Gestures are an integral part of our daily interactions with the environment. Hand gesture recognition (HGR) is the process of interpreting human intent through various input modalities, such as visual data (images and videos) and bio-signals. Bio-signals are widely used in HGR due to their ability to be captured non-invasively via sensors placed on the arm. Among these, surface electromyography (sEMG), which measures the electrical activity of muscles, is the most extensively studied modality. However, less-explored alternatives such as inertial measurement units (IMUs) can provide complementary information on subtle muscle movements, which makes them valuable for gesture recognition. In this study, we investigate the potential of using IMU signals from different muscle groups to capture user intent. Our results demonstrate that IMU signals contain sufficient information to serve as the sole input sensor for static gesture recognition. Moreover, we compare different muscle groups and check the quality of pattern recognition on individual muscle groups. We further found that tendon-induced micro-movement captured by IMUs is a major contributor to static gesture recognition. We believe that leveraging muscle micro-movement information can enhance the usability of prosthetic arms for amputees. This approach also offers new possibilities for hand gesture recognition in fields such as robotics, teleoperation, sign language interpretation, and beyond.

The visually impaired population faces significant challenges in daily activities. While prior works employ vision language models for assistance, most focus on static content and cannot address real-time perception needs in complex environments. Recent VideoLLMs enable real-time vision and speech interaction, offering promising potential for assistive tasks. In this work, we conduct the first study evaluating their effectiveness in supporting daily life for visually impaired individuals. We first conducted a user survey with visually impaired participants to design the benchmark VisAssistDaily for daily life evaluation. Using VisAssistDaily, we evaluate popular VideoLLMs and find GPT-4o achieves the highest task success rate. We further conduct a user study to reveal concerns about hazard perception. To address this, we propose SafeVid, an environment-awareness dataset, and fine-tune VITA-1.5, improving risk recognition accuracy from 25.00% to 76.00%.We hope this work provides valuable insights and inspiration for future research in this field.

Integrated sensing and communication and millimeter wave (mmWave) have emerged as pivotal technologies for 6G networks. However, t he narrow nature of mmWave beams requires precise alignments that typically necessitate large training overhead. This overhead can be reduced by incorpor ating the position information with beam adjustments. This letter propos es a lightweight autorencoder (LAE) model that addresses the position-assi sted beam prediction problem while significantly reducing computational co mplexity compared to the conventional baseline method, i.e., deep fully conne cted neural network. The proposed LAE is designed as a three-layer undercomplete network to exploit its dimensionality reduction capabilities and t hereby mitigate the computational requirements of the trained model. Simulati on results show that the proposed model achieves a similar beam prediction a ccuracy to the baseline with an 83% complexity reduction. This work was supported in part by Natural Sciences and Engin eering Research Council of Canada (NSERC), Discovery program RGPIN-2019-04123 and Canada Re search Chair program CRC-2022-00187.

Domain decomposition methods are widely used and effective in the approximation of solutions to partial differential equations. Y et the optimal construction of these methods requires tedious analysis and is often available only in simplified, structured-grid settings, limiting their use for more complex problems.

Abstract-- Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable autonomous-underwater-vehicle (AUV) platform for multi-agent autonomy research. The base design costs less than $3,000 USD (as of May 2025) and is based on commercially-available and 3D-printed parts, enabling quick customization for various sensor payloads and configurations. Our current expanded model is equipped with a doppler velocity log (DVL) and ultra-short-baseline (USBL) acoustic array/transducer to support research on acoustic-based cooperative localization. State estimation, navigation, and acoustic communications software has been developed and deployed using a containerized software stack and is tightly integrated with the HoloOcean simulator . The system was tested both in simulation and via in-situ field trials in Utah lakes and reservoirs. Effective state estimation for underwater robotics is a challenging problem that is actively being addressed in academic circles.

Domain decomposition methods are widely used and effective in the approximation of solutions to partial differential equations. Y et the optimal construction of these methods requires tedious analysis and is often available only in simplified, structured-grid settings, limiting their use for more complex problems.

People with Multiple Sclerosis (MS) complain of problems with hand dexterity and cognitive fatigue. However, in many cases, impairments are subtle and difficult to detect. Functional near-infrared spectroscopy (fNIRS) is a non-invasive neuroimaging technique that measures brain hemodynamic responses during cognitive or motor tasks. We aimed to detect brain activity biomarkers that could explain subjective reports of cognitive fatigue while completing dexterous tasks and provide targets for future brain stimulation treatments. We recruited 15 people with MS who did not have a hand (Nine Hole Peg Test [NHPT]), mobility, or cognitive impairment, and 12 age- and sex-matched controls. Participants completed two types of hand dexterity tasks with their dominant hand, single task and dual task (NHPT while holding a ball between the fifth finger and hypothenar eminence of the same hand). We analyzed fNIRS data (oxygenated and deoxygenated hemoglobin levels) using a machine learning framework to classify MS patients from controls based on their brain activation patterns in bilateral prefrontal and sensorimotor cortices. The K-Nearest Neighbor classifier achieved an accuracy of 75.0% for single manual dexterity tasks and 66.7% for the more complex dual manual dexterity tasks. Using XAI, we found that the most important brain regions contributing to the machine learning model were the supramarginal/angular gyri and the precentral gyrus (sensory integration and motor regions) of the ipsilateral hemisphere, with suppressed activity and slower neurovascular response in the MS group. During both tasks, deoxygenated hemoglobin levels were better predictors than the conventional measure of oxygenated hemoglobin. This nonconventional method of fNIRS data analysis revealed novel brain activity biomarkers that can help develop personalized brain stimulation targets.