Jiarong Kang

Yang Chen, Yuhang Jia, Shiwan Zhao et al.

As text-based speech editing becomes increasingly prevalent, the demand for unrestricted free-text editing continues to grow. However, existing speech editing techniques encounter significant challenges, particularly in maintaining intelligibility and acoustic consistency when dealing with out-of-domain (OOD) text. In this paper, we introduce, DiffEditor, a novel speech editing model designed to enhance performance in OOD text scenarios through semantic enrichment and acoustic consistency. To improve the intelligibility of the edited speech, we enrich the semantic information of phoneme embeddings by integrating word embeddings extracted from a pretrained language model. Furthermore, we emphasize that interframe smoothing properties are critical for modeling acoustic consistency, and thus we propose a first-order loss function to promote smoother transitions at editing boundaries and enhance the overall fluency of the edited speech. Experimental results demonstrate that our model achieves state-of-the-art performance in both in-domain and OOD text scenarios.

Jiarong Kang, Kunzhao Ren, Tao Pang et al.

Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on onboard proprioception with Extended Kalman Filters (EKFs) or external motion capture systems-recover only kinematics, while contact forces, contact timing, and inertial parameters remain unobserved. As a result, purely kinematic reconstructions often violate rigid-body dynamics, particularly during contact-rich motions. To enable accurate motion estimation from onboard kinematics in real-world deployment, we propose PRIME (Physically-consistent Robotic Inertial and Motion Estimation), a Maximum A Posteriori (MAP) formulation that refines measured kinematics and actuator commands into a dynamically consistent trajectory while jointly estimating frictional contact forces and physically consistent inertial parameters. Our approach incorporates differentiable contact dynamics with smoothed complementarity constraints and an Anitescu-style friction model, yielding a smooth optimization problem that remains tractable across versatile contact transitions. We evaluate PRIME on contact-rich locomotion with quadrupedal robots and the Unitree G1 humanoid, demonstrating improved trajectory consistency and accurate inertial parameter identification. Beyond improving state estimation and feedback control with calibrated inertial parameters, PRIME produces force- and contact-annotated motion reconstructions from real robots in deployment, which can be used to provide high-quality data for downstream learning applications, including large-scale behavior modeling and robot foundation models.

Denglin Cheng, Jiarong Kang, Xiaobin Xiong

Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In this work, we introduce a bi-level optimization framework that jointly calibrates covariance matrices and kinematic parameters in an estimator-in-the-loop manner. The upper level treats noise covariances and model parameters as optimization variables, while the lower level executes a full-information estimator. Differentiating through the estimator allows direct optimization of trajectory-level objectives, resulting in accurate and consistent state estimates. We validate our approach on quadrupedal and humanoid robots, demonstrating significantly improved estimation accuracy and uncertainty calibration compared to hand-tuned baselines. Our method unifies state estimation, sensor, and kinematics calibration into a principled, data-driven framework applicable across diverse robotic platforms.