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Lin Zhang

Publications and source records attributed to Lin Zhang.

2 recordsLinked to original sources

Cleaner Speech, Weaker Generalization: Revisiting Pitt-Derived Benchmarks for Alzheimer's Disease Detection

Speech-based Alzheimer's disease (AD) detection increasingly relies on speech-enhanced and curated versions of the Pitt Corpus, where speech enhancement, sample selection, and demographic balancing are often treated as beneficial preprocessing steps. However, whether these transformations improve real-world AD detection or instead affect model generalization and prediction behavior remains unclear. In this work, we revisit the role of speech preprocessing and dataset curation across widely used benchmarks for speech-based AD detection. We evaluate the speech quality of different datasets, the cross-dataset generalization of multiple deep learning models under matched and mismatched enhancement settings, and the behavior of several recent large audio-language models (LALMs). Experimental results show that across multiple supervised speech models, speech-enhanced datasets often improve in-domain performance while reducing robustness in cross-domain evaluation. Matched enhancement between training and test data alleviates, but does not eliminate, this degradation. LALMs show a similar sensitivity: enhanced datasets induce stronger class imbalance and prediction shifts than unprocessed data. These results suggest that speech preprocessing and dataset curation can substantially influence downstream AD detection behavior, indicating that ``cleaner'' speech datasets are not necessarily more reliable for real-world AD detection.

cs.SD

From Multi-Modal Paths to Executable Trajectories: A Trajectory Planning Framework for 4WIS Robots

Four-wheel independent steering (4WIS) mobile robots support multiple motion modes, offering high maneuverability in narrow and complex environments. However, existing planning methods often fail to fully exploit these capabilities, leading to suboptimal trajectory quality. To address this limitation, this paper proposes a multi-modal global trajectory planning framework that couples mode-augmented front-end search with mode-consistent segment-wise trajectory optimization. In the front-end stage, Hybrid A* is extended to a four-dimensional state space incorporating motion modes, while mode-switching-aware cost and heuristic functions embed mode decisions into the global search process. Multi-modal Reeds-Shepp curves and an intelligent terminal connection strategy are further designed to improve search efficiency. In the back-end stage, a segment-wise trajectory optimization framework based on an improved iterative safe corridor scheme is developed to convert discrete multi-modal paths into smooth, kinematically feasible trajectories with stationary mode transitions. Experimental results show that the proposed method achieves the best overall performance in safety, arrival time, terminal accuracy and computation time. Real-world experiments on a physical 4WIS robot further validate the practical effectiveness and executability of the generated trajectories, providing a flexible and high-performance solution for multi-modal mobile robot trajectory planning.

cs.RO