Rongxuan Zhou

Multi-modal sequential policies fuse proprioception, vision, and auxiliary modalities by concatenating them into a shared processing sequence — yet on a contact-rich nut-threading task, naïve raw-force concatenation reduces success rate by 32 percentage points compared to ignoring force entirely. We show that FiLM side-channel conditioning bypasses competitive normalization in self-attention and LSTM gating layers, restoring force utility (+17 pp on NutThread, non-overlapping 95% CIs). To diagnose suppression post-hoc without retraining, we introduce R_contact, a contact-sensitivity ratio via Integrated Gradients that reliably distinguishes suppressed (≈1×) from functional (3.0–3.7×) architectures. Validated across 5 contact-rich tasks on two simulators (robosuite imitation learning + Isaac Lab Factory reinforcement learning).

Diffusion policies have become the dominant paradigm for learned robotic manipulation, yet they offer no intrinsic mechanism to enforce workspace safety constraints. TACS is a training-free method that injects barrier-function guidance into the DDIM denoising loop of action-space diffusion policies, applying repulsive guidance on the Tweedie-predicted end-effector positions; subsequent denoising steps coherently adapt rotation and gripper dimensions, achieving effective obstacle avoidance at 10× smaller guidance scales than post-hoc potential-field projection. On three robosuite manipulation tasks, TACS Pareto-dominates post-hoc filtering, with a statistically significant win-win on Lift (violations 6.6% → 0.32%, 20× reduction; p=0.015 across 5 seeds × 250 episodes) and zero measurable inference overhead versus the unmodified diffusion policy.

Odometry estimation remains a critical challenge for wheeled robots, as reducing its drift directly mitigates dependency on external localization systems. This paper proposes a distributed odometry framework for steerable wheels, named ICF-DO, which is applicable to both Steerable Wheeled Mobile Robots (SWMRs) and cooperative multi-single-wheel robot systems. The proposed method features low computational complexity and reduced drift, while demonstrating strong robustness in communication-restricted scenarios. Additionally, singularity can be processed in a distributed manner in the proposed framework. Experimental validation on a real physical SWMR platform demonstrates the effectiveness and practicality of the proposed method.

The vital component of the high-pressure pump is the high-pressure cylinder, which undergoes pulsating cyclic loads during operation. This exposure can lead to fatigue cracking and limit the pump’s overall performance. To address this issue, a swage autofrettage treatment method for the high-pressure cylinder is proposed based on the principles of autofrettage technology. The structure parameters of the mandrel are designed to optimize its role in the treatment process. Subsequently, a swage autofrettage simulation model is established, considering the Bauschinger effect to analyze the distribution of residual stress about the mandrel interference percentage. The results demonstrate that the swage autofrettage treatment improves the stress distribution in the high-pressure cylinder, causing the inner wall surface to undergo a circumferential residual compressive stress. Within a specific range, the Bauschinger effect becomes more significant as the mandrel interference percentage increases. This study provides insights for enhancing the durability and performance of high-pressure cylinders while adhering to mechanical engineering standards.