Jiexin Zhang

Shuai Ke, Jiexin Zhang, Huan Zhao et al.

Diffusion-based imitation learning methods have driven rapid progress in robot dexterous manipulation tasks. However, they have limitations when applied to tasks that involve complex free-form surface constraints because of their lack of explicit surface geometry constraint modeling and the dynamic feasibility issue, resulting in stochastic action generation that fails to achieve reliable surface alignment and maintain stable contact. To address these limitations, we propose a novel surface constraint policy (SCP) for generating robot actions that satisfy free-form surface constraints on the basis of human demonstrations and real-time visual observations. First, the surface geometry constraint is encoded using a two-dimensional weighted Gaussian kernel function that is derived from demonstrations. Building on the encoded surface geometry constraints, the diffusion-based policy is used to infer task-level action intentions from multimodal sensory inputs, including visual observations and robot state feedback. These intentions are further transformed into surface-constrained dynamic movement primitives (DMPs) through a similarity-based action mapping method, thereby enabling smooth and compliant motion execution. The SCP achieves generation of structured surface geometric intent and dynamically admissible actions. The proposed method is validated on multiple surface manipulation tasks and compared with existing techniques. The experimental results demonstrate superior task success rates and contact stability under surface constraints.

Yanjia Chen, Xiangfei Li, Huan Zhao et al.

This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achieves approximately global optimal solutions is developed. During the optimization process, the method strictly preserves the structural constraints of the calibration parameters and enables synchronized updates between calibration parameters. Recognizing that data used in real-word hand-eye calibration often contain uncertainty, especially in over-loading and large workspace industrial robot scenarios, which can significantly degrade accuracy, and accurately modeling such uncertainty is inherently difficult, this article avoids explicit uncertainty modeling. Instead, an uncertainty metric to evaluate the relative uncertainty between data sources is introduced and used to dynamically refine the iterative process. To further enhance convergence efficiency, an effective initial solution generation method that improves overall stability and accuracy is designed. Numerical simulations and real-world experiments validate the effectiveness of the proposed approach, and in synthetic datasets, the proposed approach improves the estimation accuracy by at least 67\% under high-uncertainty conditions compared with the existing methods.

Jiexin Zhang, Shu Xu, Chunguo Li et al.

Beamforming enhances signal strength and quality by focusing energy in specific directions. This capability is particularly crucial in cell-free integrated sensing and communication (ISAC) systems, where multiple distributed access points (APs) collaborate to provide both communication and sensing services. In this work, we first derive the distribution of joint target detection probabilities across multiple receiving APs under false alarm rate constraints, and then formulate the beam selection procedure as a Markov decision process (MDP). We establish a deep reinforcement learning (DRL) framework, in which reward shaping and sinusoidal embedding are introduced to facilitate agent learning. To eliminate the high costs and associated risks of real-time agent-environment interactions, we further propose a novel digital twin (DT)-assisted offline DRL approach. Different from traditional online DRL, a conditional generative adversarial network (cGAN)-based DT module, operating as a replica of the real world, is meticulously designed to generate virtual state-action transition pairs and enrich data diversity, enabling offline adjustment of the agent's policy. Additionally, we address the out-of-distribution issue by incorporating an extra penalty term into the loss function design. The convergency of agent-DT interaction and the upper bound of the Q-error function are theoretically derived. Numerical results demonstrate the remarkable performance of our proposed approach, which significantly reduces online interaction overhead while maintaining effective beam selection across diverse conditions including strict false alarm control, low signal-to-noise ratios, and high target velocities.

Iñigo Querejeta-Azurmendi, Panagiotis Papadopoulos, Matteo Varvello et al.

Recent studies show that 20.4% of the internet traffic originates from automated agents. To identify and block such ill-intentioned traffic, mechanisms that verify the humanness of the user are widely deployed, with CAPTCHAs being the most popular. Traditional CAPTCHAs require extra user effort (e.g., solving mathematical puzzles), which can severely downgrade the end-user's experience, especially on mobile, and provide sporadic humanness verification of questionable accuracy. More recent solutions like Google's reCAPTCHA v3, leverage user data, thus raising significant privacy concerns. To address these issues, we present zkSENSE: the first zero-knowledge proof-based humanness attestation system for mobile devices. zkSENSE moves the human attestation to the edge: onto the user's very own device, where humanness of the user is assessed in a privacy-preserving and seamless manner. zkSENSE achieves this by classifying motion sensor outputs of the mobile device, based on a model trained by using both publicly available sensor data and data collected from a small group of volunteers. To ensure the integrity of the process, the classification result is enclosed in a zero-knowledge proof of humanness that can be safely shared with a remote server. We implement zkSENSE as an Android service to demonstrate its effectiveness and practicality. In our evaluation, we show that zkSENSE successfully verifies the humanness of a user across a variety of attacking scenarios and demonstrates 92% accuracy. On a two years old Samsung S9, zkSENSE's attestation takes around 3 seconds (when visual CAPTCHAs need 9.8 seconds) and consumes a negligible amount of battery.