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Compositional AI systems, which combine multiple artificial intelligence components together with other application components to solve a larger problem, have no known pattern of development and are often approached in a bespoke and ad hoc…

A song is a combination of singing voice and accompaniment. However, existing works focus on singing voice synthesis and music generation independently. Little attention was paid to explore song synthesis. In this work, we propose a novel…

In this work, possibility of simulating biological organs in realtime using the Boundary Element Method (BEM) is investigated. Biological organs are assumed to follow linear elastostatic material behavior, and constant boundary element is…

Song generation focuses on producing controllable high-quality songs based on various prompts. However, existing methods struggle to generate vocals and accompaniments with prompt-based control and proper alignment. Additionally, they fall…

Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control…

Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…

Generating hand grasps with language instructions is a widely studied topic that benefits from embodied AI and VR/AR applications. While transferring into hand articulatied object interaction (HAOI), the hand grasps synthesis requires not…

Protocols do not work alone, but together, one protocol relying on another to provide needed services. Many of the problems in cryptographic protocols arise when such composition is done incorrectly or is not well understood. In this paper…

The problem of the real-time multiple-input multiple-output (MIMO) array control when requirements on capacity performance, out-of-cell interference, and computational efficiency are simultaneously enforced is addressed by means of an…

Breath is a significant component in singing performance, which is still underresearched in most singing-related music interfaces. In this paper, we present a multimodal system that detects the learner's singing pitch and breathing states…

Attempts to use generative models for music generation have been common in recent years, and some of them have achieved good results. Pieces generated by some of these models are almost indistinguishable from those being composed by human…

This paper introduces a vibrotactile belt for interpersonal synchronization of breath. It can synchronize the breathing tempo of two people by transferring breathing rhythm of one user to vibration signals of another belt, where the depth…

Incremental stability is a property of dynamical systems ensuring the uniform asymptotic stability of each trajectory rather than a fixed equilibrium point or trajectory. Here, we introduce a notion of incremental stability for stochastic…

Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in…

In this work, we introduce Mozualization, a music generation and editing tool that creates multi-style embedded music by integrating diverse inputs, such as keywords, images, and sound clips (e.g., segments from various pieces of music or…

State estimation and control are often addressed separately, leading to unsafe execution due to sensing noise, execution errors, and discrepancies between the planning model and reality. Simultaneous control and trajectory estimation using…

Co-speech gesture generation is crucial for producing synchronized and realistic human gestures that accompany speech, enhancing the animation of lifelike avatars in virtual environments. While diffusion models have shown impressive…

The exponential moving average (EMA) is a commonly used statistic for providing stable estimates of stochastic quantities in deep learning optimization. Recently, EMA has seen considerable use in generative models, where it is computed with…

This paper introduces the Mimosa language, a programming language for the design and implementation of asynchronous reactive systems, describing them as a collection of time-triggered processes which communicate through FIFO buffers.…

Modeling human behaviors in contextual environments has a wide range of applications in character animation, embodied AI, VR/AR, and robotics. In real-world scenarios, humans frequently interact with the environment and manipulate various…