arXiv subjects

Han Xue

Publications and source records attributed to Han Xue.

33 records · Page 2Linked to original sources

arXiv2024

Further analysis of weighted integral inequalities for improved exponential stability analysis of time delay neural networks systems

This work investigates the exponential stability of neural networks (NNs) systems with time delays. By considering orthogonal polynomials with weighted terms, a new weighted integral inequality is presented. This inequality extend several recently established results. Additionally, based on the reciprocally convex inequality, this study focuses on analyzing the exponential stability of systems with time-varying delays that include an exponential decay factor, a weighted version of the reciprocally convex inequality is first derived. Utilizing these inequalities and the suitable Lyapunov-Krasovskii functionals (LKFs) within the framework of linear matrix inequalities (LMIs), the new criteria for the exponential stability of NNs system is obtained. The effectiveness of the proposed method is demonstrated through multiple numerical examples.

math.FA↗

arXiv2024

In-Context Translation: Towards Unifying Image Recognition, Processing, and Generation

We propose In-Context Translation (ICT), a general learning framework to unify visual recognition (e.g., semantic segmentation), low-level image processing (e.g., denoising), and conditional image generation (e.g., edge-to-image synthesis). Thanks to unification, ICT significantly reduces the inherent inductive bias that comes with designing models for specific tasks, and it maximizes mutual enhancement across similar tasks. However, the unification across a large number of tasks is non-trivial due to various data formats and training pipelines. To this end, ICT introduces two designs. Firstly, it standardizes input-output data of different tasks into RGB image pairs, e.g., semantic segmentation data pairs an RGB image with its segmentation mask in the same RGB format. This turns different tasks into a general translation task between two RGB images. Secondly, it standardizes the training of different tasks into a general in-context learning, where "in-context" means the input comprises an example input-output pair of the target task and a query image. The learning objective is to generate the "missing" data paired with the query. The implicit translation process is thus between the query and the generated image. In experiments, ICT unifies ten vision tasks and showcases impressive performance on their respective benchmarks. Notably, ICT performs well across three major categories of computer vision tasks, while its two competitors (Painter and PromptDiffusion) are only effective in at most two of these task categories. In addition, compared to its competitors, ICT trained on only 4 RTX 3090 GPUs is shown to be more efficient and less costly in training.

cs.CV↗

arXiv2024

PoseTalk: Text-and-Audio-based Pose Control and Motion Refinement for One-Shot Talking Head Generation

While previous audio-driven talking head generation (THG) methods generate head poses from driving audio, the generated poses or lips cannot match the audio well or are not editable. In this study, we propose \textbf{PoseTalk}, a THG system that can freely generate lip-synchronized talking head videos with free head poses conditioned on text prompts and audio. The core insight of our method is using head pose to connect visual, linguistic, and audio signals. First, we propose to generate poses from both audio and text prompts, where the audio offers short-term variations and rhythm correspondence of the head movements and the text prompts describe the long-term semantics of head motions. To achieve this goal, we devise a Pose Latent Diffusion (PLD) model to generate motion latent from text prompts and audio cues in a pose latent space. Second, we observe a loss-imbalance problem: the loss for the lip region contributes less than 4\% of the total reconstruction loss caused by both pose and lip, making optimization lean towards head movements rather than lip shapes. To address this issue, we propose a refinement-based learning strategy to synthesize natural talking videos using two cascaded networks, i.e., CoarseNet, and RefineNet. The CoarseNet estimates coarse motions to produce animated images in novel poses and the RefineNet focuses on learning finer lip motions by progressively estimating lip motions from low-to-high resolutions, yielding improved lip-synchronization performance. Experiments demonstrate our pose prediction strategy achieves better pose diversity and realness compared to text-only or audio-only, and our video generator model outperforms state-of-the-art methods in synthesizing talking videos with natural head motions. Project: https://junleen.github.io/projects/posetalk.

cs.CV↗

arXiv2024

Operando probing of nanocracking in CuO-derived Cu during CO$_2$ electroreduction

Identifying and controlling active sites in electrocatalysis remains a grand challenge due to restructuring of catalysts in the complex chemical environments during operation. Inactive precatalysts can transform into active catalysts under reaction conditions, such as oxide-derived Cu (OD-Cu) for CO$_2$ electroreduction displaying improved production of multicarbon (C$_{2+}$) chemicals. Revealing the mechanism of active site origin in OD-Cu catalysts requires in situ/operando characterizations of structure, morphology, and valence state evolution with high spatial and temporal resolution. Applying newly developed electrochemical liquid cell transmission electron microscopy combined with X-ray absorption spectroscopy, our multimodal operando techniques unveil the formation pathways of OD-Cu active sites from CuO bicrystal nanowire precatalysts. Rapid reduction of CuO directly to Cu within 60 seconds generates a nanocrack network throughout the nanowire, via formation of "boundary nanocracks" along the twin boundary and "transverse nanocracks" propagating from the surface to the center of the nanowire. The nanocrack network further reconstructs, leading to a highly porous structure rich in Cu nanograins, with a boosted specific surface area and density of active sites for C$_{2+}$ products. These findings suggest a means to optimize active OD-Cu nanostructures through nanocracking by tailoring grain boundaries in CuO precatalysts. More generally, our advanced operando approach opens new opportunities for mechanistic insights to enable improved control of catalyst structure and performance.

cond-mat.mtrl-sci↗

arXiv2024

GenN2N: Generative NeRF2NeRF Translation

We present GenN2N, a unified NeRF-to-NeRF translation framework for various NeRF translation tasks such as text-driven NeRF editing, colorization, super-resolution, inpainting, etc. Unlike previous methods designed for individual translation tasks with task-specific schemes, GenN2N achieves all these NeRF editing tasks by employing a plug-and-play image-to-image translator to perform editing in the 2D domain and lifting 2D edits into the 3D NeRF space. Since the 3D consistency of 2D edits may not be assured, we propose to model the distribution of the underlying 3D edits through a generative model that can cover all possible edited NeRFs. To model the distribution of 3D edited NeRFs from 2D edited images, we carefully design a VAE-GAN that encodes images while decoding NeRFs. The latent space is trained to align with a Gaussian distribution and the NeRFs are supervised through an adversarial loss on its renderings. To ensure the latent code does not depend on 2D viewpoints but truly reflects the 3D edits, we also regularize the latent code through a contrastive learning scheme. Extensive experiments on various editing tasks show GenN2N, as a universal framework, performs as well or better than task-specific specialists while possessing flexible generative power. More results on our project page: https://xiangyueliu.github.io/GenN2N/

cs.CV↗

arXiv2023

UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding

This paper explores the development of UniFolding, a sample-efficient, scalable, and generalizable robotic system for unfolding and folding various garments. UniFolding employs the proposed UFONet neural network to integrate unfolding and folding decisions into a single policy model that is adaptable to different garment types and states. The design of UniFolding is based on a garment's partial point cloud, which aids in generalization and reduces sensitivity to variations in texture and shape. The training pipeline prioritizes low-cost, sample-efficient data collection. Training data is collected via a human-centric process with offline and online stages. The offline stage involves human unfolding and folding actions via Virtual Reality, while the online stage utilizes human-in-the-loop learning to fine-tune the model in a real-world setting. The system is tested on two garment types: long-sleeve and short-sleeve shirts. Performance is evaluated on 20 shirts with significant variations in textures, shapes, and materials. More experiments and videos can be found in the supplementary materials and on the website: https://unifolding.robotflow.ai

cs.RO↗

arXiv2023

RFUniverse: A Multiphysics Simulation Platform for Embodied AI

Multiphysics phenomena, the coupling effects involving different aspects of physics laws, are pervasive in the real world and can often be encountered when performing everyday household tasks. Intelligent agents which seek to assist or replace human laborers will need to learn to cope with such phenomena in household task settings. To equip the agents with such kind of abilities, the research community needs a simulation environment, which will have the capability to serve as the testbed for the training process of these intelligent agents, to have the ability to support multiphysics coupling effects. Though many mature simulation software for multiphysics simulation have been adopted in industrial production, such techniques have not been applied to robot learning or embodied AI research. To bridge the gap, we propose a novel simulation environment named RFUniverse. This simulator can not only compute rigid and multi-body dynamics, but also multiphysics coupling effects commonly observed in daily life, such as air-solid interaction, fluid-solid interaction, and heat transfer. Because of the unique multiphysics capacities of this simulator, we can benchmark tasks that involve complex dynamics due to multiphysics coupling effects in a simulation environment before deploying to the real world. RFUniverse provides multiple interfaces to let the users interact with the virtual world in various ways, which is helpful and essential for learning, planning, and control. We benchmark three tasks with reinforcement learning, including food cutting, water pushing, and towel catching. We also evaluate butter pushing with a classic planning-control paradigm. This simulator offers an enhancement of physics simulation in terms of the computation of multiphysics coupling effects.

cs.RO↗

arXiv2023

Freestyle Layout-to-Image Synthesis

Typical layout-to-image synthesis (LIS) models generate images for a closed set of semantic classes, e.g., 182 common objects in COCO-Stuff. In this work, we explore the freestyle capability of the model, i.e., how far can it generate unseen semantics (e.g., classes, attributes, and styles) onto a given layout, and call the task Freestyle LIS (FLIS). Thanks to the development of large-scale pre-trained language-image models, a number of discriminative models (e.g., image classification and object detection) trained on limited base classes are empowered with the ability of unseen class prediction. Inspired by this, we opt to leverage large-scale pre-trained text-to-image diffusion models to achieve the generation of unseen semantics. The key challenge of FLIS is how to enable the diffusion model to synthesize images from a specific layout which very likely violates its pre-learned knowledge, e.g., the model never sees "a unicorn sitting on a bench" during its pre-training. To this end, we introduce a new module called Rectified Cross-Attention (RCA) that can be conveniently plugged in the diffusion model to integrate semantic masks. This "plug-in" is applied in each cross-attention layer of the model to rectify the attention maps between image and text tokens. The key idea of RCA is to enforce each text token to act on the pixels in a specified region, allowing us to freely put a wide variety of semantics from pre-trained knowledge (which is general) onto the given layout (which is specific). Extensive experiments show that the proposed diffusion network produces realistic and freestyle layout-to-image generation results with diverse text inputs, which has a high potential to spawn a bunch of interesting applications. Code is available at https://github.com/essunny310/FreestyleNet.

cs.CV↗

arXiv2023

Visual-Tactile Sensing for In-Hand Object Reconstruction

Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact state. With the availability of open-source tactile sensors such as DIGIT, research on visual-tactile learning is becoming more accessible and reproducible. Leveraging this tactile sensor, we propose a novel visual-tactile in-hand object reconstruction framework \textbf{VTacO}, and extend it to \textbf{VTacOH} for hand-object reconstruction. Since our method can support both rigid and deformable object reconstruction, no existing benchmarks are proper for the goal. We propose a simulation environment, VT-Sim, which supports generating hand-object interaction for both rigid and deformable objects. With VT-Sim, we generate a large-scale training dataset and evaluate our method on it. Extensive experiments demonstrate that our proposed method can outperform the previous baseline methods qualitatively and quantitatively. Finally, we directly apply our model trained in simulation to various real-world test cases, which display qualitative results. Codes, models, simulation environment, and datasets are available at \url{https://sites.google.com/view/vtaco/}.

cs.CV↗

arXiv2023

Ballistic Ejection of Microdroplets from Overpacked Interfacial Assemblies

Spontaneous emulsification, resulting from the assembly and accumulation of surfactants at liquid-liquid interfaces, is an interfacial instability where microdroplets are generated and diffusively spread from the interface until complete emulsification. Here, we show that an external magnetic field can modulate the assembly of paramagnetic nanoparticle surfactants (NPSs) at liquid-liquid interfaces and trigger an oversaturation in the areal density of the NPSs at the interface, as evidenced by a marked reduction in the interfacial tension, γ, and corroborated with a magnetostatic continuum theory. Despite the significant reduction in γ, the presence of the magnetic field does not cause stable interfaces to become unstable. Upon rapid removal of the field, however, an explosive ejection of a plume of microdroplets from the surface occurs, a dynamical interfacial instability which is termed explosive emulsification. This explosive event rapidly reduces the areal density of the NPSs to its pre-field level, stabilizing the interface. The ability to externally suppress or trigger the explosive emulsification and controlled generation of tens of thousands of microdroplets, uncovers an efficient energy storage and release process, that has potential applications for controlled and directed delivery of chemicals and remotely controlled soft microrobots, taking advantage of the ferromagnetic nature of the microdroplets.

cond-mat.soft↗

arXiv2021

OMAD: Object Model with Articulated Deformations for Pose Estimation and Retrieval

Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely the geometric and the pose deformation should be considered. In this work, we present a novel category-specific parametric representation called Object Model with Articulated Deformations (OMAD) to explicitly model the articulated objects. In OMAD, a category is associated with a linear shape function with shared shape basis and a non-linear joint function. Both functions can be learned from a large-scale object model dataset and fixed as category-specific priors. Then we propose an OMADNet to predict the shape parameters and the joint states from an object's single observation. With the full representation of the object shape and joint states, we can address several tasks including category-level object pose estimation and the articulated object retrieval. To evaluate these tasks, we create a synthetic dataset based on PartNet-Mobility. Extensive experiments show that our simple OMADNet can serve as a strong baseline for both tasks.

cs.CV↗

arXiv2021

Region-aware Adaptive Instance Normalization for Image Harmonization

Image composition plays a common but important role in photo editing. To acquire photo-realistic composite images, one must adjust the appearance and visual style of the foreground to be compatible with the background. Existing deep learning methods for harmonizing composite images directly learn an image mapping network from the composite to the real one, without explicit exploration on visual style consistency between the background and the foreground images. To ensure the visual style consistency between the foreground and the background, in this paper, we treat image harmonization as a style transfer problem. In particular, we propose a simple yet effective Region-aware Adaptive Instance Normalization (RAIN) module, which explicitly formulates the visual style from the background and adaptively applies them to the foreground. With our settings, our RAIN module can be used as a drop-in module for existing image harmonization networks and is able to bring significant improvements. Extensive experiments on the existing image harmonization benchmark datasets show the superior capability of the proposed method. Code is available at {https://github.com/junleen/RainNet}.

cs.CV↗

arXiv2021

Towards Real-World Category-level Articulation Pose Estimation

Human life is populated with articulated objects. Current Category-level Articulation Pose Estimation (CAPE) methods are studied under the single-instance setting with a fixed kinematic structure for each category. Considering these limitations, we reform this problem setting for real-world environments and suggest a CAPE-Real (CAPER) task setting. This setting allows varied kinematic structures within a semantic category, and multiple instances to co-exist in an observation of real world. To support this task, we build an articulated model repository ReArt-48 and present an efficient dataset generation pipeline, which contains Fast Articulated Object Modeling (FAOM) and Semi-Authentic MixEd Reality Technique (SAMERT). Accompanying the pipeline, we build a large-scale mixed reality dataset ReArtMix and a real world dataset ReArtVal. We also propose an effective framework ReArtNOCS that exploits RGB-D input to estimate part-level pose for multiple instances in a single forward pass. Extensive experiments demonstrate that the proposed ReArtNOCS can achieve good performance on both CAPER and CAPE settings. We believe it could serve as a strong baseline for future research on the CAPER task.

cs.CV↗

arXiv2020

Toward Fine-grained Facial Expression Manipulation

Facial expression manipulation aims at editing facial expression with a given condition. Previous methods edit an input image under the guidance of a discrete emotion label or absolute condition (e.g., facial action units) to possess the desired expression. However, these methods either suffer from changing condition-irrelevant regions or are inefficient for fine-grained editing. In this study, we take these two objectives into consideration and propose a novel method. First, we replace continuous absolute condition with relative condition, specifically, relative action units. With relative action units, the generator learns to only transform regions of interest which are specified by non-zero-valued relative AUs. Second, our generator is built on U-Net but strengthened by Multi-Scale Feature Fusion (MSF) mechanism for high-quality expression editing purposes. Extensive experiments on both quantitative and qualitative evaluation demonstrate the improvements of our proposed approach compared to the state-of-the-art expression editing methods. Code is available at \url{https://github.com/junleen/Expression-manipulator}.

cs.CV↗

arXiv2020

Dense RepPoints: Representing Visual Objects with Dense Point Sets

We present a new object representation, called Dense RepPoints, that utilizes a large set of points to describe an object at multiple levels, including both box level and pixel level. Techniques are proposed to efficiently process these dense points, maintaining near-constant complexity with increasing point numbers. Dense RepPoints is shown to represent and learn object segments well, with the use of a novel distance transform sampling method combined with set-to-set supervision. The distance transform sampling combines the strengths of contour and grid representations, leading to performance that surpasses counterparts based on contours or grids. Code is available at \url{https://github.com/justimyhxu/Dense-RepPoints}.

cs.CV↗