Tactile sensing offers rich and complementary information to vision and language, enabling robots to perceive fine-grained object properties. However, existing tactile sensors lack standardization, leading to redundant features that hinder cross-sensor generalization. Moreover, existing methods fail to fully integrate the intermediate communication among tactile, language, and vision modalities. To address this, we propose TLV-CoRe, a CLIP-based Tactile-Language-Vision Collaborative Representation learning method. TLV-CoRe introduces a Sensor-Aware Modulator to unify tactile features across different sensors and employs tactile-irrelevant decoupled learning to disentangle irrelevant tactile features. Additionally, a Unified Bridging Adapter is introduced to enhance tri-modal interaction within the shared representation space. To fairly evaluate the effectiveness of tactile models, we further propose the RSS evaluation framework, focusing on Robustness, Synergy, and Stability across different methods. Experimental results demonstrate that TLV-CoRe significantly improves sensor-agnostic representation learning and cross-modal alignment, offering a new direction for multimodal tactile representation.

Multi-objective optimization (MOO) lies at the core of many machine learning (ML) applications that involve multiple, potentially conflicting objectives (e.g., multi-task learning, multi-objective reinforcement learning, among many others). Despite the long history of MOO, recent years have witnessed a surge in interest within the ML community in the development of gradient manipulation algorithms for MOO, thanks to the availability of gradient information in many ML problems. However, existing gradient manipulation methods for MOO often suffer from long training times, primarily due to the need for computing dynamic weights by solving an additional optimization problem to determine a common descent direction that can decrease all objectives simultaneously. To address this challenge, we propose a new and efficient algorithm called Periodic Stochastic Multi-Gradient Descent (PSMGD) to accelerate MOO. PSMGD is motivated by the key observation that dynamic weights across objectives exhibit small changes under minor updates over short intervals during the optimization process. Consequently, our PSMGD algorithm is designed to periodically compute these dynamic weights and utilizes them repeatedly, thereby effectively reducing the computational overload. Theoretically, we prove that PSMGD can achieve state-of-the-art convergence rates for strongly-convex, general convex, and non-convex functions. Additionally, we introduce a new computational complexity measure, termed backpropagation complexity, and demonstrate that PSMGD could achieve an objective-independent backpropagation complexity. Through extensive experiments, we verify that PSMGD can provide comparable or superior performance to state-of-the-art MOO algorithms while significantly reducing training time.

Helicobacter pylori, a pervasive bacterial infection associated with gastrointestinal disorders such as gastritis, peptic ulcer disease, and gastric cancer, impacts approximately 50% of the global population. The efficacy of standard clinical eradication therapies is diminishing due to the rise of antibiotic-resistant strains, necessitating alternative treatment strategies. Photodynamic therapy (PDT) emerges as a promising prospect in this context. This study presents the development and implementation of a magnetically-guided origami robot, incorporating flexible printed circuit units for sustained and stable phototherapy of Helicobacter pylori. Each integrated unit is equipped with wireless charging capabilities, producing an optimal power output that can concurrently illuminate up to 15 LEDs at their maximum intensity. Crucially, these units can be remotely manipulated via a magnetic field, facilitating both translational and rotational movements. We propose an open-loop manual control sequence that allows the formation of a stable, compliant triangular structure through the interaction of internal magnets. This adaptable configuration is uniquely designed to withstand the dynamic squeezing environment prevalent in real-world gastric applications. The research herein represents a significant stride in leveraging technology for innovative medical solutions, particularly in the management of antibiotic-resistant Helicobacter pylori infections.

The pervasive use of WiFi has driven the recent research in WiFi sensing, converting communication tech into sensing for applications such as activity recognition, user authentication, and vital sign monitoring. Despite the integration of deep learning into WiFi sensing systems, potential security vulnerabilities to adversarial attacks remain unexplored. This paper introduces the first physical attack focusing on deep learning-based WiFi sensing systems, demonstrating how adversaries can subtly manipulate WiFi packet preambles to affect channel state information (CSI), a critical feature in such systems, and thereby influence underlying deep learning models without disrupting regular communication. To realize the proposed attack in practical scenarios, we rigorously analyze and derive the intricate relationship between the pilot symbol and CSI. A novel mechanism is proposed to facilitate quantitive control of receiver-side CSI through minimal modifications to the pilot symbols of WiFi packets at the transmitter. We further develop a perturbation optimization method based on the Carlini & Wagner (CW) attack and a penalty-based training process to ensure the attack's universal efficacy across various CSI responses and noise. The physical attack is implemented and evaluated in two representative WiFi sensing systems (i.e., activity recognition and user authentication) with 35 participants over 3 months. Extensive experiments demonstrate the remarkable attack success rates of 90.47% and 83.83% for activity recognition and user authentication, respectively.

Due to the scarcity of abnormal condition data in components of transportation systems, only normal condition data are typically used to train models for anomaly detection. One of the main challenges is the difficulty of properly representing the data distribution which is typically non-smooth, high-dimensional and on a manifold. This work develops an anomaly detection model based on an Auto-Encoder (AE) formed by the generator of a Generative Adversarial Network (GAN) and an auxiliary encoder to capture the sophisticated data structure. The reconstruction error of the AE is, then, used as anomaly score to detect anomalies. Additionally, an adaptive noise is added to the data to make easier the GAN optimization, an AdaBoost-based ensemble learning scheme is used to improve detection performance and a new approach for setting the hyperparameters of the AE-GAN model based on the derivation of a lower bound of the Jensen-Shannon divergence between generator and normal condition data distributions is developed. The method has been applied to synthetic and real data collected from automatic doors of high-speed trains.