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Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…
With the rapid advancement of Vision Language Models (VLMs), refusal mechanisms have become a critical component for ensuring responsible and safe model behavior. However, existing refusal strategies are largely \textit{one-size-fits-all}…
Articulatory acoustic inversion reconstructs vocal tract shapes from speech. Real-time magnetic resonance imaging (rt-MRI) allows simultaneous acquisition of both the acoustic speech signal and articulatory information. Besides the…
Spatial light modulators enable arbitrary control of the intensity of optical light fields and facilitate a variety of applications in biology, astronomy and atomic, molecular and optical physics. For coherent light fields, holography,…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
Active speaker detection and speech enhancement have become two increasingly attractive topics in audio-visual scenario understanding. According to their respective characteristics, the scheme of independently designed architecture has been…
Large Multimodal Models (LMMs) have achieved remarkable success in vision-language tasks, yet their vast parameter counts are often underutilized during both training and inference. In this work, we embrace the idea of looping back to move…
Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…
Silicon-based micro-electromechanical systems (MEMS) can be fabricated using bulk and surface micromachining technology. A micro mirror designed as an oscillatory MEMS constitutes a prominent example. Typically, in order to minimize energy…
The aim of this work is to prove that it is possible to realise an optical system which produces as output a light intensity that can be expressed in the same mathematical form of the spin glass Hamiltonian. The optical system under study…
We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms by means of a control strategy with limited knowledge of the system model. By tutoring the learning process, the…
Optomechanical systems are suitable for elucidating quantum phenomena at the macroscopic scale in the sense of the mass scale. The systems should be well-isolated from the environment to avoid classical noises, which conceal quantum…
Traditional manufacturing faces challenges adapting to dynamic environments and quickly responding to manufacturing changes. The use of multi-agent systems has improved adaptability and coordination but requires further advancements in…
Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different interaction modalities. We present an…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
Mirror adapters can match a camera and a projector to the task of producing and visualizing a stereo pair. The imaging digital technology can benefit on the traditional optical technology of the last century to get more compact and…
Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
Large Language Models (LLMs) are typically trained to reflect a relatively uniform set of values, which limits their applicability to tasks that require understanding of nuanced human perspectives. Recent research has underscored the…
Most trainable machine translation (MT) metrics train their weights on human judgments of state-of-the-art MT systems outputs. This makes trainable metrics biases in many ways. One of them is preferring longer translations. These biased…