arXiv subjects

Chenxiao Zhang

Publications and source records attributed to Chenxiao Zhang.

3 recordsLinked to original sources

arXiv2026

RoboNeuron: A Middle-Layer Infrastructure for Agent-Driven Orchestration in Embodied AI

Vision-language-action (VLA) models and LLM agents have advanced rapidly, yet reliable deployment on physical robots is often hindered by an interface mismatch between agent tool APIs and robot middleware. Current implementations typically rely on ad-hoc wrappers that are difficult to reuse, and changes to the VLA backend or serving stack often necessitate extensive re-integration. We introduce RoboNeuron, a middleware layer that connects the Model Context Protocol (MCP) for LLM agents with robot middleware such as ROS2. RoboNeuron bridges these ecosystems by deriving agent-callable tools directly from ROS schemas, providing a unified execution abstraction that supports both direct commands and modular composition, and localizing backend, runtime, and acceleration-preset changes within a stable inference boundary. We evaluate RoboNeuron in simulation and on hardware through multi-platform base control, arm motion, and VLA-based grasping tasks, demonstrating that it enables modular system orchestration under a unified interface while supporting backend transitions without system rewiring. The full code implementation of this work is available at github repo: https://github.com/guanweifan/RoboNeuron

cs.RO↗

arXiv2025

Tracking spatial temporal details in ultrasound long video via wavelet analysis and memory bank

Medical ultrasound videos are widely used for medical inspections, disease diagnosis and surgical planning. High-fidelity lesion area and target organ segmentation constitutes a key component of the computer-assisted surgery workflow. The low contrast levels and noisy backgrounds of ultrasound videos cause missegmentation of organ boundary, which may lead to small object losses and increase boundary segmentation errors. Object tracking in long videos also remains a significant research challenge. To overcome these challenges, we propose a memory bank-based wavelet filtering and fusion network, which adopts an encoder-decoder structure to effectively extract fine-grained detailed spatial features and integrate high-frequency (HF) information. Specifically, memory-based wavelet convolution is presented to simultaneously capture category, detailed information and utilize adjacent information in the encoder. Cascaded wavelet compression is used to fuse multiscale frequency-domain features and expand the receptive field within each convolutional layer. A long short-term memory bank using cross-attention and memory compression mechanisms is designed to track objects in long video. To fully utilize the boundary-sensitive HF details of feature maps, an HF-aware feature fusion module is designed via adaptive wavelet filters in the decoder. In extensive benchmark tests conducted on four ultrasound video datasets (two thyroid nodule, the thyroid gland, the heart datasets) compared with the state-of-the-art methods, our method demonstrates marked improvements in segmentation metrics. In particular, our method can more accurately segment small thyroid nodules, demonstrating its effectiveness for cases involving small ultrasound objects in long video. The code is available at https://github.com/XiAooZ/MWNet.

cs.CV↗

arXiv2023

Efficient Remote Sensing Segmentation With Generative Adversarial Transformer

Most deep learning methods that achieve high segmentation accuracy require deep network architectures that are too heavy and complex to run on embedded devices with limited storage and memory space. To address this issue, this paper proposes an efficient Generative Adversarial Transfomer (GATrans) for achieving high-precision semantic segmentation while maintaining an extremely efficient size. The framework utilizes a Global Transformer Network (GTNet) as the generator, efficiently extracting multi-level features through residual connections. GTNet employs global transformer blocks with progressively linear computational complexity to reassign global features based on a learnable similarity function. To focus on object-level and pixel-level information, the GATrans optimizes the objective function by combining structural similarity losses. We validate the effectiveness of our approach through extensive experiments on the Vaihingen dataset, achieving an average F1 score of 90.17% and an overall accuracy of 91.92%.

cs.CV↗