Shuai Zhang

Guoming Huang, Qingyi Zhou, Dianjing Liu et al.

Non-contact manipulation has emerged as a transformative approach across various industrial fields. However, current flexible 2D and 3D non-contact manipulation techniques are often limited to microscopic scales, typically controlling objects in the milligram range. In this paper, we present a magnetic levitation system, termed Maglev-Pentabot, designed to address this limitation. The Maglev-Pentabot leverages deep reinforcement learning (DRL) to develop complex control strategies for manipulating objects in the gram range. Specifically, we propose an electromagnet arrangement optimized through numerical analysis to maximize controllable space. Additionally, an action remapping method is introduced to address sample sparsity issues caused by the strong nonlinearity in magnetic field intensity, hence allowing the DRL controller to converge. Experimental results demonstrate flexible manipulation capabilities, and notably, our system can generalize to transport tasks it has not been explicitly trained for. Furthermore, our approach can be scaled to manipulate heavier objects using larger electromagnets, offering a reference framework for industrial-scale robotic applications.

Xu Wang, Jialang Xu, Shuai Zhang et al.

Stereo disparity estimation is crucial for obtaining depth information in robot-assisted minimally invasive surgery (RAMIS). While current deep learning methods have made significant advancements, challenges remain in achieving an optimal balance between accuracy, robustness, and inference speed. To address these challenges, we propose the StereoMamba architecture, which is specifically designed for stereo disparity estimation in RAMIS. Our approach is based on a novel Feature Extraction Mamba (FE-Mamba) module, which enhances long-range spatial dependencies both within and across stereo images. To effectively integrate multi-scale features from FE-Mamba, we then introduce a novel Multidimensional Feature Fusion (MFF) module. Experiments against the state-of-the-art on the ex-vivo SCARED benchmark demonstrate that StereoMamba achieves superior performance on EPE of 2.64 px and depth MAE of 2.55 mm, the second-best performance on Bad2 of 41.49% and Bad3 of 26.99%, while maintaining an inference speed of 21.28 FPS for a pair of high-resolution images (1280*1024), striking the optimum balance between accuracy, robustness, and efficiency. Furthermore, by comparing synthesized right images, generated from warping left images using the generated disparity maps, with the actual right image, StereoMamba achieves the best average SSIM (0.8970) and PSNR (16.0761), exhibiting strong zero-shot generalization on the in-vivo RIS2017 and StereoMIS datasets.

Zhengkun Tian, Jiangyan Yi, Ye Bai et al.

Transducer-based models, such as RNN-Transducer and transformer-transducer, have achieved great success in speech recognition. A typical transducer model decodes the output sequence conditioned on the current acoustic state and previously predicted tokens step by step. Statistically, The number of blank tokens in the prediction results accounts for nearly 90\% of all tokens. It takes a lot of computation and time to predict the blank tokens, but only the non-blank tokens will appear in the final output sequence. Therefore, we propose a method named fast-skip regularization, which tries to align the blank position predicted by a transducer with that predicted by a CTC model. During the inference, the transducer model can predict the blank tokens in advance by a simple CTC project layer without many complicated forward calculations of the transducer decoder and then skip them, which will reduce the computation and improve the inference speed greatly. All experiments are conducted on a public Chinese mandarin dataset AISHELL-1. The results show that the fast-skip regularization can indeed help the transducer model learn the blank position alignments. Besides, the inference with fast-skip can be speeded up nearly 4 times with only a little performance degradation.

Zhengkun Tian, Jiangyan Yi, Jianhua Tao et al.

Non-autoregressive transformer models have achieved extremely fast inference speed and comparable performance with autoregressive sequence-to-sequence models in neural machine translation. Most of the non-autoregressive transformers decode the target sequence from a predefined-length mask sequence. If the predefined length is too long, it will cause a lot of redundant calculations. If the predefined length is shorter than the length of the target sequence, it will hurt the performance of the model. To address this problem and improve the inference speed, we propose a spike-triggered non-autoregressive transformer model for end-to-end speech recognition, which introduces a CTC module to predict the length of the target sequence and accelerate the convergence. All the experiments are conducted on a public Chinese mandarin dataset AISHELL-1. The results show that the proposed model can accurately predict the length of the target sequence and achieve a competitive performance with the advanced transformers. What's more, the model even achieves a real-time factor of 0.0056, which exceeds all mainstream speech recognition models.