arXiv subjects

Ge Yang

Publications and source records attributed to Ge Yang.

At least 37 records · Page 2Linked to original sources

arXiv2024

Learning Visual Parkour from Generated Images

Fast and accurate physics simulation is an essential component of robot learning, where robots can explore failure scenarios that are difficult to produce in the real world and learn from unlimited on-policy data. Yet, it remains challenging to incorporate RGB-color perception into the sim-to-real pipeline that matches the real world in its richness and realism. In this work, we train a robot dog in simulation for visual parkour. We propose a way to use generative models to synthesize diverse and physically accurate image sequences of the scene from the robot's ego-centric perspective. We present demonstrations of zero-shot transfer to the RGB-only observations of the real world on a robot equipped with a low-cost, off-the-shelf color camera. website visit https://lucidsim.github.io

cs.RO↗

arXiv2024

XNet v2: Fewer Limitations, Better Results and Greater Universality

XNet introduces a wavelet-based X-shaped unified architecture for fully- and semi-supervised biomedical segmentation. So far, however, XNet still faces the limitations, including performance degradation when images lack high-frequency (HF) information, underutilization of raw images and insufficient fusion. To address these issues, we propose XNet v2, a low- and high-frequency complementary model. XNet v2 performs wavelet-based image-level complementary fusion, using fusion results along with raw images inputs three different sub-networks to construct consistency loss. Furthermore, we introduce a feature-level fusion module to enhance the transfer of low-frequency (LF) information and HF information. XNet v2 achieves state-of-the-art in semi-supervised segmentation while maintaining competitve results in fully-supervised learning. More importantly, XNet v2 excels in scenarios where XNet fails. Compared to XNet, XNet v2 exhibits fewer limitations, better results and greater universality. Extensive experiments on three 2D and two 3D datasets demonstrate the effectiveness of XNet v2. Code is available at https://github.com/Yanfeng-Zhou/XNetv2 .

cs.CV↗

arXiv2024

Representing Topological Self-Similarity Using Fractal Feature Maps for Accurate Segmentation of Tubular Structures

Accurate segmentation of long and thin tubular structures is required in a wide variety of areas such as biology, medicine, and remote sensing. The complex topology and geometry of such structures often pose significant technical challenges. A fundamental property of such structures is their topological self-similarity, which can be quantified by fractal features such as fractal dimension (FD). In this study, we incorporate fractal features into a deep learning model by extending FD to the pixel-level using a sliding window technique. The resulting fractal feature maps (FFMs) are then incorporated as additional input to the model and additional weight in the loss function to enhance segmentation performance by utilizing the topological self-similarity. Moreover, we extend the U-Net architecture by incorporating an edge decoder and a skeleton decoder to improve boundary accuracy and skeletal continuity of segmentation, respectively. Extensive experiments on five tubular structure datasets validate the effectiveness and robustness of our approach. Furthermore, the integration of FFMs with other popular segmentation models such as HR-Net also yields performance enhancement, suggesting FFM can be incorporated as a plug-in module with different model architectures. Code and data are openly accessible at https://github.com/cbmi-group/FFM-Multi-Decoder-Network.

eess.IV↗

arXiv2024

Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and scalable data. To achieve this, we propose an immersive teleoperation system Open-TeleVision that allows operators to actively perceive the robot's surroundings in a stereoscopic manner. Additionally, the system mirrors the operator's arm and hand movements on the robot, creating an immersive experience as if the operator's mind is transmitted to a robot embodiment. We validate the effectiveness of our system by collecting data and training imitation learning policies on four long-horizon, precise tasks (Can Sorting, Can Insertion, Folding, and Unloading) for 2 different humanoid robots and deploy them in the real world. The system is open-sourced at: https://robot-tv.github.io/

cs.RO↗

arXiv2024

Toward Efficient Deep Spiking Neuron Networks:A Survey On Compression

With the rapid development of deep learning, Deep Spiking Neural Networks (DSNNs) have emerged as promising due to their unique spike event processing and asynchronous computation. When deployed on neuromorphic chips, DSNNs offer significant power advantages over Deep Artificial Neural Networks (DANNs) and eliminate time and energy consuming multiplications due to the binary nature of spikes (0 or 1). Additionally, DSNNs excel in processing temporal information, making them potentially superior for handling temporal data compared to DANNs. However, their deep network structure and numerous parameters result in high computational costs and energy consumption, limiting real-life deployment. To enhance DSNNs efficiency, researchers have adapted methods from DANNs, such as pruning, quantization, and knowledge distillation, and developed specific techniques like reducing spike firing and pruning time steps. While previous surveys have covered DSNNs algorithms, hardware deployment, and general overviews, focused research on DSNNs compression and efficiency has been lacking. This survey addresses this gap by concentrating on efficient DSNNs and their compression methods. It begins with an exploration of DSNNs' biological background and computational units, highlighting differences from DANNs. It then delves into various compression methods, including pruning, quantization, knowledge distillation, and reducing spike firing, and concludes with suggestions for future research directions.

cs.NE↗

arXiv2024

Blaze3DM: Marry Triplane Representation with Diffusion for 3D Medical Inverse Problem Solving

Solving 3D medical inverse problems such as image restoration and reconstruction is crucial in modern medical field. However, the curse of dimensionality in 3D medical data leads mainstream volume-wise methods to suffer from high resource consumption and challenges models to successfully capture the natural distribution, resulting in inevitable volume inconsistency and artifacts. Some recent works attempt to simplify generation in the latent space but lack the capability to efficiently model intricate image details. To address these limitations, we present Blaze3DM, a novel approach that enables fast and high-fidelity generation by integrating compact triplane neural field and powerful diffusion model. In technique, Blaze3DM begins by optimizing data-dependent triplane embeddings and a shared decoder simultaneously, reconstructing each triplane back to the corresponding 3D volume. To further enhance 3D consistency, we introduce a lightweight 3D aware module to model the correlation of three vertical planes. Then, diffusion model is trained on latent triplane embeddings and achieves both unconditional and conditional triplane generation, which is finally decoded to arbitrary size volume. Extensive experiments on zero-shot 3D medical inverse problem solving, including sparse-view CT, limited-angle CT, compressed-sensing MRI, and MRI isotropic super-resolution, demonstrate that Blaze3DM not only achieves state-of-the-art performance but also markedly improves computational efficiency over existing methods (22~40x faster than previous work).

eess.IV↗

arXiv2024

Feature Splatting: Language-Driven Physics-Based Scene Synthesis and Editing

Scene representations using 3D Gaussian primitives have produced excellent results in modeling the appearance of static and dynamic 3D scenes. Many graphics applications, however, demand the ability to manipulate both the appearance and the physical properties of objects. We introduce Feature Splatting, an approach that unifies physics-based dynamic scene synthesis with rich semantics from vision language foundation models that are grounded by natural language. Our first contribution is a way to distill high-quality, object-centric vision-language features into 3D Gaussians, that enables semi-automatic scene decomposition using text queries. Our second contribution is a way to synthesize physics-based dynamics from an otherwise static scene using a particle-based simulator, in which material properties are assigned automatically via text queries. We ablate key techniques used in this pipeline, to illustrate the challenge and opportunities in using feature-carrying 3D Gaussians as a unified format for appearance, geometry, material properties and semantics grounded on natural language. Project website: https://feature-splatting.github.io/

cs.CV↗

arXiv2024

Expressive Whole-Body Control for Humanoid Robots

Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data from the graphics community in a Reinforcement Learning framework. However, directly performing imitation learning with the motion capture dataset would not work on the real humanoid robot, given the large gap in degrees of freedom and physical capabilities. Our method Expressive Whole-Body Control (Exbody) tackles this problem by encouraging the upper humanoid body to imitate a reference motion, while relaxing the imitation constraint on its two legs and only requiring them to follow a given velocity robustly. With training in simulation and Sim2Real transfer, our policy can control a humanoid robot to walk in different styles, shake hands with humans, and even dance with a human in the real world. We conduct extensive studies and comparisons on diverse motions in both simulation and the real world to show the effectiveness of our approach.

cs.RO↗

arXiv2023

Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation

Self-supervised and language-supervised image models contain rich knowledge of the world that is important for generalization. Many robotic tasks, however, require a detailed understanding of 3D geometry, which is often lacking in 2D image features. This work bridges this 2D-to-3D gap for robotic manipulation by leveraging distilled feature fields to combine accurate 3D geometry with rich semantics from 2D foundation models. We present a few-shot learning method for 6-DOF grasping and placing that harnesses these strong spatial and semantic priors to achieve in-the-wild generalization to unseen objects. Using features distilled from a vision-language model, CLIP, we present a way to designate novel objects for manipulation via free-text natural language, and demonstrate its ability to generalize to unseen expressions and novel categories of objects.

cs.CV↗

arXiv2023

Robust Source-Free Domain Adaptation for Fundus Image Segmentation

Unsupervised Domain Adaptation (UDA) is a learning technique that transfers knowledge learned in the source domain from labelled training data to the target domain with only unlabelled data. It is of significant importance to medical image segmentation because of the usual lack of labelled training data. Although extensive efforts have been made to optimize UDA techniques to improve the accuracy of segmentation models in the target domain, few studies have addressed the robustness of these models under UDA. In this study, we propose a two-stage training strategy for robust domain adaptation. In the source training stage, we utilize adversarial sample augmentation to enhance the robustness and generalization capability of the source model. And in the target training stage, we propose a novel robust pseudo-label and pseudo-boundary (PLPB) method, which effectively utilizes unlabeled target data to generate pseudo labels and pseudo boundaries that enable model self-adaptation without requiring source data. Extensive experimental results on cross-domain fundus image segmentation confirm the effectiveness and versatility of our method. Source code of this study is openly accessible at https://github.com/LinGrayy/PLPB.

cs.CV↗

arXiv2023

Compositional Sculpting of Iterative Generative Processes

High training costs of generative models and the need to fine-tune them for specific tasks have created a strong interest in model reuse and composition. A key challenge in composing iterative generative processes, such as GFlowNets and diffusion models, is that to realize the desired target distribution, all steps of the generative process need to be coordinated, and satisfy delicate balance conditions. In this work, we propose Compositional Sculpting: a general approach for defining compositions of iterative generative processes. We then introduce a method for sampling from these compositions built on classifier guidance. We showcase ways to accomplish compositional sculpting in both GFlowNets and diffusion models. We highlight two binary operations $\unicode{x2014}$ the harmonic mean ($p_1 \otimes p_2$) and the contrast ($p_1 \unicode{x25D1}\,p_2$) between pairs, and the generalization of these operations to multiple component distributions. We offer empirical results on image and molecular generation tasks.

cs.LG↗

arXiv2023

ADFA: Attention-augmented Differentiable top-k Feature Adaptation for Unsupervised Medical Anomaly Detection

The scarcity of annotated data, particularly for rare diseases, limits the variability of training data and the range of detectable lesions, presenting a significant challenge for supervised anomaly detection in medical imaging. To solve this problem, we propose a novel unsupervised method for medical image anomaly detection: Attention-Augmented Differentiable top-k Feature Adaptation (ADFA). The method utilizes Wide-ResNet50-2 (WR50) network pre-trained on ImageNet to extract initial feature representations. To reduce the channel dimensionality while preserving relevant channel information, we employ an attention-augmented patch descriptor on the extracted features. We then apply differentiable top-k feature adaptation to train the patch descriptor, mapping the extracted feature representations to a new vector space, enabling effective detection of anomalies. Experiments show that ADFA outperforms state-of-the-art (SOTA) methods on multiple challenging medical image datasets, confirming its effectiveness in medical anomaly detection.

cs.CV↗

arXiv2023

Improving Generalization of Adversarial Training via Robust Critical Fine-Tuning

Deep neural networks are susceptible to adversarial examples, posing a significant security risk in critical applications. Adversarial Training (AT) is a well-established technique to enhance adversarial robustness, but it often comes at the cost of decreased generalization ability. This paper proposes Robustness Critical Fine-Tuning (RiFT), a novel approach to enhance generalization without compromising adversarial robustness. The core idea of RiFT is to exploit the redundant capacity for robustness by fine-tuning the adversarially trained model on its non-robust-critical module. To do so, we introduce module robust criticality (MRC), a measure that evaluates the significance of a given module to model robustness under worst-case weight perturbations. Using this measure, we identify the module with the lowest MRC value as the non-robust-critical module and fine-tune its weights to obtain fine-tuned weights. Subsequently, we linearly interpolate between the adversarially trained weights and fine-tuned weights to derive the optimal fine-tuned model weights. We demonstrate the efficacy of RiFT on ResNet18, ResNet34, and WideResNet34-10 models trained on CIFAR10, CIFAR100, and Tiny-ImageNet datasets. Our experiments show that \method can significantly improve both generalization and out-of-distribution robustness by around 1.5% while maintaining or even slightly enhancing adversarial robustness. Code is available at https://github.com/microsoft/robustlearn.

cs.LG↗

arXiv2023

PKU-GoodsAD: A Supermarket Goods Dataset for Unsupervised Anomaly Detection and Segmentation

Visual anomaly detection is essential and commonly used for many tasks in the field of computer vision. Recent anomaly detection datasets mainly focus on industrial automated inspection, medical image analysis and video surveillance. In order to broaden the application and research of anomaly detection in unmanned supermarkets and smart manufacturing, we introduce the supermarket goods anomaly detection (GoodsAD) dataset. It contains 6124 high-resolution images of 484 different appearance goods divided into 6 categories. Each category contains several common different types of anomalies such as deformation, surface damage and opened. Anomalies contain both texture changes and structural changes. It follows the unsupervised setting and only normal (defect-free) images are used for training. Pixel-precise ground truth regions are provided for all anomalies. Moreover, we also conduct a thorough evaluation of current state-of-the-art unsupervised anomaly detection methods. This initial benchmark indicates that some methods which perform well on the industrial anomaly detection dataset (e.g., MVTec AD), show poor performance on our dataset. This is a comprehensive, multi-object dataset for supermarket goods anomaly detection that focuses on real-world applications.

cs.CV↗

arXiv2023

Bilinear value networks

The dominant framework for off-policy multi-goal reinforcement learning involves estimating goal conditioned Q-value function. When learning to achieve multiple goals, data efficiency is intimately connected with the generalization of the Q-function to new goals. The de-facto paradigm is to approximate Q(s, a, g) using monolithic neural networks. To improve the generalization of the Q-function, we propose a bilinear decomposition that represents the Q-value via a low-rank approximation in the form of a dot product between two vector fields. The first vector field, f(s, a), captures the environment's local dynamics at the state s; whereas the second component, ϕ(s, g), captures the global relationship between the current state and the goal. We show that our bilinear decomposition scheme substantially improves data efficiency, and has superior transfer to out-of-distribution goals compared to prior methods. Empirical evidence is provided on the simulated Fetch robot task-suite and dexterous manipulation with a Shadow hand.

cs.AI↗

arXiv2023

Machine Learning for Quantum-Enhanced Gravitational-Wave Observatories

Machine learning has become an effective tool for processing the extensive data sets produced by large physics experiments. Gravitational-wave detectors are now listening to the universe with quantum-enhanced sensitivity, accomplished with the injection of squeezed vacuum states. Squeezed state preparation and injection is operationally complicated, as well as highly sensitive to environmental fluctuations and variations in the interferometer state. Achieving and maintaining optimal squeezing levels is a challenging problem and will require development of new techniques to reach the lofty targets set by design goals for future observing runs and next-generation detectors. We use machine learning techniques to predict the squeezing level during the third observing run of the Laser Interferometer Gravitational-Wave Observatory (LIGO) based on auxiliary data streams, and offer interpretations of our models to identify and quantify salient sources of squeezing degradation. The development of these techniques lays the groundwork for future efforts to optimize squeezed state injection in gravitational-wave detectors, with the goal of enabling closed-loop control of the squeezer subsystem by an agent based on machine learning.

astro-ph.IM↗

arXiv2023

Neural Volumetric Memory for Visual Locomotion Control

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial observability of the problem, the robot has to rely on past observations to infer the terrain currently beneath it. To solve this problem, we follow the paradigm in computer vision that explicitly models the 3D geometry of the scene and propose Neural Volumetric Memory (NVM), a geometric memory architecture that explicitly accounts for the SE(3) equivariance of the 3D world. NVM aggregates feature volumes from multiple camera views by first bringing them back to the ego-centric frame of the robot. We test the learned visual-locomotion policy on a physical robot and show that our approach, which explicitly introduces geometric priors during training, offers superior performance than more naïve methods. We also include ablation studies and show that the representations stored in the neural volumetric memory capture sufficient geometric information to reconstruct the scene. Our project page with videos is https://rchalyang.github.io/NVM .

cs.RO↗

arXiv2023

Electron charge qubits with 0.1 millisecond coherence time

Electron charge qubits are compelling candidates for solid-state quantum computing because of their inherent simplicity in qubit design, fabrication, control, and readout. However, all existing electron charge qubits, built upon conventional semiconductors and superconductors, suffer from severe charge noise that limits the coherence time to the order of 1 microsecond. Here, we report our experimental realization of ultralong-coherence electron charge qubits, based upon isolated single electrons trapped on an ultraclean solid neon surface in vacuum. Quantum information is encoded in the motional states of an electron that is strongly coupled with microwave photons in an on-chip superconducting resonator. The measured relaxation time $T_1$ and coherence time $T_2$ are both on the order of 0.1 milliseconds. The single-shot readout fidelity without using a quantum-limited amplifier is 98.1%. The average single-qubit gate fidelity using Clifford-based randomized benchmarking is 99.97%. Simultaneous strong coupling of two qubits with the same resonator is demonstrated, as a first step toward two-qubit entangling gates for universal quantum computing. These results manifest that the electron-on-solid-neon (eNe) charge qubits outperform all existing charge qubits to date and rival state-of-the-art superconducting transmon qubits, offering an appealing platform for quantum computing.

quant-ph↗