arXiv subjects

Haotian Guo

Publications and source records attributed to Haotian Guo.

17 recordsLinked to original sources

arXiv2026

MagCilia: A Compact Magnetociliary Tactile Sensor with 3D Force Sensing for Robotic Contact Perception and Grasping Feedback

Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact. Here, we present a compact magnetociliary tactile sensor (MagCilia) that combines a flexible magnetic-cilia structure with a Hall sensor for 3D force sensing. Quasi-static finite element analysis is used to investigate structural deformation and magnetic responses under multidirectional loading. To reconstruct forces from the coupled magnetic channels, we propose causal history fusion regression (CHFR), which combines current magnetic-field measurements with their recent changes. Five-fold cross-validation grouped by calibration record yields root-mean-square errors of 0.40, 0.57, and 0.69 N for Fx, Fy, and Fz, respectively, with corresponding coefficients of determination of 0.93, 0.90, and 0.92. Robotic experiments demonstrate tangential-force-guided gripper adjustment and multi-axis load monitoring under external perturbations. Frequency-domain features of the reconstructed forces distinguish six surface categories with 99.39% accuracy in three-fold cross-validation grouped by acquisition session. An online robotic demonstration additionally identifies all six tested surfaces. These results demonstrate 3D force reconstruction, grasping feedback, and surface recognition using a single compact tactile unit.

cs.RO↗

arXiv2026

MagPillar: A Soft Magnetopillar Array Tactile Sensor for Robotic Surface Perception

Robotic surface exploration benefits from tactile interfaces that accommodate contact and capture variations in surface characteristics. Herein, we report MagPillar, a tactile sensor inspired by spider tactile hairs that combines a magnetic pillar array with three-axis Hall sensing. A full-array mechanical and magnetic-field model characterizes how pillar deformation affects the superposed fields measured across the array, providing a physical basis for interpreting its contact responses. The compliant pillar architecture translates contact with surface textures and geometric features into distinct magnetic response patterns. Then, in robotic surface perception experiments, spectral features and logistic regression distinguish six material surfaces with an offline accuracy of 99.34% under within-session temporally blocked cross-validation. Continuous scans over periodic protrusions produce amplitude and peak-spacing variations consistent with changes in surface geometry. These findings connect compliant contact mechanics with distributed magnetic sensing, paving a new path for material recognition and qualitative surface-profile perception.

cs.RO↗

arXiv2026

A fully articulated humanoid dexterous hand with human-level joint structure enabled by linkage-based actuation

Humanoid dexterous hands are a core component of embodied intelligence, enabling robots to translate high-level intent into rich and adaptive physical interaction. However, existing designs remain constrained by a persistent trade-off among anthropomorphic kinematic complexity, mechanical robustness, load capacity and control simplicity, limiting dexterous manipulation in unstructured environments. Here we present Torch-Hand, a fully articulated humanoid dexterous hand that replicates the joint structure and motion hierarchy of the human hand with 21 degrees of freedom (DOF), comprising a highly articulated five-DOF thumb and four DOF in each of the remaining fingers. The differentiated thumb integrates multi-axis CMC motion to provide broad opposition and flexible contact orientation relative to the four fingers. Unlike tendon-driven or hybrid actuation approaches, Torch-Hand adopts an entirely linkage-based transmission architecture. By integrating screw-linkage actuation, the hand achieves high grasping force and substantial payload capacity while maintaining a compact anthropomorphic form. Its actuation architecture is optimized for control tractability, with all actuators integrated within the palm and arranged in a serial-robot-like configuration that establishes a direct correspondence between motor motion and joint kinematics. This architecture mechanically decouples functional DOF to reduce unintended inter-joint motion propagation, while allowing independently addressable DOF to be actively coordinated into coupled multi-joint motion patterns during complex manipulation. Comprehensive experiments assess reachable workspace, coordinated fingertip trajectories, thumb opposition, 33-grasp taxonomy coverage, grasping force, payload capacity and task-level manipulation. These results establish Torch-Hand as a robust hardware foundation for dexterous embodied manipulation.

cs.RO↗

arXiv2026

SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing

Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low computational overhead remains challenging. This work presents SpectraTac, a compact, camera-free optical tactile sensor that combines active red--green--blue (RGB) illumination with spatially distributed color sensing. Contact deforms a compliant transparent elastomer and modulates its internal light field, producing spatially differentiated changes in color and intensity. Three distributed color sensors capture these responses as low-dimensional spatio-spectral features, avoiding cameras, imaging optics, and high-dimensional image processing. The device measures 19.2 mm in diameter and 4 mm in height, with a material cost below USD~5. A data-driven decoding framework simultaneously estimates three-dimensional (3D) force and the contact region from the optical measurements. For 3D force prediction, the sensor achieved mean absolute errors (MAEs) of 0.161, 0.164, and 0.429 N along the x-, y-, and z-axes, respectively. The nine-region contact-classification accuracy was 99.9%. We further evaluated real-time 3D force tracking and contact-region-based human--machine interaction through an interactive control task. These results indicate that distributed color-resolved optical sensing offers a compact, low-cost alternative to camera-based tactile sensing for robotics, wearable sensing, and interactive systems.

cs.RO↗

arXiv2026

Bridging the phenotype-target gap for molecular generation via multi-objective reinforcement learning

The de novo generation of drug-like molecules capable of inducing desirable phenotypic changes is receiving increasing attention. However, previous methods predominantly rely on expression profiles to guide molecule generation, but overlook the perturbative effect of the molecules on cellular contexts. To overcome this limitation, we propose SmilesGEN, a novel generative model based on variational autoencoder (VAE) architecture to generate molecules with potential therapeutic effects. SmilesGEN integrates a pre-trained drug VAE (SmilesNet) with an expression profile VAE (ProfileNet), jointly modeling the interplay between drug perturbations and transcriptional responses in a common latent space. Specifically, ProfileNet is imposed to reconstruct pre-treatment expression profiles when eliminating drug-induced perturbations in the latent space, while SmilesNet is informed by desired expression profiles to generate drug-like molecules. Our empirical experiments demonstrate that SmilesGEN outperforms current state-of-the-art models in generating molecules with higher degree of validity, uniqueness, novelty, as well as higher Tanimoto similarity to known ligands targeting the relevant proteins. Moreover, we evaluate SmilesGEN for scaffold-based molecule optimization and generation of therapeutic agents, and confirmed its superior performance in generating molecules with higher similarity to approved drugs. SmilesGEN establishes a robust framework that leverages gene signatures to generate drug-like molecules that hold promising potential to induce desirable cellular phenotypic changes. The source code and datasets are available at: https://github.com/hliulab/SmilesGEN.

cs.LG↗

arXiv2025

SACodec: Asymmetric Quantization with Semantic Anchoring for Low-Bitrate High-Fidelity Neural Speech Codecs

Neural Speech Codecs face a fundamental trade-off at low bitrates: preserving acoustic fidelity often compromises semantic richness. To address this, we introduce SACodec, a novel codec built upon an asymmetric dual-quantizer that employs our proposed Semantic Anchoring mechanism. This design strategically decouples the quantization of Semantic and Acoustic details. The semantic anchoring is achieved via a lightweight projector that aligns acoustic features with a frozen, large-scale mHuBERT codebook, injecting linguistic priors while guaranteeing full codebook utilization. Sequentially, for acoustic details, a residual activation module with SimVQ enables a single-layer quantizer (acoustic path) to faithfully recover fine-grained information. At just 1.5 kbps, SACodec establishes a new state of the art by excelling in both fidelity and semantics: subjective listening tests confirm that its reconstruction quality is perceptually highly comparable to ground-truth audio, while its tokens demonstrate substantially improved semantic richness in downstream tasks.

cs.SD↗

arXiv2025

Foundation Model-based Evaluation of Neuropsychiatric Disorders: A Lifespan-Inclusive, Multi-Modal, and Multi-Lingual Study

Neuropsychiatric disorders, such as Alzheimer's disease (AD), depression, and autism spectrum disorder (ASD), are characterized by linguistic and acoustic abnormalities, offering potential biomarkers for early detection. Despite the promise of multi-modal approaches, challenges like multi-lingual generalization and the absence of a unified evaluation framework persist. To address these gaps, we propose FEND (Foundation model-based Evaluation of Neuropsychiatric Disorders), a comprehensive multi-modal framework integrating speech and text modalities for detecting AD, depression, and ASD across the lifespan. Leveraging 13 multi-lingual datasets spanning English, Chinese, Greek, French, and Dutch, we systematically evaluate multi-modal fusion performance. Our results show that multi-modal fusion excels in AD and depression detection but underperforms in ASD due to dataset heterogeneity. We also identify modality imbalance as a prevalent issue, where multi-modal fusion fails to surpass the best mono-modal models. Cross-corpus experiments reveal robust performance in task- and language-consistent scenarios but noticeable degradation in multi-lingual and task-heterogeneous settings. By providing extensive benchmarks and a detailed analysis of performance-influencing factors, FEND advances the field of automated, lifespan-inclusive, and multi-lingual neuropsychiatric disorder assessment. We encourage researchers to adopt the FEND framework for fair comparisons and reproducible research.

cs.CL↗

arXiv2025

DEBATE: A Dataset for Disentangling Textual Ambiguity in Mandarin Through Speech

Despite extensive research on textual and visual disambiguation, disambiguation through speech (DTS) remains underexplored. This is largely due to the lack of high-quality datasets that pair spoken sentences with richly ambiguous text. To address this gap, we present DEBATE, a unique public Chinese speech-text dataset designed to study how speech cues and patterns-pronunciation, pause, stress and intonation-can help resolve textual ambiguity and reveal a speaker's true intent. DEBATE contains 1,001 carefully selected ambiguous utterances, each recorded by 10 native speakers, capturing diverse linguistic ambiguities and their disambiguation through speech. We detail the data collection pipeline and provide rigorous quality analysis. Additionally, we benchmark three state-of-the-art large speech and audio-language models, illustrating clear and huge performance gaps between machine and human understanding of spoken intent. DEBATE represents the first effort of its kind and offers a foundation for building similar DTS datasets across languages and cultures. The dataset and associated code are available at: https://github.com/SmileHnu/DEBATE.

cs.CL↗

arXiv2024

Debatts: Zero-Shot Debating Text-to-Speech Synthesis

In debating, rebuttal is one of the most critical stages, where a speaker addresses the arguments presented by the opposing side. During this process, the speaker synthesizes their own persuasive articulation given the context from the opposing side. This work proposes a novel zero-shot text-to-speech synthesis system for rebuttal, namely Debatts. Debatts takes two speech prompts, one from the opposing side (i.e. opponent) and one from the speaker. The prompt from the opponent is supposed to provide debating style prosody, and the prompt from the speaker provides identity information. In particular, we pretrain the Debatts system from in-the-wild dataset, and integrate an additional reference encoder to take debating prompt for style. In addition, we also create a debating dataset to develop Debatts. In this setting, Debatts can generate a debating-style speech in rebuttal for any voices. Experimental results confirm the effectiveness of the proposed system in comparison with the classic zero-shot TTS systems.

eess.AS↗

arXiv2024

GelSight FlexiRay: Breaking Planar Limits by Harnessing Large Deformations for Flexible,Full-Coverage Multimodal Sensing

The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tactile sensors realize high-resolution, large-area tactile perception with affordable cameras. However, conventional visual-tactile sensors rely heavily on rigid forms, sacrificing finger compliance and sensing regions to achieve localized tactile feedback. Enabling seamless, large-area tactile sensing in soft grippers remains challenging, as deformations inherent to soft structures can obstruct the optical path and restrict the camera's field of view. To address these, we present Gelsight FlexiRay, a multimodal visual-tactile sensor designed for safe and compliant interactions with substantial structural deformation through integration with Finray Effect grippers. First, we adopt a multi-mirror configuration, which is systematically modeled and optimized based on the physical force-deformation characteristics of FRE grippers. Second, we enhanced Gelsight FlexiRay with human-like multimodal perception, including contact force and location, proprioception, temperature, texture, and slippage. Experiments demonstrate Gelsight FlexiRay's robust tactile performance across diverse deformation states, achieving a force measurement accuracy of 0.14 N and proprioceptive positioning accuracy of 0.19 mm. Compared with state of art compliant VTS, the FlexiRay demonstrates 5 times larger structural deformation under the same loads. Its expanded sensing area and ability to distinguish contact information and execute grasping and classification tasks highlights its potential for versatile, large-area multimodal tactile sensing integration within soft robotic systems. This work establishes a foundation for flexible, high-resolution tactile sensing in compliant robotic applications.

cs.RO↗

arXiv2024

MaskGCT: Zero-Shot Text-to-Speech with Masked Generative Codec Transformer

The recent large-scale text-to-speech (TTS) systems are usually grouped as autoregressive and non-autoregressive systems. The autoregressive systems implicitly model duration but exhibit certain deficiencies in robustness and lack of duration controllability. Non-autoregressive systems require explicit alignment information between text and speech during training and predict durations for linguistic units (e.g. phone), which may compromise their naturalness. In this paper, we introduce Masked Generative Codec Transformer (MaskGCT), a fully non-autoregressive TTS model that eliminates the need for explicit alignment information between text and speech supervision, as well as phone-level duration prediction. MaskGCT is a two-stage model: in the first stage, the model uses text to predict semantic tokens extracted from a speech self-supervised learning (SSL) model, and in the second stage, the model predicts acoustic tokens conditioned on these semantic tokens. MaskGCT follows the mask-and-predict learning paradigm. During training, MaskGCT learns to predict masked semantic or acoustic tokens based on given conditions and prompts. During inference, the model generates tokens of a specified length in a parallel manner. Experiments with 100K hours of in-the-wild speech demonstrate that MaskGCT outperforms the current state-of-the-art zero-shot TTS systems in terms of quality, similarity, and intelligibility. Audio samples are available at https://maskgct.github.io/. We release our code and model checkpoints at https://github.com/open-mmlab/Amphion/blob/main/models/tts/maskgct.

cs.SD↗

arXiv2024

The Stiffness of 3-PRS PM Across Parasitic and Orientational Workspace

This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3-PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. Despite the wealth of research on these robotic manipulators, no previous work has demonstrated their stiffness performance within the parasitic motion space. Such an undesired motion influences their stiffness properties, as stiffness is configuration-dependent. Addressing this gap, this paper develops a stiffness model that accounts for both the velocity-level parasitic motion space and the regular workspace. Numerical simulations are provided to illustrate the stiffness characteristics of the manipulator across all considered spaces. The results indicate that the stiffness profile within the parasitic motion space is both shallower and the values are smaller when compared to the stiffness distribution across the orientation workspace. This implies that evaluating a manipulator's performance adequately requires assessing its ability to resist external loads during parasitic motion. Therefore, comprehending this aspect is crucial for redesigning components to enhance overall stiffness.

cs.RO↗

arXiv2024

Theoretical Modeling and Bio-inspired Trajectory Optimization of A Multiple-locomotion Origami Robot

Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these compliant robots are predominantly iterated through experiments, lacking a solid theoretical foundation. To improve their efficiency, this paper aims to provide mathematics modeling over two locomotion, crawling and swimming. Specifically, a dynamic model is first devised to reveal the influence of the contact surfaces' frictional coefficients on displacements in different motion phases. Besides, a swimming kinematics model is provided using coordinate transformation, based on which, we further develop an algorithm that systematically plans human-like swimming gaits, with maximum thrust obtained. The proposed algorithm is highly generalizable and has the potential to be applied in other soft robots with multiple joints. Simulation experiments have been conducted to illustrate the effectiveness of the proposed modeling.

cs.RO↗

arXiv2024

Under-actuated Robotic Gripper with Multiple Grasping Modes Inspired by Human Finger

Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making widespread applications limited. To better relieve relevant research gaps, we present a novel 3-finger linkage-based gripper that realizes retractable and reconfigurable multi-mode grasps driven by a single motor. Firstly, inspired by the changes that occurred in the contact surface with a human finger moving, we artfully design a slider-slide rail mechanism as the phalanx to achieve retraction of each finger, allowing for better performance in the enveloping grasping mode. Secondly, a reconfigurable structure is constructed to broaden the grasping range of objects' dimensions for the proposed gripper. By adjusting the configuration and gesture of each finger, the gripper can achieve five grasping modes. Thirdly, the proposed gripper is just actuated by a single motor, yet it can be capable of grasping and reconfiguring simultaneously. Finally, various experiments on grasps of slender, thin, and large-volume objects are implemented to evaluate the performance of the proposed gripper in practical scenarios, which demonstrates the excellent grasping capabilities of the gripper.

cs.RO↗

arXiv2024

Energy Localization in Spherical Non-Hermitian Topolectrical Circuits

This work delves into the energy localization in non-Hermitian systems, particularly focusing on the effects of topological defects in spherical models. We analyze the mode distribution changes in non-Hermitian Su-Schrieffer-Heeger (SSH) chains impacted by defects, utilizing the Maximum Skin Corner Weight (MaxWSC). By introducing an innovative spherical model, conceptualized through bisecting spheres into one-dimensional chain structures, we investigate the non-Hermitian skin effect (NHSE) in a new dimensional context, venturing into the realm of non-Euclidean geometry. Our experimental validations on Printed Circuit Boards (PCBs) confirm the theoretical findings. Collectively, these results not only validate our theoretical framework but also demonstrate the potential of engineered circuit systems to emulate complex non-Hermitian phenomena, showcasing the applicability of non-Euclidean geometries in studying NHSE and topological phenomena in non-Hermitian systems.

physics.app-ph↗

arXiv2023

Theoretical Model Construction of Deformation-Force for Soft Grippers Part II: Displacement Control Based Intrinsic Force Sensing

Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually maps the shape deformation and contact force. Part I of this article has constructed the force-displacement relationship for design optimization through the co-rotational theory. In Part II, we further devise a displacement-force mathematical model, enabling the compliant gripper to precisely estimate contact force from deformations sensor-free. The presented displacement-force model elaborately investigates contact forces and provides force feedback for a force control system of a gripper, where deformation appears as displacements in contact points. Afterward, simulation experiments are conducted to evaluate the performance of the proposed model through comparisons with the finite-element analysis (FEA) in Ansys. Simulation results reveal that the proposed model accurately estimates contact force, with an average error of around 3% and 4% for single or multiple node cases, respectively, regardless of various design parameters (Part I of this article is released in Arxiv1)

cs.RO↗

arXiv2023

Theoretical Model Construction of Deformation-Force for Soft Grippers Part I: Co-rotational Modeling and Force Control for Design Optimization

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship between shape deformation and contact force for such grippers, the Fin-Ray grippers as an example, remains stagnant to date. To address this research gap, this article devises, presents, and experimentally validates a universal bidirectional force-displacement mathematical model for compliant grippers based on the co-rotational concept, which endows such grippers with an intrinsic force sensing capability and offers a better insight into the design optimization. In Part I of the article, we introduce the fundamental theory of the co-rotational approach, where arbitrary large deformation of beam elements can be modeled. Its intrinsic principle allows taking materials with varying stiffness, various connection types, and key design parameters into consideration with few assumptions. Further, the force-displacement relationship is numerically derived, providing accurate displacement estimations of the gripper under external forces with minor computational loads. The performance of the proposed method is experimentally verified through comparison with Finite Element Analysis (FEA) in simulation, obtaining a fair degree of accuracy (6%), and design optimization of Fin-Ray grippers is systematically investigated. Part II of this article demonstrating the force sensing capabilities and the effects of representative co-rotational modeling parameters on model accuracy is released in Arxiv.

cs.RO↗