Searcharxiv⌕ Search

arXiv subjects

Haoyu Dong

Publications and source records attributed to Haoyu Dong.

At least 37 records · Page 2Linked to original sources

FORESTLLM: Large Language Models Make Random Forest Great on Few-shot Tabular Learning

Tabular data high-stakes critical decision-making in domains such as finance, healthcare, and scientific discovery. Yet, learning effectively from tabular data in few-shot settings, where labeled examples are scarce, remains a fundamental challenge. Traditional tree-based methods often falter in these regimes due to their reliance on statistical purity metrics, which become unstable and prone to overfitting with limited supervision. At the same time, direct applications of large language models (LLMs) often overlook its inherent structure, leading to suboptimal performance. To overcome these limitations, we propose FORESTLLM, a novel framework that unifies the structural inductive biases of decision forests with the semantic reasoning capabilities of LLMs. Crucially, FORESTLLM leverages the LLM only during training, treating it as an offline model designer that encodes rich, contextual knowledge into a lightweight, interpretable forest model, eliminating the need for LLM inference at test time. Our method is two-fold. First, we introduce a semantic splitting criterion in which the LLM evaluates candidate partitions based on their coherence over both labeled and unlabeled data, enabling the induction of more robust and generalizable tree structures under few-shot supervision. Second, we propose a one-time in-context inference mechanism for leaf node stabilization, where the LLM distills the decision path and its supporting examples into a concise, deterministic prediction, replacing noisy empirical estimates with semantically informed outputs. Across a diverse suite of few-shot classification and regression benchmarks, FORESTLLM achieves state-of-the-art performance.

cs.LG↗

Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We close this gap with a practical sim-to-real reinforcement learning (RL) framework that utilizes dense tactile feedback combined with joint torque sensing to explicitly regulate physical interactions. To enable effective sim-to-real transfer, we introduce (i) a computationally fast tactile simulation that computes distances between dense virtual tactile units and the object via parallel forward kinematics, providing high-rate, high-resolution touch signals needed by RL; (ii) a current-to-torque calibration that eliminates the need for torque sensors on dexterous hands by mapping motor current to joint torque; and (iii) actuator dynamics modeling to bridge the actuation gaps with randomization of non-ideal effects such as backlash, torque-speed saturation. Using an asymmetric actor-critic PPO pipeline trained entirely in simulation, our policies deploy directly to a five-finger hand. The resulting policies demonstrated two essential skills: (1) command-based, controllable grasp force tracking, and (2) reorientation of objects in the hand, both of which were robustly executed without fine-tuning on the robot. By combining tactile and torque in the observation space with effective sensing/actuation modeling, our system provides a practical solution to achieve reliable dexterous manipulation. To our knowledge, this is the first demonstration of controllable grasping on a multi-finger dexterous hand trained entirely in simulation and transferred zero-shot on real hardware.

cs.RO↗

Jupiter: Enhancing LLM Data Analysis Capabilities via Notebook and Inference-Time Value-Guided Search

Large language models (LLMs) have shown great promise in automating data science workflows, but existing models still struggle with multi-step reasoning and tool use, which limits their effectiveness on complex data analysis tasks. To address this, we propose a scalable pipeline that extracts high-quality, tool-based data analysis tasks and their executable multi-step solutions from real-world Jupyter notebooks and associated data files. Using this pipeline, we introduce NbQA, a large-scale dataset of standardized task-solution pairs that reflect authentic tool-use patterns in practical data science scenarios. To further enhance multi-step reasoning, we present Jupiter, a framework that formulates data analysis as a search problem and applies Monte Carlo Tree Search (MCTS) to generate diverse solution trajectories for value model learning. During inference, Jupiter combines the value model and node visit counts to efficiently collect executable multi-step plans with minimal search steps. Experimental results show that Qwen2.5-7B and 14B-Instruct models on NbQA solve 77.82% and 86.38% of tasks on InfiAgent-DABench, respectively-matching or surpassing GPT-4o and advanced agent frameworks. Further evaluations demonstrate improved generalization and stronger tool-use reasoning across diverse multi-step reasoning tasks. Code and data are available at https://github.com/microsoft/Jupiter.

cs.AI↗

ContourDiff: Unpaired Medical Image Translation with Structural Consistency

Accurately translating medical images between different modalities, such as Computed Tomography (CT) to Magnetic Resonance Imaging (MRI), has numerous downstream clinical and machine learning applications. While several methods have been proposed to achieve this, they often prioritize perceptual quality with respect to output domain features over preserving anatomical fidelity. However, maintaining anatomy during translation is essential for many tasks, e.g., when leveraging masks from the input domain to develop a segmentation model with images translated to the output domain. To address these challenges, we propose ContourDiff with Spatially Coherent Guided Diffusion (SCGD), a novel framework that leverages domain-invariant anatomical contour representations of images. These representations are simple to extract from images, yet form precise spatial constraints on their anatomical content. We introduce a diffusion model that converts contour representations of images from arbitrary input domains into images in the output domain of interest. By applying the contour as a constraint at every diffusion sampling step, we ensure the preservation of anatomical content. We evaluate our method on challenging lumbar spine and hip-and-thigh CT-to-MRI translation tasks, via (1) the performance of segmentation models trained on translated images applied to real MRIs, and (2) the foreground FID and KID of translated images with respect to real MRIs. Our method outperforms other unpaired image translation methods by a significant margin across almost all metrics and scenarios. Moreover, it achieves this without the need to access any input domain information during training and we further verify its zero-shot capability, showing that a model trained on one anatomical region can be directly applied to unseen regions without retraining (GitHub: https://github.com/mazurowski-lab/ContourDiff).

eess.IV↗

Automated Muscle and Fat Segmentation in Computed Tomography for Comprehensive Body Composition Analysis

Body composition assessment using CT images can potentially be used for a number of clinical applications, including the prognostication of cardiovascular outcomes, evaluation of metabolic health, monitoring of disease progression, assessment of nutritional status, prediction of treatment response in oncology, and risk stratification for surgical and critical care outcomes. While multiple groups have developed in-house segmentation tools for this analysis, there are very limited publicly available tools that could be consistently used across different applications. To mitigate this gap, we present a publicly accessible, end-to-end segmentation and feature calculation model specifically for CT body composition analysis. Our model performs segmentation of skeletal muscle, subcutaneous adipose tissue (SAT), and visceral adipose tissue (VAT) across the chest, abdomen, and pelvis area in axial CT images. It also provides various body composition metrics, including muscle density, visceral-to-subcutaneous fat (VAT/SAT) ratio, muscle area/volume, and skeletal muscle index (SMI), supporting both 2D and 3D assessments. To evaluate the model, the segmentation was applied to both internal and external datasets, with body composition metrics analyzed across different age, sex, and race groups. The model achieved high dice coefficients on both internal and external datasets, exceeding 89% for skeletal muscle, SAT, and VAT segmentation. The model outperforms the benchmark by 2.10% on skeletal muscle and 8.6% on SAT compared to the manual annotations given by the publicly available dataset. Body composition metrics show mean relative absolute errors (MRAEs) under 10% for all measures. Our model with weights is publicly available at https://github.com/mazurowski-lab/CT-Muscle-and-Fat-Segmentation.git.

eess.IV↗

Accelerating Volumetric Medical Image Annotation via Short-Long Memory SAM 2

Manual annotation of volumetric medical images, such as magnetic resonance imaging (MRI) and computed tomography (CT), is a labor-intensive and time-consuming process. Recent advancements in foundation models for video object segmentation, such as Segment Anything Model 2 (SAM 2), offer a potential opportunity to significantly speed up the annotation process by manually annotating one or a few slices and then propagating target masks across the entire volume. However, the performance of SAM 2 in this context varies. Our experiments show that relying on a single memory bank and attention module is prone to error propagation, particularly at boundary regions where the target is present in the previous slice but absent in the current one. To address this problem, we propose Short-Long Memory SAM 2 (SLM-SAM 2), a novel architecture that integrates distinct short-term and long-term memory banks with separate attention modules to improve segmentation accuracy. We evaluate SLM-SAM 2 on four public datasets covering organs, bones, and muscles across MRI, CT, and ultrasound videos. We show that the proposed method markedly outperforms the default SAM 2, achieving an average Dice Similarity Coefficient improvement of 0.14 and 0.10 in the scenarios when 5 volumes and 1 volume are available for the initial adaptation, respectively. SLM-SAM 2 also exhibits stronger resistance to over-propagation, reducing the time required to correct propagated masks by 60.575% per volume compared to SAM 2, making a notable step toward more accurate automated annotation of medical images for segmentation model development.

eess.IV↗

SheetBrain: A Neuro-Symbolic Agent for Accurate Reasoning over Complex and Large Spreadsheets

Understanding and reasoning over complex spreadsheets remain fundamental challenges for large language models (LLMs), which often struggle with accurately capturing the complex structure of tables and ensuring reasoning correctness. In this work, we propose SheetBrain, a neuro-symbolic dual workflow agent framework designed for accurate reasoning over tabular data, supporting both spreadsheet question answering and manipulation tasks. SheetBrain comprises three core modules: an understanding module, which produces a comprehensive overview of the spreadsheet - including sheet summary and query-based problem insight to guide reasoning; an execution module, which integrates a Python sandbox with preloaded table-processing libraries and an Excel helper toolkit for effective multi-turn reasoning; and a validation module, which verifies the correctness of reasoning and answers, triggering re-execution when necessary. We evaluate SheetBrain on multiple public tabular QA and manipulation benchmarks, and introduce SheetBench, a new benchmark targeting large, multi-table, and structurally complex spreadsheets. Experimental results show that SheetBrain significantly improves accuracy on both existing benchmarks and the more challenging scenarios presented in SheetBench. Our code is publicly available at https://github.com/microsoft/SheetBrain.

cs.CL↗

Mem4Nav: Boosting Vision-and-Language Navigation in Urban Environments with a Hierarchical Spatial-Cognition Long-Short Memory System

Vision-and-Language Navigation (VLN) in large-scale urban environments requires embodied agents to ground linguistic instructions in complex scenes and recall relevant experiences over extended time horizons. Prior modular pipelines offer interpretability but lack unified memory, while end-to-end (M)LLM agents excel at fusing vision and language yet remain constrained by fixed context windows and implicit spatial reasoning. We introduce \textbf{Mem4Nav}, a hierarchical spatial-cognition long-short memory system that can augment any VLN backbone. Mem4Nav fuses a sparse octree for fine-grained voxel indexing with a semantic topology graph for high-level landmark connectivity, storing both in trainable memory tokens embedded via a reversible Transformer. Long-term memory (LTM) compresses and retains historical observations at both octree and graph nodes, while short-term memory (STM) caches recent multimodal entries in relative coordinates for real-time obstacle avoidance and local planning. At each step, STM retrieval sharply prunes dynamic context, and, when deeper history is needed, LTM tokens are decoded losslessly to reconstruct past embeddings. Evaluated on Touchdown and Map2Seq across three backbones (modular, state-of-the-art VLN with prompt-based LLM, and state-of-the-art VLN with strided-attention MLLM), Mem4Nav yields 7-13 pp gains in Task Completion, sufficient SPD reduction, and >10 pp nDTW improvement. Ablations confirm the indispensability of both the hierarchical map and dual memory modules. Our codes are open-sourced via https://github.com/tsinghua-fib-lab/Mem4Nav.

cs.CV↗

SuperRL: Reinforcement Learning with Supervision to Boost Language Model Reasoning

Large language models are increasingly used for complex reasoning tasks where high-quality offline data such as expert-annotated solutions and distilled reasoning traces are often available. However, in environments with sparse rewards, reinforcement learning struggles to sample successful trajectories, leading to inefficient learning. At the same time, these offline trajectories that represent correct reasoning paths are not utilized by standard on-policy reinforcement learning methods. We introduce SuperRL, a unified training framework that adaptively alternates between RL and SFT. Whenever every rollout for a given instance receives zero reward, indicating the absence of a learning signal, SuperRL falls back to SFT on the curated offline data. Extensive experiments across diverse reasoning benchmarks show that SuperRL surpasses vanilla RL by delivering higher sample efficiency, stronger generalization, and improved robustness under sparse rewards.

cs.AI↗

MRI-CORE: A Foundation Model for Magnetic Resonance Imaging

The widespread use of Magnetic Resonance Imaging (MRI) in combination with deep learning shows promise for many high-impact automated diagnostic and prognostic tools. However, training new models requires large amounts of labeled data, a challenge due to high cost of precise annotations and data privacy. To address this issue, we introduce the MRI-CORE, a vision foundation model trained using more than 6 million slices from over 110 thousand MRI volumes across 18 body locations. Our experiments show notable improvements in performance over state-of-the-art methods in 13 data-restricted segmentation tasks, as well as in image classification, and zero-shot segmentation, showing the strong potential of MRI-CORE to enable data-efficient development of artificial intelligence models. We also present data on which strategies yield most useful foundation models and a novel analysis relating similarity between pre-training and downstream task data with transfer learning performance. Our model is publicly available with a permissive license.

eess.IV↗

Real-space titration and manipulation of particle-like correlated electrons in doped Mott insulator

The localized (particle-like) correlated electrons deserve particular attention as they govern various exotic quantum phenomena, such as quantum spin liquids, Wigner crystals, and Mott insulators in correlated systems. However, direct observation and manipulation of these particle-like electrons at the atomic or single-electron scale remain highly challenging. Here, we successfully realize and directly visualize particle-like correlated electrons in 1T-TaS2 through hole doping. The potential-dependent local electronic structure of single particle-like electron is revealed by angle-resolved photoemission spectroscopy (ARPES), scanning tunneling spectroscopy (STS) combined with theoretical calculations. The complex correlated interactions including nearest-neighbor attractive interactions and many-body repulsive interactions are further demonstrated and discussed based on the spatial distribution of particle-like electrons. Furthermore, the tentative manipulation of the particle-like electrons is successfully achieved by the energy-excitation mechanism. Our results not only provide profound insights into particle-like electrons in correlated systems, but also establish a versatile platform for designing and controlling quantum states at the atomic scale.

cond-mat.str-el↗

TableLoRA: Low-rank Adaptation on Table Structure Understanding for Large Language Models

Tabular data are crucial in many fields and their understanding by large language models (LLMs) under high parameter efficiency paradigm is important. However, directly applying parameter-efficient fine-tuning (PEFT) techniques to tabular tasks presents significant challenges, particularly in terms of better table serialization and the representation of two-dimensional structured information within a one-dimensional sequence. To address this, we propose TableLoRA, a module designed to improve LLMs' understanding of table structure during PEFT. It incorporates special tokens for serializing tables with special token encoder and uses 2D LoRA to encode low-rank information on cell positions. Experiments on four tabular-related datasets demonstrate that TableLoRA consistently outperforms vanilla LoRA and surpasses various table encoding methods tested in control experiments. These findings reveal that TableLoRA, as a table-specific LoRA, enhances the ability of LLMs to process tabular data effectively, especially in low-parameter settings, demonstrating its potential as a robust solution for handling table-related tasks.

cs.CL↗

SegmentAnyMuscle: A universal muscle segmentation model across different locations in MRI

The quantity and quality of muscles are increasingly recognized as important predictors of health outcomes. While MRI offers a valuable modality for such assessments, obtaining precise quantitative measurements of musculature remains challenging. This study aimed to develop a publicly available model for muscle segmentation in MRIs and demonstrate its applicability across various anatomical locations and imaging sequences. A total of 362 MRIs from 160 patients at a single tertiary center (Duke University Health System, 2016-2020) were included, with 316 MRIs from 114 patients used for model development. The model was tested on two separate sets: one with 28 MRIs representing common sequence types, achieving an average Dice Similarity Coefficient (DSC) of 88.45%, and another with 18 MRIs featuring less frequent sequences and abnormalities such as muscular atrophy, hardware, and significant noise, achieving 86.21% DSC. These results demonstrate the feasibility of a fully automated deep learning algorithm for segmenting muscles on MRI across diverse settings. The public release of this model enables consistent, reproducible research into the relationship between musculature and health.

eess.SP↗

Fréchet Radiomic Distance (FRD): A Versatile Metric for Comparing Medical Imaging Datasets

Determining whether two sets of images belong to the same or different distributions or domains is a crucial task in modern medical image analysis and deep learning; for example, to evaluate the output quality of image generative models. Currently, metrics used for this task either rely on the (potentially biased) choice of some downstream task, such as segmentation, or adopt task-independent perceptual metrics (e.g., Fréchet Inception Distance/FID) from natural imaging, which we show insufficiently capture anatomical features. To this end, we introduce a new perceptual metric tailored for medical images, FRD (Fréchet Radiomic Distance), which utilizes standardized, clinically meaningful, and interpretable image features. We show that FRD is superior to other image distribution metrics for a range of medical imaging applications, including out-of-domain (OOD) detection, the evaluation of image-to-image translation (by correlating more with downstream task performance as well as anatomical consistency and realism), and the evaluation of unconditional image generation. Moreover, FRD offers additional benefits such as stability and computational efficiency at low sample sizes, sensitivity to image corruptions and adversarial attacks, feature interpretability, and correlation with radiologist-perceived image quality. Additionally, we address key gaps in the literature by presenting an extensive framework for the multifaceted evaluation of image similarity metrics in medical imaging -- including the first large-scale comparative study of generative models for medical image translation -- and release an accessible codebase to facilitate future research. Our results are supported by thorough experiments spanning a variety of datasets, modalities, and downstream tasks, highlighting the broad potential of FRD for medical image analysis.

cs.CV↗

GuidedMorph: Two-Stage Deformable Registration for Breast MRI

Accurately registering breast MR images from different time points enables the alignment of anatomical structures and tracking of tumor progression, supporting more effective breast cancer detection, diagnosis, and treatment planning. However, the complexity of dense tissue and its highly non-rigid nature pose challenges for conventional registration methods, which primarily focus on aligning general structures while overlooking intricate internal details. To address this, we propose \textbf{GuidedMorph}, a novel two-stage registration framework designed to better align dense tissue. In addition to a single-scale network for global structure alignment, we introduce a framework that utilizes dense tissue information to track breast movement. The learned transformation fields are fused by introducing the Dual Spatial Transformer Network (DSTN), improving overall alignment accuracy. A novel warping method based on the Euclidean distance transform (EDT) is also proposed to accurately warp the registered dense tissue and breast masks, preserving fine structural details during deformation. The framework supports paradigms that require external segmentation models and with image data only. It also operates effectively with the VoxelMorph and TransMorph backbones, offering a versatile solution for breast registration. We validate our method on ISPY2 and internal dataset, demonstrating superior performance in dense tissue, overall breast alignment, and breast structural similarity index measure (SSIM), with notable improvements by over 13.01% in dense tissue Dice, 3.13% in breast Dice, and 1.21% in breast SSIM compared to the best learning-based baseline.

eess.IV↗

Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots

Achieving animal-like agility is a longstanding goal in quadrupedal robotics. While recent studies have successfully demonstrated imitation of specific behaviors, enabling robots to replicate a broader range of natural behaviors in real-world environments remains an open challenge. Here we propose an integrated controller comprising a Basic Behavior Controller (BBC) and a Task-Specific Controller (TSC) which can effectively learn diverse natural quadrupedal behaviors in an enhanced simulator and efficiently transfer them to the real world. Specifically, the BBC is trained using a novel semi-supervised generative adversarial imitation learning algorithm to extract diverse behavioral styles from raw motion capture data of real dogs, enabling smooth behavior transitions by adjusting discrete and continuous latent variable inputs. The TSC, trained via privileged learning with depth images as input, coordinates the BBC to efficiently perform various tasks. Additionally, we employ evolutionary adversarial simulator identification to optimize the simulator, aligning it closely with reality. After training, the robot exhibits diverse natural behaviors, successfully completing the quadrupedal agility challenge at an average speed of 1.1 m/s and achieving a peak speed of 3.2 m/s during hurdling. This work represents a substantial step toward animal-like agility in quadrupedal robots, opening avenues for their deployment in increasingly complex real-world environments.

cs.RO↗

How to build the best medical image segmentation algorithm using foundation models: a comprehensive empirical study with Segment Anything Model

Automated segmentation is a fundamental medical image analysis task, which enjoys significant advances due to the advent of deep learning. While foundation models have been useful in natural language processing and some vision tasks for some time, the foundation model developed with image segmentation in mind - Segment Anything Model (SAM) - has been developed only recently and has shown similar promise. However, there are still no systematic analyses or "best-practice" guidelines for optimal fine-tuning of SAM for medical image segmentation. This work summarizes existing fine-tuning strategies with various backbone architectures, model components, and fine-tuning algorithms across 18 combinations, and evaluates them on 17 datasets covering all common radiology modalities. Our study reveals that (1) fine-tuning SAM leads to slightly better performance than previous segmentation methods, (2) fine-tuning strategies that use parameter-efficient learning in both the encoder and decoder are superior to other strategies, (3) network architecture has a small impact on final performance, (4) further training SAM with self-supervised learning can improve final model performance. We also demonstrate the ineffectiveness of some methods popular in the literature and further expand our experiments into few-shot and prompt-based settings. Lastly, we released our code and MRI-specific fine-tuned weights, which consistently obtained superior performance over the original SAM, at https://github.com/mazurowski-lab/finetune-SAM.

cs.CV↗

Breast density in MRI: an AI-based quantification and relationship to assessment in mammography

Mammographic breast density is a well-established risk factor for breast cancer. Recently there has been interest in breast MRI as an adjunct to mammography, as this modality provides an orthogonal and highly quantitative assessment of breast tissue. However, its 3D nature poses analytic challenges related to delineating and aggregating complex structures across slices. Here, we applied an in-house machine-learning algorithm to assess breast density on normal breasts in three MRI datasets. Breast density was consistent across different datasets (0.104 - 0.114). Analysis across different age groups also demonstrated strong consistency across datasets and confirmed a trend of decreasing density with age as reported in previous studies. MR breast density was correlated with mammographic breast density, although some notable differences suggest that certain breast density components are captured only on MRI. Future work will determine how to integrate MR breast density with current tools to improve future breast cancer risk prediction.

cs.CV↗