies, and ignorance of exploring LLMs for explainability. T…