Jing Du

Hengxu You, Yang Ye, Tianyu Zhou et al.

Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in realizing the full potential of these robotic systems is the need for effective and efficient sequence planning for construction tasks. Current approaches, including mathematical and heuristic techniques or machine learning methods, face limitations in their adaptability and scalability to dynamic construction environments. To expand the ability of the current robot system in sequential understanding, this paper introduces RoboGPT, a novel system that leverages the advanced reasoning capabilities of ChatGPT, a large language model, for automated sequence planning in robot-based assembly applied to construction tasks. The proposed system adapts ChatGPT for construction sequence planning and demonstrate its feasibility and effectiveness through experimental evaluation including Two case studies and 80 trials about real construction tasks. The results show that RoboGPT-driven robots can handle complex construction operations and adapt to changes on the fly. This paper contributes to the ongoing efforts to enhance the capabilities and performance of robot-based assembly systems in the construction industry, and it paves the way for further integration of large language model technologies in the field of construction robotics.

Hengxu You, Tianyu Zhou, Jing Du

Robots engaged in complex manipulation tasks require robust material property recognition to ensure adaptability and precision. Traditionally, visual data has been the primary source for object perception; however, it often proves insufficient in scenarios where visibility is obstructed or detailed observation is needed. This gap highlights the necessity of tactile sensing as a complementary or primary input for material recognition. Tactile data becomes particularly essential in contact-rich, small-scale manipulations where subtle deformations and surface interactions cannot be accurately captured by vision alone. This letter presents a novel approach leveraging a temporal binding foundation model for tactile sequence understanding to enhance material property recognition. By processing tactile sensor data with a temporal focus, the proposed system captures the sequential nature of tactile interactions, similar to human fingertip perception. Additionally, this letter demonstrates that, through tailored and specific design, the foundation model can more effectively capture temporal information embedded in tactile sequences, advancing material property understanding. Experimental results validate the model's capability to capture these temporal patterns, confirming its utility for material property recognition in visually restricted scenarios. This work underscores the necessity of embedding advanced tactile data processing frameworks within robotic systems to achieve truly embodied and responsive manipulation capabilities.

Jing Du, Shiliang Pu, Qinbo Dong et al.

Although modern automatic speech recognition (ASR) systems can achieve high performance, they may produce errors that weaken readers' experience and do harm to downstream tasks. To improve the accuracy and reliability of ASR hypotheses, we propose a cross-modal post-processing system for speech recognizers, which 1) fuses acoustic features and textual features from different modalities, 2) joints a confidence estimator and an error corrector in multi-task learning fashion and 3) unifies error correction and utterance rejection modules. Compared with single-modal or single-task models, our proposed system is proved to be more effective and efficient. Experiment result shows that our post-processing system leads to more than 10% relative reduction of character error rate (CER) for both single-speaker and multi-speaker speech on our industrial ASR system, with about 1.7ms latency for each token, which ensures that extra latency introduced by post-processing is acceptable in streaming speech recognition.