arXiv subjects

Hongshan Liu

Publications and source records attributed to Hongshan Liu.

14 recordsLinked to original sources

arXiv2025

Benchmarking Generalizable Bimanual Manipulation: RoboTwin Dual-Arm Collaboration Challenge at CVPR 2025 MEIS Workshop

Embodied Artificial Intelligence (Embodied AI) is an emerging frontier in robotics, driven by the need for autonomous systems that can perceive, reason, and act in complex physical environments. While single-arm systems have shown strong task performance, collaborative dual-arm systems are essential for handling more intricate tasks involving rigid, deformable, and tactile-sensitive objects. To advance this goal, we launched the RoboTwin Dual-Arm Collaboration Challenge at the 2nd MEIS Workshop, CVPR 2025. Built on the RoboTwin Simulation platform (1.0 and 2.0) and the AgileX COBOT-Magic Robot platform, the competition consisted of three stages: Simulation Round 1, Simulation Round 2, and a final Real-World Round. Participants totally tackled 17 dual-arm manipulation tasks, covering rigid, deformable, and tactile-based scenarios. The challenge attracted 64 global teams and over 400 participants, producing top-performing solutions like SEM and AnchorDP3 and generating valuable insights into generalizable bimanual policy learning. This report outlines the competition setup, task design, evaluation methodology, key findings and future direction, aiming to support future research on robust and generalizable bimanual manipulation policies. The Challenge Webpage is available at https://robotwin-benchmark.github.io/cvpr-2025-challenge/.

cs.RO↗

arXiv2025

Deep Frequency Attention Networks for Single Snapshot Sparse Array Interpolation

Sparse arrays have been widely exploited in radar systems because of their advantages in achieving large array aperture at low hardware cost, while significantly reducing mutual coupling. However, sparse arrays suffer from high sidelobes which may lead to false detections. Missing elements in sparse arrays can be interpolated using the sparse array measurements. In snapshot-limited scenarios, such as automotive radar, it is challenging to utilize difference coarrays which require a large number of snapshots to construct a covariance matrix for interpolation. For single snapshot sparse array interpolation, traditional model-based methods, while effective, require expert knowledge for hyperparameter tuning, lack task-specific adaptability, and incur high computational costs. In this paper, we propose a novel deep learning-based single snapshot sparse array interpolation network that addresses these challenges by leveraging a frequency-domain attention mechanism. The proposed approach transforms the sparse signal into the frequency domain, where the attention mechanism focuses on key spectral regions, enabling improved interpolation of missing elements even in low signal-to-noise ratio (SNR) conditions. By minimizing computational costs and enhancing interpolation accuracy, the proposed method demonstrates superior performance compared to traditional approaches, making it well-suited for automotive radar applications.

eess.SP↗

arXiv2025

Advancing Single-Snapshot DOA Estimation with Siamese Neural Networks for Sparse Linear Arrays

Single-snapshot signal processing in sparse linear arrays has become increasingly vital, particularly in dynamic environments like automotive radar systems, where only limited snapshots are available. These arrays are often utilized either to cut manufacturing costs or result from unintended antenna failures, leading to challenges such as high sidelobe levels and compromised accuracy in direction-of-arrival (DOA) estimation. Despite deep learning's success in tasks such as DOA estimation, the need for extensive training data to increase target numbers or improve angular resolution poses significant challenges. In response, this paper presents a novel Siamese neural network (SNN) featuring a sparse augmentation layer, which enhances signal feature embedding and DOA estimation accuracy in sparse arrays. We demonstrate the enhanced DOA estimation performance of our approach through detailed feature analysis and performance evaluation. The code for this study is available at https://github.com/ruxinzh/SNNS_SLA.

eess.SP↗

arXiv2024

Antenna Failure Resilience: Deep Learning-Enabled Robust DOA Estimation with Single Snapshot Sparse Arrays

Recent advancements in Deep Learning (DL) for Direction of Arrival (DOA) estimation have highlighted its superiority over traditional methods, offering faster inference, enhanced super-resolution, and robust performance in low Signal-to-Noise Ratio (SNR) environments. Despite these advancements, existing research predominantly focuses on multi-snapshot scenarios, a limitation in the context of automotive radar systems which demand high angular resolution and often rely on limited snapshots, sometimes as scarce as a single snapshot. Furthermore, the increasing interest in sparse arrays for automotive radar, owing to their cost-effectiveness and reduced antenna element coupling, presents additional challenges including susceptibility to random sensor failures. This paper introduces a pioneering DL framework featuring a sparse signal augmentation layer, meticulously crafted to bolster single snapshot DOA estimation across diverse sparse array setups and amidst antenna failures. To our best knowledge, this is the first work to tackle this issue. Our approach improves the adaptability of deep learning techniques to overcome the unique difficulties posed by sparse arrays with single snapshot. We conduct thorough evaluations of our network's performance using simulated and real-world data, showcasing the efficacy and real-world viability of our proposed solution. The code and real-world dataset employed in this study are available at https://github.com/ruxinzh/Deep_RSA_DOA.

eess.SP↗

arXiv2024

Near-Space Communications: the Last Piece of 6G Space-Air-Ground-Sea Integrated Network Puzzle

This article presents a comprehensive study on the emerging near-space communications (NS-COM) within the context of space-air-ground-sea integrated network (SAGSIN). Specifically, we firstly explore the recent technical developments of NS-COM, followed by the discussions about motivations behind integrating NS-COM into SAGSIN. To further demonstrate the necessity of NS-COM, a comparative analysis between the NS-COM network and other counterparts in SAGSIN is conducted, covering aspects of deployment, coverage, channel characteristics and unique problems of NS-COM network. Afterwards, the technical aspects of NS-COM, including channel modeling, random access, channel estimation, array-based beam management and joint network optimization, are examined in detail. Furthermore, we explore the potential applications of NS-COM, such as structural expansion in SAGSIN communication, civil aviation communication, remote and urgent communication, weather monitoring and carbon neutrality. Finally, some promising research avenues are identified, including stratospheric satellite (StratoSat) -to-ground direct links for mobile terminals, reconfigurable multiple-input multiple-output (MIMO) and holographic MIMO, federated learning in NS-COM networks, maritime communication, electromagnetic spectrum sensing and adversarial game, integrated sensing and communications, StratoSat-based radar detection and imaging, NS-COM assisted enhanced global navigation system, NS-COM assisted intelligent unmanned system and free space optical (FSO) communication. Overall, this paper highlights that the NS-COM plays an indispensable role in the SAGSIN puzzle, providing substantial performance and coverage enhancement to the traditional SAGSIN architecture.

cs.IT↗

arXiv2023

Automated player identification and indexing using two-stage deep learning network

American football games attract significant worldwide attention every year. Identifying players from videos in each play is also essential for the indexing of player participation. Processing football game video presents great challenges such as crowded settings, distorted objects, and imbalanced data for identifying players, especially jersey numbers. In this work, we propose a deep learning-based player tracking system to automatically track players and index their participation per play in American football games. It is a two-stage network design to highlight areas of interest and identify jersey number information with high accuracy. First, we utilize an object detection network, a detection transformer, to tackle the player detection problem in a crowded context. Second, we identify players using jersey number recognition with a secondary convolutional neural network, then synchronize it with a game clock subsystem. Finally, the system outputs a complete log in a database for play indexing. We demonstrate the effectiveness and reliability of player tracking system by analyzing the qualitative and quantitative results on football videos. The proposed system shows great potential for implementation in and analysis of football broadcast video.

cs.CV↗

arXiv2023

Push the Boundary of SAM: A Pseudo-label Correction Framework for Medical Segmentation

Segment anything model (SAM) has emerged as the leading approach for zero-shot learning in segmentation tasks, offering the advantage of avoiding pixel-wise annotations. It is particularly appealing in medical image segmentation, where the annotation process is laborious and expertise-demanding. However, the direct application of SAM often yields inferior results compared to conventional fully supervised segmentation networks. An alternative approach is to use SAM as the initial stage to generate pseudo labels for further network training. However, the performance is limited by the quality of pseudo labels. In this paper, we propose a novel label correction framework to push the boundary of SAM-based segmentation. Our model utilizes a label quality evaluation module to distinguish between noisy labels and clean labels. This enables the correction of the noisy labels using an uncertainty-based self-correction module, thereby enriching the clean training set. Finally, we retrain the segmentation network with updated labels to optimize its weights for future predictions. One key advantage of our model is its ability to train deep networks using SAM-generated pseudo labels without relying on a set of expert-level annotations while attaining good segmentation performance. We demonstrate the effectiveness of our proposed model on three public datasets, indicating its ability to improve segmentation accuracy and outperform baseline methods in label correction.

eess.IV↗

arXiv2023

Interpretable and Efficient Beamforming-Based Deep Learning for Single Snapshot DOA Estimation

We introduce an interpretable deep learning approach for direction of arrival (DOA) estimation with a single snapshot. Classical subspace-based methods like MUSIC and ESPRIT use spatial smoothing on uniform linear arrays for single snapshot DOA estimation but face drawbacks in reduced array aperture and inapplicability to sparse arrays. Single-snapshot methods such as compressive sensing and iterative adaptation approach (IAA) encounter challenges with high computational costs and slow convergence, hampering real-time use. Recent deep learning DOA methods offer promising accuracy and speed. However, the practical deployment of deep networks is hindered by their black-box nature. To address this, we propose a deep-MPDR network translating minimum power distortionless response (MPDR)-type beamformer into deep learning, enhancing generalization and efficiency. Comprehensive experiments conducted using both simulated and real-world datasets substantiate its dominance in terms of inference time and accuracy in comparison to conventional methods. Moreover, it excels in terms of efficiency, generalizability, and interpretability when contrasted with other deep learning DOA estimation networks.

eess.SP↗

arXiv2023

SCPAT-GAN: Structural Constrained and Pathology Aware Convolutional Transformer-GAN for Virtual Histology Staining of Human Coronary OCT images

There is a significant need for the generation of virtual histological information from coronary optical coherence tomography (OCT) images to better guide the treatment of coronary artery disease. However, existing methods either require a large pixel-wisely paired training dataset or have limited capability to map pathological regions. To address these issues, we proposed a structural constrained, pathology aware, transformer generative adversarial network, namely SCPAT-GAN, to generate virtual stained H&E histology from OCT images. The proposed SCPAT-GAN advances existing methods via a novel design to impose pathological guidance on structural layers using transformer-based network.

eess.IV↗

arXiv2023

Frequency-aware optical coherence tomography image super-resolution via conditional generative adversarial neural network

Optical coherence tomography (OCT) has stimulated a wide range of medical image-based diagnosis and treatment in fields such as cardiology and ophthalmology. Such applications can be further facilitated by deep learning-based super-resolution technology, which improves the capability of resolving morphological structures. However, existing deep learning-based method only focuses on spatial distribution and disregard frequency fidelity in image reconstruction, leading to a frequency bias. To overcome this limitation, we propose a frequency-aware super-resolution framework that integrates three critical frequency-based modules (i.e., frequency transformation, frequency skip connection, and frequency alignment) and frequency-based loss function into a conditional generative adversarial network (cGAN). We conducted a large-scale quantitative study from an existing coronary OCT dataset to demonstrate the superiority of our proposed framework over existing deep learning frameworks. In addition, we confirmed the generalizability of our framework by applying it to fish corneal images and rat retinal images, demonstrating its capability to super-resolve morphological details in eye imaging.

physics.med-ph↗

arXiv2023

Towards reliable calcification detection: calibration of uncertainty in coronary optical coherence tomography images

Optical coherence tomography (OCT) has become increasingly essential in assisting the treatment of coronary artery disease (CAD). Image-guided solutions such as Percutaneous Coronary Intervention (PCI) are extensively used during the treatment of CAD. However, unidentified calcified regions within a narrowed artery could impair the outcome of the PCI. Prior to treatments, object detection is paramount to automatically procure accurate readings on the location and thickness of calcifications within the artery. Deep learning-based object detection methods have been explored in a variety of applications. The quality of object detection predictions could lead to uncertain results, which are not desirable in safety-critical scenarios. In this work, we implement an object detection model, You-Only-Look-Once v5 (YOLO), on a calcification detection framework within coronary OCT images. We evaluate the uncertainty of predictions based on the expected calibration errors, thus assessing the certainty level of detection results. To calibrate confidence scores of predictions, we implement dependent logistic calibration using each detection result's confidence and center coordinates. With the calibrated confidence score of each prediction, we lower the uncertainty of predictions in calcification detection. Our results show that the YOLO achieves higher precision and recall in comparison with the other object detection model, meanwhile producing more reliable results. The calibrated confidence of prediction results in a confidence error of approximately 0.13, suggesting that the confidence calibration on calcification detection could provide a more trustworthy result, indicating a great potential to assist clinical evaluation of treating the CAD during the imaging-guided procedure.

eess.IV↗

arXiv2022

Structural constrained virtual histology staining for human coronary imaging using deep learning

Histopathological analysis is crucial in artery characterization for coronary artery disease (CAD). However, histology requires an invasive and time-consuming process. In this paper, we propose to generate virtual histology staining using Optical Coherence Tomography (OCT) images to enable real-time histological visualization. We develop a deep learning network, namely Coronary-GAN, to transfer coronary OCT images to virtual histology images. With a special consideration on the structural constraints in coronary OCT images, our method achieves better image generation performance than the conventional GAN-based method. The experimental results indicate that Coronary-GAN generates virtual histology images that are similar to real histology images, revealing the human coronary layers.

eess.IV↗

arXiv2022

Multi-scale reconstruction of undersampled spectral-spatial OCT data for coronary imaging using deep learning

Coronary artery disease (CAD) is a cardiovascular condition with high morbidity and mortality. Intravascular optical coherence tomography (IVOCT) has been considered as an optimal imagining system for the diagnosis and treatment of CAD. Constrained by Nyquist theorem, dense sampling in IVOCT attains high resolving power to delineate cellular structures/ features. There is a trade-off between high spatial resolution and fast scanning rate for coronary imaging. In this paper, we propose a viable spectral-spatial acquisition method that down-scales the sampling process in both spectral and spatial domain while maintaining high quality in image reconstruction. The down-scaling schedule boosts data acquisition speed without any hardware modifications. Additionally, we propose a unified multi-scale reconstruction framework, namely Multiscale- Spectral-Spatial-Magnification Network (MSSMN), to resolve highly down-scaled (compressed) OCT images with flexible magnification factors. We incorporate the proposed methods into Spectral Domain OCT (SD-OCT) imaging of human coronary samples with clinical features such as stent and calcified lesions. Our experimental results demonstrate that spectral-spatial downscaled data can be better reconstructed than data that is downscaled solely in either spectral or spatial domain. Moreover, we observe better reconstruction performance using MSSMN than using existing reconstruction methods. Our acquisition method and multi-scale reconstruction framework, in combination, may allow faster SD-OCT inspection with high resolution during coronary intervention.

eess.IV↗

arXiv2022

Multi-scale Sparse Representation-Based Shadow Inpainting for Retinal OCT Images

Inpainting shadowed regions cast by superficial blood vessels in retinal optical coherence tomography (OCT) images is critical for accurate and robust machine analysis and clinical diagnosis. Traditional sequence-based approaches such as propagating neighboring information to gradually fill in the missing regions are cost-effective. But they generate less satisfactory outcomes when dealing with larger missing regions and texture-rich structures. Emerging deep learning-based methods such as encoder-decoder networks have shown promising results in natural image inpainting tasks. However, they typically need a long computational time for network training in addition to the high demand on the size of datasets, which makes it difficult to be applied on often small medical datasets. To address these challenges, we propose a novel multi-scale shadow inpainting framework for OCT images by synergically applying sparse representation and deep learning: sparse representation is used to extract features from a small amount of training images for further inpainting and to regularize the image after the multi-scale image fusion, while convolutional neural network (CNN) is employed to enhance the image quality. During the image inpainting, we divide preprocessed input images into different branches based on the shadow width to harvest complementary information from different scales. Finally, a sparse representation-based regularizing module is designed to refine the generated contents after multi-scale feature aggregation. Experiments are conducted to compare our proposal versus both traditional and deep learning-based techniques on synthetic and real-world shadows. Results demonstrate that our proposed method achieves favorable image inpainting in terms of visual quality and quantitative metrics, especially when wide shadows are presented.

cs.CV↗