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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
A Deep Learning Sequential Decoder for Transient High-Den...
Golara Ahmadi Azar, Qin Hu, Melika Emami, Alyson Fletcher, Sunde · 2023-09-23 · via cs.RO updates on arXiv.org

Hand gesture recognition (HGR) has gained significant attention due to the increasing use of AI-powered human-computer interfaces that can interpret the deep spatiotemporal dynamics of biosignals from the peripheral nervous system, such as surface electromyography (sEMG). These interfaces have a range of applications, including the control of extended reality, agile prosthetics, and exoskeletons. However, the natural variability of sEMG among individuals has led researchers to focus on subject-specific solutions. Deep learning methods, which often have complex structures, are particularly data-hungry and can be time-consuming to train, making them less practical for subject-specific applications. In this paper, we propose and develop a generalizable, sequential decoder of transient high-density sEMG (HD-sEMG) that achieves 73% average accuracy on 65 gestures for partially-observed subjects through subject-embedded transfer learning, leveraging pre-knowledge of HGR acquired during pre-training. The use of transient HD-sEMG before gesture stabilization allows us to predict gestures with the ultimate goal of counterbalancing system control delays. The results show that the proposed generalized models significantly outperform subject-specific approaches, especially when the training data is limited, and there is a significant number of gesture classes. By building on pre-knowledge and incorporating a multiplicative subject-embedded structure, our method comparatively achieves more than 13% average accuracy across partially observed subjects with minimal data availability. This work highlights the potential of HD-sEMG and demonstrates the benefits of modeling common patterns across users to reduce the need for large amounts of data for new users, enhancing practicality.