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Hanting Suo

Publications and source records attributed to Hanting Suo.

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Checkpoint Selection and Evaluation in EEG Emotion Recognition

Checkpoint selection can improve an electroencephalography (EEG) emotion-recognition score without improving performance on other trials. We compared selection and scoring on disjoint trial pools along fixed training trajectories. A same-session SEED study comprised 300 trajectories from 15 participants, two models and five trial-role rotations. Another 276 trajectories extended the comparison to separate training, validation and target sessions in SEED, SEED-IV and SEED-V, with 15, 15 and 16 participants, respectively. Increasing the candidate set from five to 80 checkpoints raised the same-session dynamical graph convolutional neural network (DGCNN) selection-pool score by 6.24 percentage points, while the other-pool change was -1.24 (descriptive 95% participant-bootstrap interval -2.67 to 0.26). Under the cross-session design, DGCNN retained gains of 4.47 [1.79, 7.25], 4.27 [2.00, 6.53] and 2.75 [0.79, 4.78] points across the three datasets. Multilayer perceptron results varied across datasets. Common-time-range analysis and trial-level scoring supported the respective patterns. Both target pools supplied labels for symmetric checkpoint selection; these results concern retention across trials, not evaluation without target labels. Complete policy curves and executable reconstruction support reporting selected-score improvements alongside performance on other trials, rather than assuming a universal penalty for checkpoint search.

cs.LG

Stop to Decide: Latency-Aware Proprioceptive Navigation Primitives for Mapping-Free Quadruped Inspection

Onboard quadruped inspection systems often share limited compute between perception and navigation, reducing the rate at which event-triggered controllers evaluate proprioceptive signals. We study this latency in stair-summit detection and propose a climb--settle ``stop-to-decide'' cadence for structured, mapping-free inspection. On a Unitree Go2, the integrated stair loop ran at $\approx$15 Hz. On a three-level stepped platform whose 50 cm top was shorter than the robot, continuous-climb overshoot increased with per-period advance $v/f$, whereas the climb--settle cadence held observed overshoot near zero (22/45 vs 1/45 pooled over $\approx$30/20/15 Hz; Fisher $p\approx2.4\times10^{-7}$). A logistic dose--response model gives a model-based critical rate of $\approx$19 Hz at 0.30 m/s; a pre-specified 40 Hz held-out check was consistent with the protocol-clean fit. We integrated the detector with line following and a three-segment 90$^\circ$ corridor maneuver in a fully onboard, learning-free stack using an IMU, foot-force sensing, three 1-D ranges, and one line camera. The corridor maneuver completed 20/20 trials without contact, compared with 14/20 completions and 12 wall contacts for in-place yaw; the full course completed 18/20 trials. Results are limited to one calibrated course, robot, and operator but identify loop rate as a deployment parameter for proprioceptive event detection.

cs.RO