7 papers
MC-PDD: Masked Corpus-Level Pretraining Data Detection for Black-Box Large Language Models
Kaixin Lan, Mu You, Tao Fang +3
Pretraining is fundamental to the development of Large Language Models (LLMs), yet the opacity of pretraining data complicates model analysis and raises ethical, legal, and fairnes…
TCM-DiffRAG: Personalized Syndrome Differentiation Reasoning Method for Traditional Chinese Medicine based on Knowledge Graph and Chain of Thought
Jianmin Li, Ying Chang, Su-Kit Tang +4
Background: Retrieval augmented generation (RAG) technology can empower large language models (LLMs) to generate more accurate, professional, and timely responses without fine tuni…
A Low-Cost Vision-Based Tactile Gripper with Pretraining Learning for Contact-Rich Manipulation
Yaohua Liu, Binkai Ou, Zicheng Qiu +2
Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability…
CoFreeVLA: Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation
Xuanran Zhai, Binkai Ou, Qiaojun Yu +2
Vision Language Action (VLA) models enable instruction following manipulation, yet dualarm deployment remains unsafe due to under modeled selfcollisions between arms and grasped ob…
Spiking Neural-Invariant Kalman Fusion for Accurate Localization Using Low-Cost IMUs
Yaohua Liu, Qiao Xu, Binkai Ou
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, a…
A brain-inspired information fusion method for enhancing robot GPS outages navigation
Yaohua Liu, Hengjun Zhang, Binkai Ou
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system…