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While commendable progress has been made in user-centric research on mobile assistive systems for blind and low-vision (BLV) individuals, references that directly inform robot navigation design remain rare. To bridge this gap, we conducted a comprehensive human study involving interviews with 26 guide dog handlers, four white cane users, nine guide dog trainers, and one O&M trainer, along with 15+ hours of observing guide dog–assisted walking. After de-identification, we open-sourced the dataset to promote human-centered development and informed decision-making for assistive systems for BLV people. Building on insights from this formative study, we developed GuideNav, a vision-only, teach-and-repeat navigation system. Inspired by how guide dogs are trained and assist their handlers, GuideNav autonomously repeats a path demonstrated by a sighted person using a robot. Specifically, the system constructs a topological representation of the taught route, integrates visual place recognition with temporal filtering, and employs a relative pose estimator to compute navigation actions---all without relying on costly, heavy, power-hungry sensors such as LiDAR. In field tests, GuideNav consistently achieved kilometer-scale route following across five outdoor environments, maintaining reliability despite noticeable scene variations between teach and repeat runs. A user study with 3 guide dog handlers and 1 guide dog trainer further confirmed the system’s feasibility, marking, to our knowledge, the first demonstration of a quadruped mobile system guiding a route in a manner comparable to guide dogs. 

Approaches studying the dynamics of resting-state functional magnetic resonance imaging (rs-fMRI) activity often focus on time-resolved functional connectivity (tr-FC). While many tr-FC approaches have been proposed, most are linear approaches, e.g. computing the linear correlation at a timestep or within a window. In this work, we propose to use a generative non-linear deep learning model, a disentangled variational autoencoder (DSVAE), that factorizes out window-specific (context) information from timestep-specific (local) information. This has the advantage of allowing our model to capture differences at multiple temporal scales. We find that by separating out temporal scales our model’s window-specific embeddings, or as we refer to them, context embeddings, more accurately separate windows from schizophrenia patients and control subjects than baseline models and the standard tr-FC approach in a low-dimensional space. Moreover, we find that for individuals with schizophrenia, our model’s context embedding space is significantly correlated with both age and symptom severity. Interestingly, patients appear to spend more time in three clusters, one closer to controls which shows increased visual-sensorimotor, cerebellar-subcortical, and reduced cerebellar-visual functional network connectivity (FNC), an intermediate station showing increased subcortical-sensorimotor FNC, and one that shows decreased visual-sensorimotor, decreased subcortical-sensorimotor, and increased visual-subcortical domains. We verify that our model captures features that are complementary to - but not the same as - standard tr-FC features. Our model can thus help broaden the neuroimaging toolset in analyzing fMRI dynamics and shows potential as an approach for finding psychiatric links that are more sensitive to individual and group characteristics. 

Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the kicking leg, 2) maintain balance and stability of the entire body, and 3) manage the impact disturbance from the ball during the kicking moment. Prior studies on robotic soccer kicking often prioritized stability, leading to overly conservative quasistatic motions. In this work, we present a biomechanics-inspired control framework that leverages trajectory optimization and imitation learning to facilitate highly dynamic soccer kicks in humanoid robots. We conducted an in-depth analysis of human soccer kick biomechanics to identify key motion constraints. Based on this understanding, we designed kinodynamically feasible trajectories that are then used as a reference in imitation learning to develop a robust feedback control policy. We demonstrate the effectiveness of our approach through a simulation of an anthropomorphic 25 DoF bipedal humanoid robot, named PresToe, which is equipped with 7 DoF legs, including a unique actuated toe. Using our framework, PresToe can execute dynamic instep kicks, propelling the ball at speeds exceeding 11 m/s in full dynamics simulation. 

High-speed channel interconnect modeling and cascaded simulation methods extended to higher bandwidth up to 75 GHz are proposed to simulate the high-speed channels from packaging to PCB to support higher data rates and increasing Nyquist frequencies. The method is capable for evaluation of 224 G/lane PAM4 and higher data rates with higher number of pulse amplitudes application. Cascading methodology is proposed to mainly reduce the complexity of simulating the full channel for faster evaluation with acceptable accuracy by selecting appropriate segmentation planes and ports. Together with modeling for high-speed 3D interconnects among silicon die, package substrate and PCB for the evaluation of the entire channel, such as the C4 bump, solder ball and intra-connections. The methodology is validated through the performance of simulation results based on S- parameters and TDR. Different scenarios of packaging, including co-package copper application, are used to validate the proposed method. The theory of cascading methodology to support the entire high-speed channel evaluation is analyzed in different scenarios to provide clear guideline on how to obtain accurate and fast high-speed channel simulation from package to PCB up to 75 GHz.