arXiv subjects

Kan Ding

Publications and source records attributed to Kan Ding.

5 recordsLinked to original sources

arXiv2026

TwinBridge: Digital Twin-Driven Policy and Reward Transfer for Real-World Reinforcement Learning in Laboratory Robotics

Online reinforcement learning offers an effective approach to precise laboratory manipulation, yet costly real-world demonstrations and limited access to dense process rewards hinder its practical application. We present TwinBridge, a digital twin-driven framework that supplies policy initialization and dense visual rewards for real-world online learning. We construct digital twins by combining 3D Gaussian splatting with physics simulation. Here, simulator states provide task events and geometric progress under physical prerequisites and ordering constraints, yielding rewards for policy pretraining with simulated demonstrations and reinforcement learning. We distill this supervision into a visual reward model. During real-world interaction, its predictions are combined with execution history to compute dense rewards for human-in-the-loop policy refinement. Across five real-world laboratory tasks, TwinBridge achieves a final mean autonomous success rate of 98% with at most 25 minutes of real-world interaction per task. Experiments show that dense rewards improve interaction efficiency over sparse rewards, and simulation-based policy initialization further accelerates learning.

cs.RO↗

arXiv2026

LingLanMedBench: A Unified Benchmark for Evaluating Large Language Models in Traditional Chinese Medicine

Reliable evaluation of large language models in traditional Chinese medicine remains limited because existing benchmarks mainly focus on examination-style question answering or isolated generative tasks. We developed LingLanMedBench, a unified benchmark comprising 25,620 expert-verified items across 13 subtasks and five domains, covering knowledge, language understanding, information extraction, and diagnostic-therapeutic decision-making. LingLanMedBench standardizes task formats and evaluation metrics and further incorporates synonym-tolerant clinical-label matching, empirically derived hard subsets, and decision-recognition reformulations of open-ended clinical tasks. Fourteen open-source and proprietary models were evaluated under a standardized zero-shot protocol. Performance varied substantially across domains, model families, task formulations, and difficulty levels. The leading overall score decreased from 51.1 on the full benchmark to 31.9 on the hard subsets. Prescription performance also differed markedly between open-ended generation, with F1 scores of 32.7 and 20.3, and decision recognition, with accuracies of 90.6 and 56.8 on the full and hard subsets, respectively. These findings reveal a substantial gap between knowledge-oriented performance and clinically faithful reasoning. LingLanMedBench provides a standardized and reproducible framework for characterizing current capabilities, identifying systematic limitations, and tracking meaningful progress in large language models for traditional Chinese medicine.

cs.AI↗

arXiv2026

DEFT-VLA: Stage-Localized Force Specialization for Contact-Rich Robotic Manipulation

Contact-rich manipulation poses a stage-dependent sensory conflict: vision and proprioception are essential for localization and approach, when force is largely uninformative and potentially distracting, whereas force becomes critical after contact, when irrelevant visual details and correlated robot states may become shortcuts. We propose DEFT-VLA (Dual-Expert Force-specialized Training for Vision-Language-Action Manipulation), which retains the task-adapted base expert for vision-dominated non-contact behavior and introduces a force-aware contact expert for critical contact stages, localizing force-conditioned adaptation to where it is needed. We further introduce a contact-localized force-attending curriculum that applies force-attending post-training only to the contact expert, progressively restoring vision and masking state tokens to suppress shortcuts. Real-robot experiments on pipette tip attachment, bimanual pipette aspiration, and whiteboard wiping show that DEFT-VLA effectively exploits force feedback to improve contact-stage performance while maintaining strong non-contact behavior and robustness to held-out grasp heights. It improves overall task success by 20-40 percentage points over the strongest baseline on each task.

cs.RO↗

arXiv2024

An Unobtrusive and Lightweight Ear-worn System for Continuous Epileptic Seizure Detection

Epilepsy is one of the most common neurological diseases globally (around 50 million people worldwide). Fortunately, up to 70% of people with epilepsy could live seizure-free if properly diagnosed and treated, and a reliable technique to monitor the onset of seizures could improve the quality of life of patients who are constantly facing the fear of random seizure attacks. The scalp-based EEG test, despite being the gold standard for diagnosing epilepsy, is costly, necessitates hospitalization, demands skilled professionals for operation, and is discomforting for users. In this paper, we propose EarSD, a novel lightweight, unobtrusive, and socially acceptable ear-worn system to detect epileptic seizure onsets by measuring the physiological signals from behind the user's ears. EarSD includes an integrated custom-built sensing-computing-communication PCB to collect and amplify the signals of interest, remove the noises caused by motion artifacts and environmental impacts, and stream the data wirelessly to the computer/mobile phone nearby, where data are uploaded to the host computer for further processing. We conducted both in-lab and in-hospital experiments with epileptic seizure patients who were hospitalized for seizure studies.

eess.SP↗

arXiv2024

Real-Time Diagnostic Integrity Meets Efficiency: A Novel Platform-Agnostic Architecture for Physiological Signal Compression

Head-based signals such as EEG, EMG, EOG, and ECG collected by wearable systems will play a pivotal role in clinical diagnosis, monitoring, and treatment of important brain disorder diseases. However, the real-time transmission of the significant corpus physiological signals over extended periods consumes substantial power and time, limiting the viability of battery-dependent physiological monitoring wearables. This paper presents a novel deep-learning framework employing a variational autoencoder (VAE) for physiological signal compression to reduce wearables' computational complexity and energy consumption. Our approach achieves an impressive compression ratio of 1:293 specifically for spectrogram data, surpassing state-of-the-art compression techniques such as JPEG2000, H.264, Direct Cosine Transform (DCT), and Huffman Encoding, which do not excel in handling physiological signals. We validate the efficacy of the compressed algorithms using collected physiological signals from real patients in the Hospital and deploy the solution on commonly used embedded AI chips (i.e., ARM Cortex V8 and Jetson Nano). The proposed framework achieves a 91% seizure detection accuracy using XGBoost, confirming the approach's reliability, practicality, and scalability.

eess.SP↗