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Towards Data-Driven Adaptive Exoskeleton Assistance for Post-stroke Gait
Authors:
Fabian C. Weigend,
Dabin K. Choe,
Santiago Canete,
Conor J. Walsh
Abstract:
Recent work has shown that exoskeletons controlled through data-driven methods can dynamically adapt assistance to various tasks for healthy young adults. However, applying these methods to populations with neuromotor gait deficits, such as post-stroke hemiparesis, is challenging. This is due not only to high population heterogeneity and gait variability but also to a lack of post-stroke gait data…
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Recent work has shown that exoskeletons controlled through data-driven methods can dynamically adapt assistance to various tasks for healthy young adults. However, applying these methods to populations with neuromotor gait deficits, such as post-stroke hemiparesis, is challenging. This is due not only to high population heterogeneity and gait variability but also to a lack of post-stroke gait datasets to train accurate models. Despite these challenges, data-driven methods offer a promising avenue for control, potentially allowing exoskeletons to function safely and effectively in unstructured community settings. This work presents a first step towards enabling adaptive plantarflexion and dorsiflexion assistance from data-driven torque estimation during post-stroke walking. We trained a multi-task Temporal Convolutional Network (TCN) using collected data from four post-stroke participants walking on a treadmill ($R^2$ of $0.74 \pm 0.13$). The model uses data from three inertial measurement units (IMU) and was pretrained on healthy walking data from 6 participants. We implemented a wearable prototype for our ankle torque estimation approach for exoskeleton control and demonstrated the viability of real-time sensing, estimation, and actuation with one post-stroke participant.
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Submitted 24 September, 2025; v1 submitted 1 August, 2025;
originally announced August 2025.
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PEER pressure: Model-to-Model Regularization for Single Source Domain Generalization
Authors:
Dong Kyu Cho,
Inwoo Hwang,
Sanghack Lee
Abstract:
Data augmentation is a popular tool for single source domain generalization, which expands the source domain by generating simulated ones, improving generalization on unseen target domains. In this work, we show that the performance of such augmentation-based methods in the target domains universally fluctuates during training, posing challenges in model selection under realistic scenarios. We arg…
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Data augmentation is a popular tool for single source domain generalization, which expands the source domain by generating simulated ones, improving generalization on unseen target domains. In this work, we show that the performance of such augmentation-based methods in the target domains universally fluctuates during training, posing challenges in model selection under realistic scenarios. We argue that the fluctuation stems from the inability of the model to accumulate the knowledge learned from diverse augmentations, exacerbating feature distortion during training. Based on this observation, we propose a novel generalization method, coined Parameter-Space Ensemble with Entropy Regularization (PEER), that uses a proxy model to learn the augmented data on behalf of the main model. The main model is updated by averaging its parameters with the proxy model, progressively accumulating knowledge over the training steps. Maximizing the mutual information between the output representations of the two models guides the learning process of the proxy model, mitigating feature distortion during training. Experimental results demonstrate the effectiveness of PEER in reducing the OOD performance fluctuation and enhancing generalization across various datasets, including PACS, Digits, Office-Home, and VLCS. Notably, our method with simple random augmentation achieves state-of-the-art performance, surpassing prior approaches on sDG that utilize complex data augmentation strategies.
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Submitted 19 May, 2025;
originally announced May 2025.
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Efficiently Searching for Frustrated Cycles in MAP Inference
Authors:
David Sontag,
Do Kook Choe,
Yitao Li
Abstract:
Dual decomposition provides a tractable framework for designing algorithms for finding the most probable (MAP) configuration in graphical models. However, for many real-world inference problems, the typical decomposition has a large integrality gap, due to frustrated cycles. One way to tighten the relaxation is to introduce additional constraints that explicitly enforce cycle consistency. Earlier…
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Dual decomposition provides a tractable framework for designing algorithms for finding the most probable (MAP) configuration in graphical models. However, for many real-world inference problems, the typical decomposition has a large integrality gap, due to frustrated cycles. One way to tighten the relaxation is to introduce additional constraints that explicitly enforce cycle consistency. Earlier work showed that cluster-pursuit algorithms, which iteratively introduce cycle and other higherorder consistency constraints, allows one to exactly solve many hard inference problems. However, these algorithms explicitly enumerate a candidate set of clusters, limiting them to triplets or other short cycles. We solve the search problem for cycle constraints, giving a nearly linear time algorithm for finding the most frustrated cycle of arbitrary length. We show how to use this search algorithm together with the dual decomposition framework and clusterpursuit. The new algorithm exactly solves MAP inference problems arising from relational classification and stereo vision.
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Submitted 16 October, 2012;
originally announced October 2012.
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Combination of the top-quark mass measurements from the Tevatron collider
Authors:
The CDF,
D0 collaborations,
T. Aaltonen,
V. M. Abazov,
B. Abbott,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Alton,
B. Alvarez Gonzalez,
G. Alverson,
S. Amerio,
D. Amidei,
A. Anastassov,
A. Annovi,
J. Antos,
G. Apollinari,
J. A. Appel,
T. Arisawa,
A. Artikov,
J. Asaadi,
W. Ashmanskas,
A. Askew
, et al. (840 additional authors not shown)
Abstract:
The top quark is the heaviest known elementary particle, with a mass about 40 times larger than the mass of its isospin partner, the bottom quark. It decays almost 100% of the time to a $W$ boson and a bottom quark. Using top-antitop pairs at the Tevatron proton-antiproton collider, the CDF and {\dzero} collaborations have measured the top quark's mass in different final states for integrated lumi…
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The top quark is the heaviest known elementary particle, with a mass about 40 times larger than the mass of its isospin partner, the bottom quark. It decays almost 100% of the time to a $W$ boson and a bottom quark. Using top-antitop pairs at the Tevatron proton-antiproton collider, the CDF and {\dzero} collaborations have measured the top quark's mass in different final states for integrated luminosities of up to 5.8 fb$^{-1}$. This paper reports on a combination of these measurements that results in a more precise value of the mass than any individual decay channel can provide. It describes the treatment of the systematic uncertainties and their correlations. The mass value determined is $173.18 \pm 0.56 \thinspace ({\rm stat}) \pm 0.75 \thinspace ({\rm syst})$ GeV or $173.18 \pm 0.94$ GeV, which has a precision of $\pm 0.54%$, making this the most precise determination of the top quark mass.
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Submitted 16 November, 2012; v1 submitted 4 July, 2012;
originally announced July 2012.
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Measurement of the differential cross section dσ/dt in elastic $p\bar{p}$ scattering at sqrt(s)=1.96 TeV
Authors:
D0 Collaboration,
V. M. Abazov,
B. Abbott,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Alton,
G. Alverson,
G. A. Alves,
M. Aoki,
A. Askew,
S. Atkins,
K. Augsten,
C. Avila,
F. Badaud,
L. Bagby,
B. Baldin,
D. V. Bandurin,
S. Banerjee,
E. Barberis,
P. Baringer,
J. Barreto,
J. F. Bartlett
, et al. (384 additional authors not shown)
Abstract:
We present a measurement of the elastic differential cross section $dσ(p\bar{p}\rightarrow p\bar{p})/dt$ as a function of the four-momentum-transfer squared t. The data sample corresponds to an integrated luminosity of $\approx 31 nb^{-1}$ collected with the D0 detector using dedicated Tevatron $p\bar{p} $ Collider operating conditions at sqrt(s) = 1.96 TeV and covers the range…
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We present a measurement of the elastic differential cross section $dσ(p\bar{p}\rightarrow p\bar{p})/dt$ as a function of the four-momentum-transfer squared t. The data sample corresponds to an integrated luminosity of $\approx 31 nb^{-1}$ collected with the D0 detector using dedicated Tevatron $p\bar{p} $ Collider operating conditions at sqrt(s) = 1.96 TeV and covers the range $0.26 <|t|< 1.2 GeV^2$. For $|t|<0.6 GeV^2$, dσ/dt is described by an exponential function of the form $Ae^{-b|t|}$ with a slope parameter $ b = 16.86 \pm 0.10(stat) \pm 0.20(syst) GeV^{-2}$. A change in slope is observed at $|t| \approx 0.6 GeV^2$, followed by a more gradual |t| dependence with increasing values of |t|.
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Submitted 4 June, 2012;
originally announced June 2012.
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Combination of CDF and D0 measurements of the W boson helicity in top quark decays
Authors:
The CDF,
D0 Collaborations,
:,
T. Aaltonen,
V. M. Abazov,
B. Abbott,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Alton,
B. Álvarez González,
G. Alverson,
S. Amerio,
D. Amidei,
A. Anastassov,
A. Annovi,
J. Antos,
M. Aoki,
G. Apollinari,
J. A. Appel,
T. Arisawa,
A. Artikov,
J. Asaadi
, et al. (846 additional authors not shown)
Abstract:
We report the combination of recent measurements of the helicity of the W boson from top quark decay by the CDF and D0 collaborations, based on data samples corresponding to integrated luminosities of 2.7 - 5.4 fb^-1 of ppbar collisions collected during Run II of the Fermilab Tevatron Collider. Combining measurements that simultaneously determine the fractions of W bosons with longitudinal (f0) an…
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We report the combination of recent measurements of the helicity of the W boson from top quark decay by the CDF and D0 collaborations, based on data samples corresponding to integrated luminosities of 2.7 - 5.4 fb^-1 of ppbar collisions collected during Run II of the Fermilab Tevatron Collider. Combining measurements that simultaneously determine the fractions of W bosons with longitudinal (f0) and right-handed (f+) helicities, we find f0 = 0.722 \pm 0.081 [\pm 0.062 (stat.) \pm 0.052 (syst.)] and f+ = -0.033 \pm 0.046 [\pm 0.034 (stat.) \pm 0.031 (syst.)]. Combining measurements where one of the helicity fractions is fixed to the value expected in the standard model, we find f0 = 0.682 \pm 0.057 [\pm 0.035 (stat.) \pm 0.046 (syst.)] and f+ = -0.015\pm0.035 [\pm 0.018 (stat.) \pm 0.030 (syst.)]. The results are consistent with standard model expectations.
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Submitted 23 February, 2012;
originally announced February 2012.
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Search for pair production of the scalar top quark in muon+tau final states
Authors:
D0 Collaboration,
V. M. Abazov,
B. Abbott,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Alton,
G. Alverson,
M. Aoki,
A. Askew,
B. Asman,
S. Atkins,
O. Atramentov,
K. Augsten,
C. Avila,
J. BackusMayes,
F. Badaud,
L. Bagby,
B. Baldin,
D. V. Bandurin,
S. Banerjee,
E. Barberis,
P. Baringer
, et al. (385 additional authors not shown)
Abstract:
We present a search for the pair production of scalar top quarks ($\tilde{t}_{1}$), the lightest supersymmetric partners of the top quarks, in $p\bar{p}$ collisions at a center-of-mass energy of 1.96 TeV, using data corresponding to an integrated luminosity of {7.3 $fb^{-1}$} collected with the \dzero experiment at the Fermilab Tevatron Collider. Each scalar top quark is assumed to decay into a…
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We present a search for the pair production of scalar top quarks ($\tilde{t}_{1}$), the lightest supersymmetric partners of the top quarks, in $p\bar{p}$ collisions at a center-of-mass energy of 1.96 TeV, using data corresponding to an integrated luminosity of {7.3 $fb^{-1}$} collected with the \dzero experiment at the Fermilab Tevatron Collider. Each scalar top quark is assumed to decay into a $b$ quark, a charged lepton, and a scalar neutrino ($\tildeν$). We investigate final states arising from $\tilde{t}_{1} \bar{\tilde{t}_{1}} \rightarrow b\bar{b}μτ\tildeν \tildeν$ and $\tilde{t}_{1} \bar{\tilde{t}_{1}} \rightarrow b\bar{b}ττ\tildeν \tildeν$. With no significant excess of events observed above the background expected from the standard model, we set exclusion limits on this production process in the ($m_{\tilde{t}_{1}}$,$m_{\tildeν}$) plane.
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Submitted 9 February, 2012;
originally announced February 2012.
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Precise measurement of the top quark mass in the dilepton channel at D0
Authors:
D0 Collaboration,
V. M. Abazov,
B. Abbott,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Alton,
G. Alverson,
G. A. Alves,
L. S. Ancu,
M. Aoki,
M. Arov,
A. Askew,
B. Åsman,
O. Atramentov,
C. Avila,
J. BackusMayes,
F. Badaud,
L. Bagby,
B. Baldin,
D. V. Bandurin,
S. Banerjee,
E. Barberis
, et al. (397 additional authors not shown)
Abstract:
We measure the top quark mass (mt) in ppbar collisions at a center of mass energy of 1.96 TeV using dilepton ttbar->W+bW-bbar->l+nubl-nubarbbar events, where l denotes an electron, a muon, or a tau that decays leptonically. The data correspond to an integrated luminosity of 5.4 fb-1 collected with the D0 detector at the Fermilab Tevatron Collider. We obtain mt = 174.0 +- 1.8(stat) +- 2.4(syst) GeV…
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We measure the top quark mass (mt) in ppbar collisions at a center of mass energy of 1.96 TeV using dilepton ttbar->W+bW-bbar->l+nubl-nubarbbar events, where l denotes an electron, a muon, or a tau that decays leptonically. The data correspond to an integrated luminosity of 5.4 fb-1 collected with the D0 detector at the Fermilab Tevatron Collider. We obtain mt = 174.0 +- 1.8(stat) +- 2.4(syst) GeV, which is in agreement with the current world average mt = 173.3 +- 1.1 GeV. This is currently the most precise measurement of mt in the dilepton channel.
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Submitted 28 August, 2011; v1 submitted 2 May, 2011;
originally announced May 2011.
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Measurement of the W boson helicity in top quark decays using 5.4 fb^-1 of ppbar collision data
Authors:
V. M. Abazov,
B. Abbott,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Altona,
G. Alverson,
G. A. Alves,
L. S. Ancu,
M. Aoki,
Y. Arnoud,
M. Arov,
A. Askew,
B. Asman,
O. Atramentov,
C. Avila,
J. BackusMayes,
F. Badaud,
L. Bagby,
B. Baldin,
D. V. Bandurin,
S. Banerjee,
E. Barberis
, et al. (403 additional authors not shown)
Abstract:
We present a measurement of the helicity of the W boson produced in top quark decays using ttbar decays in the l+jets and dilepton final states selected from a sample of 5.4 fb^-1 of collisions recorded using the D0 detector at the Fermilab Tevatron ppbar collider. We measure the fractions of longitudinal and right-handed W bosons to be f_0 = 0.669 +- 0.102 [ +- 0.078 (stat.) +- 0.065 (syst.)] and…
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We present a measurement of the helicity of the W boson produced in top quark decays using ttbar decays in the l+jets and dilepton final states selected from a sample of 5.4 fb^-1 of collisions recorded using the D0 detector at the Fermilab Tevatron ppbar collider. We measure the fractions of longitudinal and right-handed W bosons to be f_0 = 0.669 +- 0.102 [ +- 0.078 (stat.) +- 0.065 (syst.)] and f_+ = 0.023 +- 0.053 [+- 0.041 (stat.) +- 0.034 (syst.)], respectively. This result is consistent at the 98% level with the standard model. A measurement with f_0 fixed to the value from the standard model yields f_+ = 0.010 +- 0.037 [+- 0.022 (stat.) +- 0.030 (syst.) ].
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Submitted 20 September, 2012; v1 submitted 30 November, 2010;
originally announced November 2010.
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Search for pair production of the scalar top quark in the electron-muon final state
Authors:
V. M. Abazov,
B. Abbott,
M. Abolins,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Altona,
G. Alverson,
G. A. Alves,
L. S. Ancu,
M. Aoki,
Y. Arnoud,
M. Arov,
A. Askew,
B. Åsman,
O. Atramentov,
C. Avila,
J. BackusMayes,
F. Badaud,
L. Bagby,
B. Baldin,
D. V. Bandurin,
S. Banerjee
, et al. (406 additional authors not shown)
Abstract:
We report the result of a search for the pair production of the lightest supersymmetric partner of the top quark ($\tilde{t}_1$) in $p\bar{p}$ collisions at a center-of-mass energy of 1.96 TeV at the Fermilab Tevatron collider corresponding to an integrated luminosity of 5.4 fb$^{-1}$. The scalar top quarks are assumed to decay into a $b$ quark, a charged lepton, and a scalar neutrino (…
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We report the result of a search for the pair production of the lightest supersymmetric partner of the top quark ($\tilde{t}_1$) in $p\bar{p}$ collisions at a center-of-mass energy of 1.96 TeV at the Fermilab Tevatron collider corresponding to an integrated luminosity of 5.4 fb$^{-1}$. The scalar top quarks are assumed to decay into a $b$ quark, a charged lepton, and a scalar neutrino ($\tildeν$), and the search is performed in the electron plus muon final state. No significant excess of events above the standard model prediction is detected, and improved exclusion limits at the 95% C.L. are set in the the ($M_{\tilde{t}_1}$,$M_{\tildeν}$) mass plane.
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Submitted 29 September, 2010;
originally announced September 2010.
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Determination of the width of the top quark
Authors:
V. M. Abazov,
B. Abbott,
M. Abolins,
B. S. Acharya,
M. Adams,
T. Adams,
G. D. Alexeev,
G. Alkhazov,
A. Altona,
G. Alverson,
G. A. Alves,
L. S. Ancu,
M. Aoki,
Y. Arnoud,
M. Arov,
A. Askew,
B. Åsman,
O. Atramentov,
C. Avila,
J. BackusMayes,
F. Badaud,
L. Bagby,
B. Baldin,
D. V. Bandurin,
S. Banerjee
, et al. (406 additional authors not shown)
Abstract:
We extract the total width of the top quark, Gamma_t, from the partial decay width Gamma(t -> W b) measured using the t-channel cross section for single top quark production and from the branching fraction B(t -> W b) measured in ttbar events using up to 2.3 fb^-1 of integrated luminosity collected by the D0 Collaboration at the Tevatron ppbar Collider. The result is Gamma_t = 1.99 +0.69 -0.55 GeV…
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We extract the total width of the top quark, Gamma_t, from the partial decay width Gamma(t -> W b) measured using the t-channel cross section for single top quark production and from the branching fraction B(t -> W b) measured in ttbar events using up to 2.3 fb^-1 of integrated luminosity collected by the D0 Collaboration at the Tevatron ppbar Collider. The result is Gamma_t = 1.99 +0.69 -0.55 GeV, which translates to a top-quark lifetime of tau_t = (3.3 +1.3 -0.9) x 10^-25 s. Assuming a high mass fourth generation b' quark and unitarity of the four-generation quark-mixing matrix, we set the first upper limit on |Vtb'| < 0.63 at 95% C.L.
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Submitted 28 September, 2010;
originally announced September 2010.
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The D0 Run II Impact Parameter Trigger
Authors:
T. Adams,
Q. An,
K. M. Black,
T. Bose,
N. J. Buchanan,
S. Caron,
D. K. Cho,
S. Choi,
A. Das,
M. Das,
H. Dong,
W. Earle,
H. Evans,
S. N. Fatakia,
L. Feligioni,
T. Fitzpatrick,
E. Hazen,
U. Heintz,
K. Herner,
J. D. Hobbs,
D. Khatidze,
W. M. Lee,
S. L. Linn,
M. Narain,
C. Pancake
, et al. (18 additional authors not shown)
Abstract:
Many physics topics to be studied by the D0 experiment during Run II of the Fermilab Tevatron ppbar collider give rise to final states containing b--flavored particles. Examples include Higgs searches, top quark production and decay studies, and full reconstruction of B decays. The sensitivity to such modes has been significantly enhanced by the installation of a silicon based vertex detector as…
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Many physics topics to be studied by the D0 experiment during Run II of the Fermilab Tevatron ppbar collider give rise to final states containing b--flavored particles. Examples include Higgs searches, top quark production and decay studies, and full reconstruction of B decays. The sensitivity to such modes has been significantly enhanced by the installation of a silicon based vertex detector as part of the DO detector upgrade for Run II. Interesting events must be identified initially in 100-200 microseconds to be available for later study. This paper describes custom electronics used in the DO trigger system to provide the real--time identification of events having tracks consistent with the decay of b--flavored particles.
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Submitted 17 January, 2007;
originally announced January 2007.