Junha Cha, Chanwoo Kim, Kisang Park, Yeoncheol Jang, Doyoung Kim, Seungmin Kim, Kyungjae Lee, Sungjoon Choi
Reliable box manipulation requires successful placement without damage, which depends on maintaining sufficient contact force without excessive loading. We hypothesize that per-finger force feedback improves manipulation reliability relative to open-loop finger commands. To this end, we present Finger External-Force Estimation from Proprioceptive SignaLs (FEEL), an uncertainty-aware residual method that estimates per-finger external force magnitude from proprioceptive histories. Our method combines a calibrated virtual-spring estimate with a residual distribution predicted by a Mixture Density Network (MDN) and requires no dedicated contact sensors during deployment. The estimated force is used for continuous per-finger adaptation, while predictive uncertainty is evaluated as an empirical signal of ambiguity in proprioceptive force estimation. Across ten fingers and contact forces spanning 0-20 N, our method achieves a mean RMSE of 0.251 N, reducing the error by 92.8% relative to the virtual spring and by 9.4% relative to an end-to-end MDN. In box pick-and-place, force adaptation maintains task success at 10/10 and increases both damage-free outcomes and reliability from 7/10 to 10/10. The project page is available at https://finger-force-estimation.pages.dev/
Joeun Kim, Seunghyouk Yoon, Xuan-Bach Le, Youngeun Nam University of Toronto, Doyoung Kim Korea Advanced Institute of Science and Technology, Hwanjun Song Korea Advanced Institute of Science and Technology, Jae-Gil Lee Korea Advanced Institute of Science and Technology
Retrieval-augmented generation(RAG) systems depend on retrieval modules to supply grounding evidence for large language models. While hybrid approaches combining sparse and dense retrievers improve performance, most rely on fixed weights that ignore query-specific and corpus-specific variation. Similarly, query expansion has long been used to enrich recall, but its integration with original queries is usually static and can introduce noise. We present QuDAR, a dual-perspective adaptive retrieval framework that adapts along two perspectives: retriever type (sparse vs. dense) and query format (original vs.expanded). Leveraging margin-derived confidence (e.g., top-1–top-2 score gaps) and blind LLM-based relevance scoring, QuDAR dynamically assigns query-specific weights, fusing lexical specificity with semantic breadth while mitigating noise. QuDAR is lightweight, retriever-agnostic, and broadly applicable. Experiments show consistent gains over static baselines, improving overall retrieval quality and yielding more stable performance across queries.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表