Searcharxiv⌕ Search

arXiv subjects

Ke Wu

Publications and source records attributed to Ke Wu.

At least 37 records · Page 2Linked to original sources
arXiv2026

SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation

Soft and continuum robots enable manipulation through distributed body deformation and contact, yet translating language and visual context into executable whole-body actuation remains a fundamental challenge. We present SWIM, a framework that maps an initial RGB observation and a language instruction to a complete actuation-command sequence. Its vision-language-action (VLA) policy, SWIM-VLA, combines a diffusion action head with Visual Soft Proprioception (VSP) through a shared representation of RGB observations, language instructions, and tendon states. The diffusion head models conditional distributions of expert command chunks, while VSP supervises ordered body-anchor predictions using simulation ground truth, encouraging the representation to retain body geometry when learning from limited demonstrations. Embodied mechanical intelligence supports physical execution of command sequences generated through iterative virtual rollout from evolving simulated observations, with intrinsic compliance providing local contact adaptation without online policy queries. We evaluate SWIM on packing, reaching, and grasping on a planar tendon-driven soft robot, with grasping targets anchored. In simulation, SWIM-VLA achieves success rates of 100\%, 96\%, and 88\%, respectively, outperforming an adapted OpenVLA-OFT baseline and controlled ablations. On hardware, SWIM achieves success rates of 100\%, 80\%, and 75\%, compared with 75\%, 40\%, and 25\% for direct online deployment of the same policy checkpoint.

cs.RO↗
arXiv2026

Finite Morse index solutions of the Allen-Cahn equation with energy bound

We study bounded entire solutions of the Allen-Cahn equation in dimension three with quadratic energy growth. We prove that such a solution of finite Morse index I has at most 2I ends. Furthermore, we show that Morse index one solutions have two ends and are axially symmetric, which generalizes an earlier result by Florit-Simon.

math.AP↗
arXiv2026

BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation

Control barrier functions (CBFs) provide a mathematically grounded framework for enforcing local collision-avoidance constraints in autonomous mobile robots, commonly through optimization-based safety filters. However, a minimum-intervention CBF filter lacks task-level maneuver awareness and may fail to select a productive avoidance direction when multiple distinct maneuvers are locally viable, leading to safe but stalled behavior in geometrically ambiguous environments. This paper presents BIG-CBF, Behavior-Imagination-Guided Control Barrier Function with shared uncertainty, a two-rate navigation architecture that separates low-rate maneuver selection from high-rate safety filtering. Over a short horizon, six closed-loop feedback behaviors are imagined and evaluated using analytic CBF compatibility together with a lightweight objective accounting for task progress, freezing, smoothness, and switching. To reduce planning-execution mismatch, the imagination and execution layers share consistent uncertainty sources for relative-motion delay, obstacle prediction, zero-order-hold motion, and command-execution residuals, while a hard CBF remains the final safety authority. In a 3,600-episode comparative benchmark across nine scenarios, BIG-CBF achieves the highest overall task success rate of 99.78% while substantially reducing downstream CBF intervention. On a physical omnidirectional robot with onboard Jetson Orin Nano computation, BIG-CBF completes all 15 evaluation runs without a recorded contact event. Matched hardware comparisons against the non-shared variant further show lower CBF intervention energy and activation frequency, supporting improved consistency between maneuver selection and safety-critical execution.

cs.RO↗
arXiv2026

CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots

For effective deployment in real-world environments, humanoid robots must autonomously navigate a diverse range of complex terrains with abrupt transitions. While the Vanilla mixture of experts (MoE) framework is theoretically capable of modeling diverse terrain features, in practice, the gating network exhibits nearly uniform expert activations across different terrains, weakening the expert specialization and limiting the model's expressive power. To address this limitation, we introduce CMoE, a novel single-stage reinforcement learning framework that integrates contrastive learning to refine expert activation distributions. By imposing contrastive constraints, CMoE maximizes the consistency of expert activations within the same terrain while minimizing their similarity across different terrains, thereby encouraging experts to specialize in distinct terrain types. We validated our approach on the Unitree G1 humanoid robot through a series of challenging experiments. Results demonstrate that CMoE enables the robot to traverse continuous steps up to 20 cm high and gaps up to 80 cm wide, while achieving robust and natural gait across diverse mixed terrains, surpassing the limits of existing methods. To support further research and foster community development, we release our code publicly.

cs.RO↗
arXiv2026

Anonymization and Information Loss

Anonymizing financial texts prevents large language models (LLMs) from exploiting look-ahead bias, but inadvertently weakens the extracted signal. We propose a framework disentangling this information loss from bias removal. Predicting S&P credit downgrades, raw texts significantly outperform anonymized texts. Look-ahead bias does not explain this difference; rather, anonymization degrades predictive performance by masking informative numerical and agent entities, fundamentally altering how LLMs interpret the remaining context. This degradation spans various LLMs, tasks, and text types. To quantify it, we introduce the "anonymization gap," a metric requiring no outcome data.

q-fin.GN↗
arXiv2026

Lightweight Dynamic Modeling of Cable-Driven Continuum Robots Based on Actuation-Space Energy Formulation

Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. In this paper, we propose the Lightweight Actuation-Space Energy Modeling (LASEM) framework for CDCRs, which formulates actuation potential energy directly in actuation space to enable lightweight yet accurate dynamic modeling. Through a unified variational derivation, the governing dynamics reduce to a single partial differential equation (PDE), requiring only the Euler moment balance while implicitly incorporating the Newton force balance. By also avoiding explicit computation of cable-backbone contact forces, the formulation simplifies the model structure and improves computational efficiency while preserving geometric accuracy and physical consistency. Importantly, the proposed framework for dynamic modeling natively supports both force-input and displacement-input actuation modes, a capability seldom achieved in existing dynamic formulations. Leveraging this lightweight structure, a Galerkin space-time modal discretization with analytical time-domain derivatives of the reduced state further enables an average 62.3% computational speedup over state-of-the-art real-time dynamic modeling approaches.

cs.RO↗
arXiv2026

A concavity inequality and interior $C^2$ estimate for Hessian quotient equations

We establish a concavity inequality for the Hessian quotient operators $\frac{σ_k}{σ_l}$ in the cases $k-l\in\{1,2\}$, and then derive the corresponding Jacobi inequality. Combining this with the framework developed by Lu and Tsai, we obtain an interior Hessian estimate for convex solutions of $\frac{σ_k(D^2u)}{σ_l(D^2u)}=f$. As an application, we prove that any entire convex solution in $\mathbb R^n$ with quadratic growth must be a quadratic polynomial.

math.AP↗
arXiv2026

Giga-Kohn-type results for the fully fractional heat equation

We consider the semilinear fully fractional heat equation \[ (\partial_t-Δ)^σu = |u|^{p-1}u \quad \text{in } \mathbb{R}^n \times \mathbb{R}_{-}, \qquad 0 < σ< 1. \] For $n\leq 2σ$ or $1<p\leq \frac{n+2σ}{n-2σ}$, we generalize the monotonicity formula and Liouville-type theorem when $σ=1$ proved by Giga and Kohn. In order to overcome the difficulty that this equation is nonlocal, we give a new interpretation of the classical Giga-Kohn's Pohozaev identity in terms of Hermite expansion. This insight is new and interesting even for $σ=1$. We further establish a space-time nonlocal monotonicity formula for the self-similar equation. As far as we are concerned, this is the first monotonicity formula for space-time nonlocal equations without using an extension by Stinga and Torrea.

math.AP↗
arXiv2026

Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching

For close-contact human-robot interaction (HRI), trunk-like continuum manipulators provide a physical channel for diverse whole-body expression, but grounding open-vocabulary responses into such robots is difficult: end-effector motion underspecifies body shape, whereas direct whole-body commands are high-dimensional and hard to keep feasible. We propose a whole-body semantic-to-actuation grounding framework for elephant-inspired soft-trunk HRI based on lightweight flow matching. The framework converts responses from a multimodal large language model into bounded, morphology-aligned intent-intensity tuples, parameterizes tendon-actuation trajectories with compact Catmull-Rom spline controls, and uses a rectified-flow generator to sample feasible whole-body trunk motions. Experiments show that the proposed framework improves held-out grounding correctness from 25.0% to 77.2% over a raw-response dense-regression baseline. Compared with a denoising-diffusion baseline, it improves correctness from 71.9% to 77.2% and reduces inference time from 7.86 ms to 4.87 ms while preserving motion diversity. A 100-participant physical HRI study further shows that adding the generated soft-trunk motion channel increases the positive overall-satisfaction rating from 46% to 82% over the audiovisual-only baseline.

cs.RO↗
arXiv2026

PIER-Flow: Physics-Informed Efficient Rectified Flow for Real-Time Mobile Robot Navigation

Autonomous navigation in dense and highly dynamic environments requires both physically feasible control and low-latency replanning. Optimization-based methods such as Model Predictive Control (MPC) explicitly handle robot kinematics and safety constraints, but repeated nonlinear optimization can limit real-time responsiveness. Deterministic behavior-cloning policies enable efficient inference but may fail to represent multimodal avoidance behaviors, whereas diffusion policies capture multimodality at the cost of time-consuming iterative denoising. We propose PIER-Flow (Physics-Informed Efficient Rectified Flow), a lightweight navigation policy for mobile robots. By distilling an MPC expert into a continuous-time Ordinary Differential Equation (ODE), PIER-Flow achieves single-step action generation through parallel latent sampling and lightweight feasibility selection. We introduce a physics-informed training objective to enforce kinematic consistency, paired with an asynchronous action chunking architecture for robust sim-to-real deployment. Extensive simulations demonstrate that PIER-Flow achieves a 98.85\% success rate and zero collisions, with an average inference of $\sim$1.29 ms, which accelerates planning by 37.2$\times$ compared to MPC and over 800$\times$ against standard diffusion models. Crucially, real-world deployment on a resource-constrained edge computer further achieves an approximately stable inference latency of $\sim$5.3 ms, avoiding the latency spikes and freezing events observed with planning baselines.

cs.RO↗
arXiv2026

DroneFINE: Domain-Aware Parameter-Efficient Fine-Tuning of Vision-Language Detectors for Drone Images

Object detection for Unmanned Aerial Vehicles (UAVs) working in open and dynamic environments is a highly challenging task. While Vision-Language Models (VLMs) have offered a powerful solution for universal object detection, adapting them to UAV scenarios remains non-trivial due to a substantial domain gap between VLM pre-training data and aerial imagery. The prevailing Parameter-Efficient Fine-Tuning (PEFT) methods prove ineffective in bridging this gap, as VLMs' "natural-scene, foreground-dominant" visual priors misalign with the "bird's-eye-view, background-dominant, small-object" characteristics of UAV data. To address this issue, we propose DroneFINE, a novel PEFT paradigm comprising two domain-aware complementary modules tailored for VLM-based drone image detectors. Specifically, a data-dependent, foreground-aware, and multi-path adaptation mechanism named HyperAdapter is designed, which overcomes the static structural constraints of PEFT. In addition, a background suppression algorithm named SemanticGate is developed. It is a text-conditioned guidance strategy that employs background vocabulary to actively guide the model in suppressing responses from irrelevant regions. Extensive experiments on VisDrone and UAVDT demonstrate that DroneFINE significantly outperforms existing PEFT methods and achieves performance comparable to full fine-tuning while substantially reducing the number of trainable parameters.

cs.CV↗
arXiv2026

Stratification and rectifiability of harmonic map flows via tangent measures

In this paper, we investigate the stratification theory for ``suitable solutions" of harmonic map flows based on the spatial symmetry of tangent measures. Building on the quantitative stratifications and Reifenberg-rectifiable theory developed by Naber and Valtorta in breakthrough research of harmonic maps (\emph{Ann. Math.} 185 (2017), 131-227), we prove that each time slice of the singular set in our model is rectifiable. By making some additional assumptions about the target manifolds to exclude specific tangent flows and measures, we can also obtain a sharp regularity of suitable solutions for harmonic map flows.

math.AP↗
arXiv2026

A Wireless Reconfigurable Metasurface for Enhanced Parallel Magnetic Resonance Imaging

Modern magnetic resonance imaging (MRI) relies on application-specific multi-channel receive coils to achieve high performance, but these coils are typically costly, rigid, and difficult to generalize across anatomies. Recent wireless, low-cost metamaterials offer improved signal-to-noise ratio (SNR) but remain anatomy-dependent, are prone to destructive inter-element interference, and lack demonstrated compatibility with parallel imaging. Herein, a wireless, reconfigurable coaxial loop metasurface (CLM) is introduced as a platform for localized SNR enhancement that can operate either as a standalone element or as an insertable add-on alongside existing clinical receive systems. Through its coaxial architecture and shared current pathways, the CLM establishes a collective in-phase resonant mode that enforces phase-coherent current distributions across all loops, resulting in consistently constructive interference. Benchmarking on a 3.0 T MR system using an 8-loop CLM shows SNR enhancements of up to 14.8-fold and 14.02-fold in the sagittal and axial planes, relative to the birdcage coil (BC). As an add-on to a clinical posterior receive array, it further demonstrates up to 2.9-fold SNR enhancement and compatibility with parallel imaging across ex vivo and in vivo settings. The proposed CLM paves the way toward a new class of reconfigurable and insertable MRI hardware for flexible and system-compatible signal enhancement.

physics.med-ph↗
arXiv2026

MedASR: An Open-Source Model for High-Accuracy Medical Dictation

We present MedASR, an open-source 105M-parameter model engineered for high-accuracy medical dictation. Prioritizing a "small, fast, and accurate" design, MedASR addresses 3 core pillars (1) Data: overcoming clinical corpora scarcity and class imbalance; (2) Modeling: efficient long-form training; and (3) Inference: accurate transcription via a pseudo-streaming sliding-window approach. Our evaluation shows that MedASR achieves a 58% relative WER reduction on Eye Gaze compared to Whisper Large-v3. By open-sourcing MedASR, we provide a transparent, high-performance backbone for specialized health-care applications, breaking down the barriers to clinical documentation often obscured by proprietary systems.

eess.AS↗
arXiv2026

Benchmarking LLMs on the Massive Sound Embedding Benchmark (MSEB)

The Massive Sound Embedding Benchmark (MSEB) has emerged as a standard for evaluating the functional breadth of audio models. While initial baselines focused on specialized encoders, the shift toward "audio-native" Large Language Models (LLMs) suggests a new paradigm where a single multimodal backbone may replace complex, task-specific pipelines. This paper provides a rigorous empirical evaluation of leading LLMs - including members from the Gemini and GPT families - across the eight core MSEB capabilities to assess their efficacy and audio-text parity. Our results indicate that while a significant modality gap persists regarding performance and robustness, the empirical evidence for an "optimal" modeling approach remains inconclusive. Ultimately, the choice between audionative and cascaded architectures depends heavily on specific use-case requirements and the underlying assumptions regarding latency, cost, and reasoning depth.

cs.SD↗
arXiv2026

A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots

Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware complexity and limit scalability. This work introduces a unified multi-dynamics modeling framework for tendon-driven continuum robotic systems, exemplified by a spiral-inspired robot named Spirob. The framework integrates motor electrical dynamics, motor-winch dynamics, and continuum robot dynamics into a coherent system model. Within this framework, motor signals such as current and angular displacement are modeled to expose the electromechanical signatures of external interactions, enabling perception grounded in intrinsic dynamics. The model captures and validates key physical behaviors of the real system, including actuation hysteresis and self-contact at motion limits. Building on this foundation, the framework is applied to environmental interaction: first for passive contact detection, verified experimentally against simulation data; then for active contact sensing, where control and perception strategies from simulation are successfully applied to the real robot; and finally for object size estimation, where a policy learned in simulation is directly deployed on hardware. The results demonstrate that the proposed framework provides a physically grounded way to interpret interaction signatures from intrinsic motor signals in tendon-driven continuum robots.

cs.RO↗
arXiv2026

PuppetAI: A Customizable Platform for Designing Tactile-Rich Affective Robot Interaction

We introduce PuppetAI, a modular soft robot interaction platform. This platform offers a scalable cable-driven actuation system and a customizable, puppet-inspired robot gesture framework, supporting a multitude of interaction gesture robot design formats. The platform comprises a four-layer decoupled software architecture that includes perceptual processing, affective modeling, motion scheduling, and low-level actuation. We also implemented an affective expression loop that connects human input to the robot platform by producing real-time emotional gestural responses to human vocal input. For our own designs, we have worked with nuanced gestures enacted by "soft robots" with enhanced dexterity and "pleasant-to-touch" plush exteriors. By reducing operational complexity and production costs while enhancing customizability, our work creates an adaptable and accessible foundation for future tactile-based expressive robot research. Our goal is to provide a platform that allows researchers to independently construct or refine highly specific gestures and movements performed by social robots.

cs.HC↗