12 accepted papers
This paper presents a bilateral shared-control teleoperation system by establishing a human machine environment cooperative control framework to address performance degradation caused by communication delays and cluttered environments. Specifically, we develop a leader-side robot kinematic model wit
Private data holds promise for improving LLMs due to its high quality, but its scattered distribution across data silos and the high computational demands of LLMs limit their deployment in federated environments. To address this, the transformer-based federated split models are proposed, which offlo
Robotic hand exoskeletons hold immense potential for enhancing human hand functionality, addressing the hand’s strength limitations and fatigue during physically-demanding tasks. However, most existing hand exoskeletons are motorized, being weak in generating high supporting force for gripping augme…
The automated assembly of flexible objects presents significant challenges. Although significant progress has been made in the assembly of rigid objects, the methods used for rigid objects cannot be directly applied to flexible objects due to their infinite degrees of freedom. This study proposes a
Influence diffusion models are used for simulating information propagation in social networks. While most existing influence diffusion models are probabilistic, the emergence of Large Language Model (LLM) sheds light on the language-level inferences and interactions of user agents. This paper presen…
$k$NN-MT is a straightforward yet powerful approach for fast domain adaptation, which directly plugs the pre-trained neural machine translation (NMT) models with domain-specific token-level $k$-nearest-neighbor ($k$NN) retrieval to achieve domain adaptation without retraining. Despite being conceptu…
This report presents the development of Tencent AI Lab’s personalized speech enhancement system for the 2023 ICASSP Signal Processing Grand Challenge – deep noise suppression (DNS) challenge <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> , whic…
AI recommendation techniques provide users with personalized services, feeding them the information they may be interested in. The increasing personalization raises the hypotheses of the "filter bubble" and "echo chamber" effects. To investigate these hypotheses, in this paper, we inspect the impact…
Human-robot collaboration (HRC) significantly extends robotic systems’ applications when working in spaces like houses, hospitals, or laboratories. However, new challenges appear during a close collaboration between humans and robots and imitating the movement of humans by robots. Learning from demo…
Drawbar pull and driving torque are usually applied to characterize the mobility and energy consumption, respectively, of wheeled planetary rovers (WPRs) traversing sandy terrain. Owing to the complexity of the grouser-terrain interaction, neither can be modeled as a closed-form analytical expressio
The slippage appears on soft terrains for wheeled mobile robots (WMR), and generates a motion deviation at the contact area, which can induce poor command-tracking performance (meaning difference between WMR's actual motion and operator's command) and instability for its teleoperation. Our previous
With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have emerged in terms of designing its teleoperation system. One of such challenges is caused by wheel slippage and another is due to the strict need for ensuring WMR safety. This letter proposes a new tri