arXiv subjects

Ke Qiu

Publications and source records attributed to Ke Qiu.

10 recordsLinked to original sources

arXiv2026

PccDiffuser: Multi-solution Motion Planning for Continuum Robots

We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multiple candidate solutions in parallel, which are subsequently converted into an executable trajectory by time allocation considering actuator constraints. Under the piecewise constant-curvature model, we use exponential co-ordinates to describe the robot kinematics, and use graph neural network to encode a variable number of environment obstacles. Analytical differential kinematics is incorporated in the denoising process to improve terminal accuracy and whole-body clearance. On a mixed test set comprising workspace with zero to four obstacles, PccDiffuser achieved a success rate of 91\%. Compared with existing sampling- and optimisation-based benchmarks, it delivered both a higher success rate and greater computational efficiency, with the latter advantage becoming more substantial when sampling more candidate solutions. Experiments on a three-section tendon-driven continuum robot further demonstrate consecutive planning, multi-solution planning, and whole-body obstacle avoidance.

cs.RO↗

arXiv2026

MG-Former: A Transformer-Based Framework for Music-Driven 3D Conducting Gesture Generation

Generating expressive conducting gestures from music is a challenging cross-modal motion synthesis problem: the output must follow long-range musical structure, preserve beat-level synchronization, and remain plausible as a fine-grained 3D human performance. Existing conducting-motion studies are often limited by sparse pose representations, small-scale data, or evaluation protocols that do not directly measure whether music and gesture are mutually aligned. This paper presents TransConductor, a Transformer-based framework for music-driven conducting gesture generation. We introduce ConductorMotion, a SMPL-parameter data construction pipeline that recovers detailed body motion from conducting videos and forms a dataset targeted at professional conducting gestures. Given acoustic descriptors extracted from audio and an initial pose, TransConductor uses a Trans-Temporal Music Encoder and a Trans-Temporal Conducting Gesture Decoder to autoregressively predict SMPL pose parameters. To better assess artistic correspondence, we further build a retrieval-based evaluation model that embeds music and gestures into a shared space and yields FID, modality distance, multi-modality distance, and diversity metrics. Experiments show that TransConductor outperforms dance-generation and conducting-generation baselines, while ablations verify the benefits of the Transformer backbone and the proposed alignment loss.

cs.SD↗

arXiv2026

Interactive Multi-Turn Retrieval for Health Videos

The growing availability of health-related instructional videos creates new opportunities for clinical training, patient rehabilitation, and health education, yet existing retrieval systems remain largely single-turn: a user submits one query and receives one ranked list. This interaction is brittle in health scenarios, where information needs are often vague at first and become clinically meaningful only after follow-up constraints such as posture, hand placement, contraindications, equipment, or patient condition are specified. We introduce interactive multi-turn semantic retrieval for health videos and construct MHVRC, a Multi-Turn Health Video Retrieval Corpus, by combining video-grounded descriptions from VideoChat-Flash with query refinements generated by DeepSeek. We further propose DATR, a Dialogue-Aware Two-Stage Retrieval framework. DATR first performs efficient coarse retrieval with a CLIP-style dual encoder and sparse frame sampling, then re-ranks the top candidates through multi-turn query fusion and a lightweight cross-encoder scoring module. Experiments on MHVRC show consistent gains over strong text-video retrieval baselines, while user studies indicate that refined multi-turn queries better capture fine-grained procedural semantics than single-turn annotations. The work establishes a benchmark and a scalable technical recipe for interactive health video retrieval.

cs.IR↗

arXiv2026

CustomDancer: Customized Dance Recommendation by Text-Dance Retrieval

Dance serves as both a cultural cornerstone and a medium for personal expression, yet the rapid growth of online dance content has made personalized discovery increasingly difficult. Text-based dance retrieval offers a natural interface for users to search with choreographic intent, but it remains underexplored because dance requires simultaneous reasoning over linguistic semantics, musical rhythm, and full-body motion dynamics. We introduce TD-Data, a large-scale open dataset for text-dance retrieval, containing about 4,000 12-second dance clips, 14.6 hours of motion, 22 genres, and annotations from professional dance experts. On top of this dataset, we propose CustomDancer, a multimodal retrieval framework that aligns text with dance through a CLIP-based text encoder, music and motion encoders, and a music-motion blending module. CustomDancer achieves state-of-the-art performance on TD-Data, reaching 10.23% Recall@1 and improving retrieval quality in both quantitative benchmarks and user preference studies.

cs.MM↗

arXiv2026

Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that integrates high-fidelity dynamics modeling with robust neural control. We develop a GRU-based dynamics model featuring bidirectional multi-channel connectivity and residual prediction to effectively suppress compounding errors during long-horizon auto-regressive prediction. By treating this model as a gradient bridge, an end-to-end neural control policy is optimized through backpropagation, allowing it to implicitly internalize compensation for intricate nonlinearities. Experimental validation on a physical three-section TDCR demonstrates that our framework achieves accurate tracking and superior robustness against unseen payloads, outperforming Jacobian-based methods by eliminating self-excited oscillations. For implementation details and source code, please refer to https://github.com/ZiqingZou/ContinuumControl.

cs.RO↗

arXiv2026

Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots

Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controllers often struggle with hysteresis-induced oscillations, while conventional learning-based approaches suffer from poor generalization to out-of-distribution trajectories. This paper proposes a reference-augmented offline learning framework for precise 6-DOF tracking control of TDCRs. By leveraging a differentiable RNN-based dynamics surrogate as a gradient bridge, we optimize a control policy through an augmented reference distribution. This multi-scale augmentation scheme incorporates stochastic bias, harmonic perturbations, and random walks, forcing the policy to internalize diverse tracking error recovery mechanisms without additional hardware interaction. Experimental results on a three-section TDCR platform demonstrate that the proposed policy achieves a 50.9\% reduction in average position error compared to non-augmented baselines and significantly outperforms Jacobian-based methods in both precision and stability across various speeds. For implementation details and source code, please refer to https://github.com/ZiqingZou/ContinuumControl.

cs.RO↗

arXiv2026

BiTDiff: Fine-Grained 3D Conducting Motion Generation via BiMamba-Transformer Diffusion

3D conducting motion generation aims to synthesize fine-grained conductor motions from music, with broad potential in music education, virtual performance, digital human animation, and human-AI co-creation. However, this task remains underexplored due to two major challenges: (1) the lack of large-scale fine-grained 3D conducting datasets and (2) the absence of effective methods that can jointly support long-sequence generation with high quality and efficiency. To address the data limitation, we develop a quality-oriented 3D conducting motion collection pipeline and construct CM-Data, a fine-grained SMPL-X dataset with about 10 hours of conducting motion data. To the best of our knowledge, CM-Data is the first and largest public dataset for 3D conducting motion generation. To address the methodological limitation, we propose BiTDiff, a novel framework for 3D conducting motion generation, built upon a BiMamba-Transformer hybrid model architecture for efficient long-sequence modeling and a Diffusion-based generative strategy with human-kinematic decomposition for high-quality motion synthesis. Specifically, BiTDiff introduces auxiliary physical-consistency losses and a hand-/body-specific forward-kinematics design for better fine-grained motion modeling, while leveraging BiMamba for memory-efficient long-sequence temporal modeling and Transformer for cross-modal semantic alignment. In addition, BiTDiff supports training-free joint-level motion editing, enabling downstream human-AI interaction design. Extensive quantitative and qualitative experiments demonstrate that BiTDiff achieves state-of-the-art (SOTA) performance for 3D conducting motion generation on the CM-Data dataset. Code will be available upon acceptance.

cs.CV↗

arXiv2023

An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots

Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning tasks. In this paper, we propose an efficient multi-solution solver to address the inverse kinematics problem of 3-section constant-curvature robots by bridging both the theoretical reduction and numerical correction. We derive analytical conditions to simplify the original problem into a one-dimensional problem. Further, the equivalence of the two problems is formalised. In addition, we introduce an approximation with bounded error so that the one dimension becomes traversable while the remaining parameters analytically solvable. With the theoretical results, the global search and numerical correction are employed to implement the solver. The experiments validate the better efficiency and higher success rate of our solver than the numerical methods when one solution is required, and demonstrate the ability of obtaining multiple solutions with optimal path planning in a space with obstacles.

cs.RO↗

arXiv2022

A general approach to deriving diagnosability results of interconnection networks

We generalize an approach to deriving diagnosability results of various interconnection networks in terms of the popular $g$-good-neighbor and $g$-extra fault-tolerant models, as well as mainstream diagnostic models such as the PMC and the MM* models. As demonstrative examples, we show how to follow this constructive, and effective, process to derive the $g$-extra diagnosabilities of the hypercube, the $(n, k)$-star, and the arrangement graph. These results agree with those achieved individually, without duplicating structure independent technical details. Some of them come with a larger applicable range than those already known, and the result for the arrangement graph in terms of the MM* model is new.

cs.NI↗

arXiv2009

On the Spectrum of Middle-Cubes

A middle-cube is an induced subgraph consisting of nodes at the middle two layers of a hypercube. The middle-cubes are related to the well-known Revolving Door (Middle Levels) conjecture. We study the middle-cube graph by completely characterizing its spectrum. Specifically, we first present a simple proof of its spectrum utilizing the fact that the graph is related to Johnson graphs which are distance-regular graphs and whose eigenvalues can be computed using the association schemes. We then give a second proof from a pure graph theory point of view without using its distance regular property and the technique of association schemes.

math.CO↗