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Chuheng Chen

Publications and source records attributed to Chuheng Chen.

6 recordsLinked to original sources

NP-LoRA: Null Space Projection for Subject-Style LoRA Fusion

Low-Rank Adaptation (LoRA) fusion enables the composition of subject and style representations for controllable generation without retraining. However, existing approaches primarily operate through weight-level merging, without explicitly modeling how independently trained LoRAs interact in the shared parameter space. We adopt a geometric perspective on LoRA fusion, interpreting content and style LoRAs as occupying overlapping, non-orthogonal low-rank subspaces, where such overlap can lead to conflicting parameter updates that affect generation quality. This observation motivates us to reformulate LoRA fusion not merely as parameter combination, but as a problem of controlling how updates from overlapping subspaces are combined. Based on this insight, we propose Null Space Projection LoRA (NP-LoRA), a training-free framework that employs projection as a fusion operator to explicitly modulate cross-LoRA interactions. Specifically, NP-LoRA uses principal directions of the style LoRA to define a projection subspace and projects the content LoRA onto the complementary subspace (i.e., the null space of the style LoRA), suppressing interference along dominant style directions while preserving complementary information. To avoid the overly aggressive suppression of hard projection, we further formulate soft projection as a regularized optimization problem that balances content preservation against style-subspace suppression. This objective admits a closed-form solution, yielding a projection operator controlled by a single parameter that continuously interpolates between linear merging and hard projection. Extensive experiments across multiple pretrained LoRA pairs show that NP-LoRA achieves more balanced content-style composition compared to strong baselines, without requiring retraining.

cs.CV

Joint Moment Estimation for Hip Exoskeleton Control: A Generalized Moment Feature Generation Method

Hip joint moments during walking are the key foundation for hip exoskeleton assistance control. Most recent studies have shown estimating hip joint moments instantaneously offers a lot of advantages compared to generating assistive torque profiles based on gait estimation, such as simple sensor requirements and adaptability to variable walking speeds. However, existing joint moment estimation methods still suffer from a lack of personalization, leading to estimation accuracy degradation for new users. To address the challenges, this paper proposes a hip joint moment estimation method based on generalized moment features (GMF). A GMF generator is constructed to learn GMF of the joint moment which is invariant to individual variations while remaining decodable into joint moments through a dedicated decoder. Utilizing this well-featured representation, a GRU-based neural network is used to predict GMF with joint kinematics data, which can easily be acquired by hip exoskeleton encoders. The proposed estimation method achieves a root mean square error of 0.1180 Nm/kg under 28 walking speed conditions on a treadmill dataset, improved by 6.5% compared to the model without body parameter fusion, and by 8.3% for the conventional fusion model with body parameter. Furthermore, the proposed method was employed on a hip exoskeleton with only encoder sensors and achieved an average 20.5% metabolic reduction (p<0.01) for users compared to assist-off condition in level-ground walking.

cs.RO

SLLEN: Semantic-aware Low-light Image Enhancement Network

How to effectively explore semantic feature is vital for low-light image enhancement (LLE). Existing methods usually utilize the semantic feature that is only drawn from the output produced by high-level semantic segmentation (SS) network. However, if the output is not accurately estimated, it would affect the high-level semantic feature (HSF) extraction, which accordingly interferes with LLE. To this end, we develop a simple and effective semantic-aware LLE network (SSLEN) composed of a LLE main-network (LLEmN) and a SS auxiliary-network (SSaN). In SLLEN, LLEmN integrates the random intermediate embedding feature (IEF), i.e., the information extracted from the intermediate layer of SSaN, together with the HSF into a unified framework for better LLE. SSaN is designed to act as a SS role to provide HSF and IEF. Moreover, thanks to a shared encoder between LLEmN and SSaN, we further propose an alternating training mechanism to facilitate the collaboration between them. Unlike currently available approaches, the proposed SLLEN is able to fully lever the semantic information, e.g., IEF, HSF, and SS dataset, to assist LLE, thereby leading to a more promising enhancement performance. Comparisons between the proposed SLLEN and other state-of-the-art techniques demonstrate the superiority of SLLEN with respect to LLE quality over all the comparable alternatives.

cs.CV

HUT: A More Computation Efficient Fine-Tuning Method With Hadamard Updated Transformation

Fine-tuning pre-trained language models for downstream tasks has achieved impressive results in NLP. However, fine-tuning all parameters becomes impractical due to the rapidly increasing size of model parameters. To address this, Parameter Efficient Fine-Tuning (PEFT) methods update only a subset of parameters. Most PEFT methods, such as LoRA, use incremental updates, which involve adding learned weight matrix increments to the original parameters. Although effective, these methods face limitations in capturing complex parameter dynamics and do not maintain a strong correlation between the original and updated parameters. To overcome these challenges, we propose the direct Updated Transformation (UT) paradigm, which constructs a transformation directly from the original to the updated parameters. This approach ensures that the correlation between the original and updated parameters is preserved, leveraging the semantic features learned during pre-training. Building on this paradigm, we present the Hadamard Updated Transformation (HUT) method. HUT efficiently updates the original weight matrix using the Hadamard transformation with two low-rank matrices, offering a more expressive and flexible update mechanism. This allows HUT to capture richer parameter features through functional transformations, reducing computational complexity while maintaining or improving model quality. Theoretical analysis and extensive experiments on RoBERTa and GPT-2 validate the effectiveness of HUT. Results show that HUT performs on par with or better than other PEFT methods in terms of model quality, while significantly reducing computational complexity.

cs.CL

Enhancing Prosthetic Safety and Environmental Adaptability: A Visual-Inertial Prosthesis Motion Estimation Approach on Uneven Terrains

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis only provide terrain types and corresponding parameters, which fails to prevent potential collisions when crossing uneven terrains and may lead to falls and other severe consequences. In this paper, a visual-inertial motion estimation approach is proposed for prosthesis to perceive its movement and the changes of spatial relationship between the prosthesis and uneven terrain when traversing them. To achieve this, we estimate the knee motion by utilizing a depth camera to perceive the environment and align feature points extracted from stairs and obstacles. Subsequently, an error-state Kalman filter is incorporated to fuse the inertial data into visual estimations to reduce the feature extraction error and obtain a more robust estimation. The motion of prosthetic joint and toe are derived using the prosthesis model parameters. Experiment conducted on our collected dataset and stair walking trials with a powered prosthesis shows that the proposed method can accurately tracking the motion of the human leg and prosthesis with an average root-mean-square error of toe trajectory less than 5 cm. The proposed method is expected to enable the environmental adaptive control for prosthesis, thereby enhancing amputee's safety and mobility in uneven terrains.

cs.RO

A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes

Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the differential of the human's thigh angle to estimate the gait phase, but accumulative measurement errors and noises can affect the estimation results. In this paper, a more robust gait phase estimation method is proposed using a unified form of piecewise monotonic gait phase-thigh angle models for various locomotion modes. The gait phase is estimated from only the thigh angle, which is a stable variable and avoids phase drifting. A Kalman filter-based smoother is designed to further suppress the mutations of the estimated gait phase. Based on the proposed gait phase estimation method, a gait phase-based joint angle tracking controller is designed for a transfemoral prosthesis. The proposed gait estimation method, the gait phase smoother, and the controller are evaluated through offline analysis on walking data in various locomotion modes. And the real-time performance of the gait phase-based controller is validated in an experiment on the transfemoral prosthesis.

cs.RO