13 accepted papers
Soft robots,compared to rigid robots,possess inherent advantages,including higher degrees of freedom, compliance,and enhanced safety,which have contributed to their increasing application across various fields. Among these benefits, adaptability is particularly noteworthy. In this paper, adaptabilit…
Modular soft robot arms (MSRAs) are composed of multiple modules connected in a sequence, and they can bend at different angles in various directions. This capability allows MSRAs to perform more intricate tasks than single-module robots. However, the modular structure also induces challenges in acc…
We study the online routing problem in large language model serving, where requests arrive sequentially and must be dispatched to parallel decode workers under tight batch-size and KV-cache constraints. Unlike widely used routing heuristics that are not tied to explicit service-level objectives (SLO…
Long-term memory is essential for large language model (LLM) agents operating in complex environments, yet existing memory designs are either task-specific and non-transferable, or task-agnostic but less effective due to low task-relevance and context explosion from raw memory retrieval. We propose …
The nonlinear two-time-scale stochastic approximation is widely studied under conditions of bounded variances in noise. Motivated by recent advances that allow for variability linked to the current state or time, we consider state- and time-dependent noises. We show that the Lyapunov function exhibi…
Several recently introduced deep learning optimizers inspired by second-order methods have shown promising speedups relative to the current dominant optimizer AdamW, particularly in relatively small-scale experiments. However, efforts to validate and replicate their successes have reported mixed res…
Large language model-based multi-agent systems have shown great abilities across various tasks due to the collaboration of expert agents, each focusing on a specific domain. However, the impact of clumsy or even malicious agents—those who frequently make errors in their tasks—on the overall performa…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size (typically 2 to 3 mm in diameter for adults and <1 mm in children)
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and manufacturing process owing to the complexity of soft materials. Mean
Endoscopic Submucosal Dissection (ESD) is a minimally invasive procedure designed to remove precancerous and cancerous lesions from the gastrointestinal (GI) tract. Given the GI tract’s tortuous and narrow shape, along with the need for varied movements during dissection, this requires highly flexib…
Dense linear layers are the dominant computational bottleneck in large neural networks, presenting a critical need for more efficient alternatives. Previous efforts to develop alternatives have focused on a small number of hand-crafted structured matrices, and have neglected to investigate whether t…
This letter proposes a vision-based tactile sensor named TIRgel, leveraging visual integration to simplify the sensing system. First, the sensor achieves conversion of visual and tactile modality via focus adjustment. Under far-focus imaging, the camera can observe external environments; Under near-
Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Element Method (FEM). However, elastomer deformation physics is not considered in the former method, where