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Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and easy-to-fabricate soft bending joint with tunable properties remains an active problem of research. In this work, we demonstrate an inflatable actuation module for soft robots with a defined bending plane enabled by forced partial wrinkling. This lowers the structural stiffness in the bending direction, with the final stiffness easily designed by the ratio of wrinkled and unwrinkled regions. We present models and experimental characterization showing the stiffness properties of the actuation module, as well as its ability to maintain the kinematic constraint over a large range of loading conditions. We demonstrate the potential for complex actuation in a soft continuum robot and for decoupling actuation force and efficiency from load capacity. The module provides a novel method for embedding intelligent actuation into soft pneumatic robots.

Recent advancements in medical vision-language pre-training (MedVLP) have significantly enhanced zero-shot medical vision tasks such as image classification by leveraging large-scale medical image-text pair pre-training. However, the performance of these tasks can be heavily influenced by the variability in textual prompts describing the categories, necessitating robustness in MedVLP models to diverse prompt styles. Yet, this sensitivity remains underexplored. In this work, we are the first to systematically assess the sensitivity of three widely-used MedVLP methods to a variety of prompts across 15 different diseases. To achieve this, we designed six unique prompt styles to mirror real clinical scenarios, which were subsequently ranked by interpretability. Our findings indicate that all MedVLP models evaluated show unstable performance across different prompt styles, suggesting a lack of robustness. Additionally, the models' performance varied with increasing prompt interpretability, revealing difficulties in comprehending complex medical concepts. This study underscores the need for further development in MedVLP methodologies to enhance their robustness to diverse zero-shot prompts., Comment: Accepted by NeurIPS'24 Advancements In Medical Foundation Models: Explainability, Robustness, Security, and Beyond Workshop

With increasingly more powerful compute capabilities and resources in today's devices, traditionally compute-intensive automatic speech recognition (ASR) has been moving from the cloud to devices to better protect user privacy. However, it is still challenging to implement on-device ASR on resource-constrained devices, such as smartphones, smart wearables, and other smart home automation devices. In this paper, we propose a series of model architecture adaptions, neural network graph transformations, and numerical optimizations to fit an advanced Conformer based end-to-end streaming ASR system on resource-constrained devices without accuracy degradation. We achieve over 5.26 times faster than realtime (0.19 RTF) speech recognition on smart wearables while minimizing energy consumption and achieving state-of-the-art accuracy. The proposed methods are widely applicable to other transformer-based server-free AI applications. In addition, we provide a complete theory on optimal pre-normalizers that numerically stabilize layer normalization in any Lp-norm using any floating point precision.

Recent deep multi-view stereo (MVS) methods have widely incorporated transformers into cascade network for high-resolution depth estimation, achieving impressive results. However, existing transformer-based methods are constrained by their computational costs, preventing their extension to finer stages. In this paper, we propose a novel cross-scale transformer (CT) that processes feature representations at different stages without additional computation. Specifically, we introduce an adaptive matching-aware transformer (AMT) that employs different interactive attention combinations at multiple scales. This combined strategy enables our network to capture intra-image context information and enhance inter-image feature relationships. Besides, we present a dual-feature guided aggregation (DFGA) that embeds the coarse global semantic information into the finer cost volume construction to further strengthen global and local feature awareness. Meanwhile, we design a feature metric loss (FM Loss) that evaluates the feature bias before and after transformation to reduce the impact of feature mismatch on depth estimation. Extensive experiments on DTU dataset and Tanks and Temples (T\&T) benchmark demonstrate that our method achieves state-of-the-art results. Code is available at https://github.com/wscstrive/CT-MVSNet., Comment: Accepted at the 30th International Conference on Multimedia Modeling(MMM'24 Oral)

Background: In modern software systems, more and more systems are written in multiple programming languages (PLs). There is no comprehensive investigation on the phenomenon of multi-programming-language (MPL) bugs, which resolution involves source files written in multiple PLs. Aim: This work investigated the characteristics of bug resolution in MPL software systems and explored the reasons why bug resolution involves multiple PLs. Method: We conducted an empirical study on 54 MPL projects selected from 655 Apache OSS projects, of which 66,932 bugs were analyzed. Results: (1) the percentage of MPL bugs (MPLBs) in the selected projects ranges from 0.17% to 42.26%, and the percentage of MPLBs for all projects as a whole is 10.01%; (2) 95.0% and 4.5% of all the MPLBs involve source files written in 2 and 3 PLs, respectively; (3) the change complexity resolution characteristics of MPLBs tend to be higher than those of single-programming-language bugs (SPLBs); (4) the open time for MPLBs is 19.52% to 529.57% significantly longer than SPLBs regarding 9 PL combinations; (5) the reopen rate of bugs involving the PL combination of JavaScript and Python reaches 20.66%; (6) we found 6 causes why the bug resolution involves multiple PLs and identified 5 cross-language calling mechanisms. Conclusion: MPLBs are related to increased development difficulty., Comment: The 17th ACM/IEEE International Symposium on Empirical Software Engineering and Measurement (ESEM)

Deep learning frameworks (DLFs) have been playing an increasingly important role in this intelligence age since they act as a basic infrastructure for an increasingly wide range of AIbased applications. Meanwhile, as multi-programming-language (MPL) software systems, DLFs are inevitably suffering from bugs caused by the use of multiple programming languages (PLs). Hence, it is of paramount significance to understand the bugs (especially the bugs involving multiple PLs, i.e., MPL bugs) of DLFs, which can provide a foundation for preventing, detecting, and resolving bugs in the development of DLFs. To this end, we manually analyzed 1497 bugs in three MPL DLFs, namely MXNet, PyTorch, and TensorFlow. First, we classified bugs in these DLFs into 12 types (e.g., algorithm design bugs and memory bugs) according to their bug labels and characteristics. Second, we further explored the impacts of different bug types on the development of DLFs, and found that deployment bugs and memory bugs negatively impact the development of DLFs in different aspects the most. Third, we found that 28.6%, 31.4%, and 16.0% of bugs in MXNet, PyTorch, and TensorFlow are MPL bugs, respectively; the PL combination of Python and C/C++ is most used in fixing more than 92% MPL bugs in all DLFs. Finally, the code change complexity of MPL bug fixes is significantly greater than that of single-programming-language (SPL) bug fixes in all the three DLFs, while in PyTorch MPL bug fixes have longer open time and greater communication complexity than SPL bug fixes. These results provide insights for bug management in DLFs., Comment: The 31st IEEE/ACM International Conference on Program Comprehension (ICPC)

Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and controlling pneumatic actuators via end geometry. We demonstrate a novel actuator class, named the folded Pneumatic Artificial Muscle (foldPAM), which features a thin-filmed air pouch that is symmetrically folded on each side. Varying the folded portion of the actuator changes the end constraints and, hence, the force-strain relationships. We investigated this change experimentally by measuring the force-strain relationship of individual foldPAM units with various lengths and amounts of folding. In addition to static-geometry units, an actuated foldPAM device was designed to produce continuous, on-demand adjustment of the end geometry, enabling closed-loop position control while maintaining constant pressure. Experiments with the device indicate that geometry control allows access to different areas on the force-strain plane and that closed-loop geometry control can achieve errors within 0.5% of the actuation range., Comment: Manuscript accepted by IEEE Robotics and Automation Letters, available on IEEE Xplore