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Siqing Chen

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4 papers
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4

ICLR Conference 2024 Conference Paper

In-context Autoencoder for Context Compression in a Large Language Model

  • Tao Ge 0001
  • Jing Hu 0001
  • Lei Wang
  • Xun Wang 0012
  • Siqing Chen
  • Furu Wei

We propose the In-context Autoencoder (ICAE), leveraging the power of a large language model (LLM) to compress a long context into short compact memory slots that can be directly conditioned on by the LLM for various purposes. ICAE is first pretrained using both autoencoding and language modeling objectives on massive text data, enabling it to generate memory slots that accurately and comprehensively represent the original context. Then, it is fine-tuned on instruction data for producing desirable responses to various prompts. Experiments demonstrate that our lightweight ICAE, introducing about 1% additional parameters, effectively achieves $4\times$ context compression based on Llama, offering advantages in both improved latency and GPU memory cost during inference, and showing an interesting insight in memorization as well as potential for scalability. These promising results imply a novel perspective on the connection between working memory in cognitive science and representation learning in LLMs, revealing ICAE's significant implications in addressing the long context problem and suggesting further research in LLM context management. Our data, code and models are available at https://github.com/getao/icae.

ICRA Conference 2023 Conference Paper

An Underwater Jet-Propulsion Soft Robot with High Flexibility Driven by Water Hydraulics

  • Siqing Chen
  • He Xu
  • Xiao Xiong
  • Ben Lu

Compared with rigid robots, soft robots have the advantages of inherent compliance, high adaptability, and impact tolerance. Many researchers are very interested in the motion design of soft robot underwater. In this paper, inspired by the method of octopus propulsion, a jet propulsion unit with 80% soft materials driven by pressure is designed. It can change the volume of its cavity to absorb and eject the fluid medium to make the robot move. According to the working characteristics of the jet unit, corresponding experiments are designed to analyze its force output, deformation, ejection flow, and pressure response characteristics. In order to expand the motion space of the robot, a buoyancy unit is designed to control the depth of the robot in the water. Three jet units and a buoyancy element are combined into a tetrahedron robot - jet soft robot (JSR). The feasibility of its motion is verified by experiments. Compared with other similar jet robots, the biggest feature of this robot is that the drive unit can bend or twist roughly along the centerline, which can prevent accidental collision and damage.

IROS Conference 2022 Conference Paper

Multi-DoF Soft Robotic Actuators Based on Spring Reinforce and Particle Jamming

  • Weiwang Fan
  • He Xu
  • Haihang Wang
  • Siqing Chen
  • Qiandiao Wei
  • Chaochao You

Soft robots have a wide rang of applications due to their compliance, flexibility and low fabrication cost. Compare to rigid robots, soft robots are more safe for human. In this work, we design various multi-DoF actuators with spring reinforce and particle jamming, and two fabrication methods are proposed to make them. Each type of actuator is tested to evaluate the mechanical properties by experiments. Experimental results show that both spring and particle jamming have effect on the stiffness. Besides, Spring reinforced actuator (SRA) increases the maximum allowable inflation pressure, output bending force and gives a good linear relationship of bending. We also integrate spring and particles to fabricate a hybrid actuator whose behaviors are explored by experiments. Finally, we create a snake-like robotic manipulator assembled with two actuators and show its bending motion. Results show that the manipulator is able to achieve several bending shapes steadily and large range of motion.

ICRA Conference 2020 Conference Paper

Modeling and Experiments on the Swallowing and Disgorging Characteristics of an Underwater Continuum Manipulator

  • Haihang Wang
  • He Xu
  • Fengshu Yu
  • Xin Li
  • Chen Yang
  • Siqing Chen
  • Junlong Chen
  • Yonghui Zhang

Soft robots apply compliant materials to perform motions and behaviors not typically achievable by rigid robots. An underwater, compliant, multi-segment continuum manipulator that can bend, swallow, disgorge is developed in this study. The manipulator is driven by McKibben water hydraulic artificial muscle (WHAM). The mechanical properties of the WHAM are tested and analyzed experimentally. The kinematics model, which concerns about the variable diameter structure of the soft grippers, are established to simulate the behaviors of the manipulator among the bending, swallowing and disgorging procedure. A mouth-tongue collaborative soft robot assembled with another single-segment soft robot arm is presented. And its functions are experimentally testified. The distinctive functions were verified according to the experimental results.

v2026.09.13