相关论文: Edge Training and Inference with Analog ReRAM Tech…

Integrating accurate haptic feedback into robot-assisted minimally invasive surgery (RAMIS) remains challenging due to difficulties in precise force rendering and ensuring system safety during teleoperation. We present a Nonlinear Impedance…

Knowledge graphs (KGs), with their structured representation capabilities, offer promising avenue for enhancing Retrieval Augmented Generation (RAG) systems, leading to the development of KG-RAG systems. Nevertheless, existing methods often…

In this paper, we study the inference accuracy of the Resistive Random Access Memory (ReRAM) neuromorphic circuit due to stuck-at faults (stuck-on, stuck-off, and stuck at a certain resistive value). A simulation framework using Python is…

Using physical interactive devices like mouse and keyboards hinders naturalistic human-machine interaction and increases the probability of surface contact during a pandemic. Existing gesture-recognition systems do not possess user…

Hand gestures are a form of non-verbal communication that is used in social interaction and it is therefore required for more natural human-robot interaction. Neuromorphic (brain-inspired) computing offers a low-power solution for Spiking…

While gesture recognition using vision or robot skins is an active research area in Human-Robot Collaboration (HRC), this paper explores deep learning methods relying solely on a robot's built-in joint sensors, eliminating the need for…

This paper presents a machine learning-based approach to correct inference errors caused by stuck-at faults in fully analog ReRAM-based neuromorphic circuits. Using a Design-Technology Co-Optimization (DTCO) simulation framework, we model…

Electrochemical random-access memory (ECRAM) is a recently developed and highly promising analog resistive memory element for in-memory computing. One longstanding challenge of ECRAM is attaining retention time beyond a few hours. This…

We design a gesture-recognition pipeline for networks of distributed, resource constrained devices utilising Einsum Networks. Einsum Networks are probabilistic circuits that feature a tractable inference, explainability, and energy…

Task-oriented communication presents a promising approach to improve the communication efficiency of edge inference systems by optimizing learning-based modules to extract and transmit relevant task information. However, real-time…

The ubiquitous availability of smartphones and smartwatches with integrated inertial measurement units (IMUs) enables straightforward capturing of human activities. For specific applications of sensor based human activity recognition (HAR),…

SRAM-based Analog Compute-in-Memory (ACiM) demonstrates promising energy efficiency for deep neural network (DNN) processing. Nevertheless, efforts to optimize efficiency frequently compromise accuracy, and this trade-off remains…

In the past few years, more and more AI applications have been applied to edge devices. However, models trained by data scientists with machine learning frameworks, such as PyTorch or TensorFlow, can not be seamlessly executed on edge. In…

Analog-Based In-Memory Computing (AIMC) inference accelerators can be used to efficiently execute Deep Neural Network (DNN) inference workloads. However, to mitigate accuracy losses, due to circuit and device non-idealities, Hardware-Aware…

In the fast-paced field of human-computer interaction (HCI) and virtual reality (VR), automatic gesture recognition has become increasingly essential. This is particularly true for the recognition of hand signs, providing an intuitive way…

Direct and natural interaction is essential for intuitive human-robot collaboration, eliminating the need for additional devices such as joysticks, tablets, or wearable sensors. In this paper, we present a lightweight deep learning-based…

This study presents a real-time, portable brain-computer interface (BCI) system designed to support hand rehabilitation for stroke patients. The system combines a low cost 3D-printed robotic exoskeleton with an embedded controller that…

Autoregressive generative models are commonly used, especially for those tasks involving sequential data. They have, however, been plagued by a slew of inherent flaws due to the intrinsic characteristics of chain-style conditional modeling…

WiFi-based human activity recognition (HAR) holds significant promise for ubiquitous sensing in smart environments. A critical challenge lies in enabling systems to dynamically adapt to evolving scenarios, learning new activities without…

This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching for local transformations of tactile measurements that…