arXiv subjects

Jiadong Zhang

Publications and source records attributed to Jiadong Zhang.

13 recordsLinked to original sources

arXiv2026

RAD: A Dataset and Benchmark for Real-Life Anomaly Detection with Robotic Observations

Anomaly detection is essential for robotic perception and industrial inspection, yet most benchmarks are collected under controlled conditions with fixed viewpoints and stable illumination. These settings do not reflect robotic deployment, where camera pose, lighting, and surface reflectance vary continuously. We present RAD (Realistic Anomaly Detection), a robot-captured multi-view benchmark for pose-agnostic anomaly detection. RAD contains 5,848 RGB images from 13 everyday object categories, captured from 68 viewpoints per object with a Franka robotic arm and an RGB-D camera under uncontrolled lighting. The dataset covers four realistic defect types: scratched, missing, stained, and squeezed, with pixel-level annotations for localization. We benchmark representative 2D feature-based methods, 3D reconstruction pipelines, and vision-language models under a realistic setting in which test poses are unknown. Results show a clear gap between performance on conventional benchmarks and performance on RAD. Strong 2D feature-embedding methods remain the most reliable at image-level detection, whereas 3D approaches are more competitive for pixel-level localization but remain vulnerable to reflective materials, geometric symmetry, and sparse viewpoint coverage. Vision-language models perform poorly in both classification and localization. RAD provides a challenging testbed for robust robotic inspection and highlights open problems in jointly modeling appearance, geometry, and viewpoint uncertainty. Our website and code are available at https://chang-xinhai.github.io/rad-website/.

cs.CV↗

arXiv2026

HVR-Met: A Hypothesis-Verification-Replanning Agentic System for Extreme Weather Diagnosis

While deep learning-based weather forecasting paradigms have made significant strides, addressing extreme weather diagnostics remains a formidable challenge. This gap exists primarily because the diagnostic process demands sophisticated multi-step logical reasoning, dynamic tool invocation, and expert-level prior judgment. Although agents possess inherent advantages in task decomposition and autonomous execution, current architectures are still hampered by critical bottlenecks: inadequate expert knowledge integration, a lack of professional-grade iterative reasoning loops, and the absence of fine-grained validation and evaluation systems for complex workflows under extreme conditions. To this end, we propose HVR-Met, a multi-agent meteorological diagnostic system characterized by the deep integration of expert knowledge. Its central innovation is the ``Hypothesis-Verification-Replanning'' closed-loop mechanism, which facilitates sophisticated iterative reasoning for anomalous meteorological signals during extreme weather events. To bridge gaps within existing evaluation frameworks, we further introduce a novel benchmark focused on atomic-level subtasks. Experimental evidence demonstrates that the system excels in complex diagnostic scenarios.

cs.AI↗

arXiv2026

MemArena: An Ego-Centric Benchmark for On-Device Agentic Personal Memory Assistants at Scale

Edge-deployed personal memory assistants must handle private interpersonal conversations on-device with open-weight models. Yet, existing memory benchmarks often under-test the combination of activity-dense interaction, ego-centric perspective, and coherent multi-session worlds. MemArena fills these gaps with a single-world conversational benchmark built with its MASim agent simulator, for 50 agents over 15 days (10.3M dialog-text tokens, 24.1K text-only ego-observed tokens/agent/day). With the interaction history, it co-generates ground truth over six recall, reasoning, and trustworthiness evaluation dimensions. We evaluate five open-weight readers with Vanilla context, BM25-RAG, Oracle retrieval, Memobase, and MemSearch as memory backends. Three results stand out: (1) Memory-backend choice matters more for content accuracy: At Qwen3-0.6B, Memobase-to-MemSearch gains +32.5/+19.2 pp, exceeding MemSearch reader scaling (+10.6/+6.8 pp). (2) Permission-aware access fails universally, with Oracle leaking heavily and other backends too timid to disclose. (3) Search latency bites only at very small reader: on a Spark GB10 edge node, memory-search adds a moderate and fixed 87/7/48 ms (BM25-RAG/Memobase/MemSearch) that composes a small part of TTFT for most reader-backend combinations. Code, the MASim simulator, and the MemArena-L benchmark will be released upon acceptance.

cs.CL↗

arXiv2025

MeteorPred: A Meteorological Multimodal Large Model and Dataset for Severe Weather Event Prediction

Timely and accurate forecasts of severe weather events are essential for early warning and for constraining downstream analysis and decision-making. Since severe weather events prediction still depends on subjective, time-consuming expert interpretation, end-to-end "AI weather station" systems are emerging but face three major challenges: (1) scarcity of severe weather event samples; (2) imperfect alignment between high-dimensional meteorological data and textual warnings; (3) current multimodal language models cannot effectively process high-dimensional meteorological inputs or capture their complex spatiotemporal dependencies. To address these challenges, we introduce MP-Bench, the first large-scale multimodal dataset for severe weather events prediction, comprising 421,363 pairs of raw multi-year meteorological data and corresponding text caption, covering a wide range of severe weather scenarios. On top of this dataset, we develop a Meteorology Multimodal Large Model (MMLM) that directly ingests 4D meteorological inputs. In addition, it is designed to accommodate the unique characteristics of 4D meteorological data flow, incorporating three plug-and-play adaptive fusion modules that enable dynamic feature extraction and integration across temporal sequences, vertical pressure layers, and spatial dimensions. Extensive experiments on MP-Bench show that MMLM achieves strong performance across multiple tasks, demonstrating effective severe weather understanding and representing a key step toward automated, AI-driven severe weather events forecasting systems. Our source code and dataset will be made publicly available.

cs.AI↗

arXiv2025

Pseudo-Measurement Enhancement in Power Distribution Systems

With the rapid development of smart distribution networks (DNs), the integrity and accuracy of grid measurement data are crucial to the safety and stability of the entire system. However, the quality of the user power consumption data cannot be guaranteed during the collection and transmission process. To this end, this paper proposes a low-rank tensor completion model based on CANDECOMP/PARAFAC decomposition (CPD-LRTC) to enhance the quality of the measurement data of the DNs. Firstly, the causes and the associated characteristics of the missing data are analyzed, and a third-order standard tensor is constructed as a mathematical model of the measurement data of the DN. Then, a completion model is established based on the characteristics of measurement data and the low rank of the completion tensor, and the alternating direction method of multipliers (ADMM) is used to solve it iteratively. Finally, the proposed model is verified through two case studies, the completion accuracy, the computational efficiency, and the memory usage are compared to traditional methods.

eess.SY↗

arXiv2024

Hardware Architecture Design of Model-Based Image Reconstruction Towards Palm-size Photoacoustic Tomography

Photoacoustic (PA) imaging technology combines the advantages of optical imaging and ultrasound imaging, showing great potential in biomedical applications. Many preclinical studies and clinical applications urgently require fast, high-quality, low-cost and portable imaging system. Translating advanced image reconstruction algorithms into hardware implementations is highly desired. However, existing iterative PA image reconstructions, although exhibit higher accuracy than delay-and-sum algorithm, suffer from high computational cost. In this paper, we introduce a model-based hardware acceleration architecture based on superposed Wave (s-Wave) for palm-size PA tomography (palm-PAT), aiming at enhancing both the speed and performance of image reconstruction at a much lower system cost. To achieve this, we propose an innovative data reuse method that significantly reduces hardware storage resource consumption. We conducted experiments by FPGA implementation of the algorithm, using both phantoms and in vivo human finger data to verify the feasibility of the proposed method. The results demonstrate that our proposed architecture can substantially reduce system cost while maintaining high imaging performance. The hardware-accelerated implementation of the model-based algorithm achieves a speedup of up to approximately 270 times compared to the CPU, while the corresponding energy efficiency ratio is improved by more than 2700 times.

eess.IV↗

arXiv2024

Prototype Learning Guided Hybrid Network for Breast Tumor Segmentation in DCE-MRI

Automated breast tumor segmentation on the basis of dynamic contrast-enhancement magnetic resonance imaging (DCE-MRI) has shown great promise in clinical practice, particularly for identifying the presence of breast disease. However, accurate segmentation of breast tumor is a challenging task, often necessitating the development of complex networks. To strike an optimal trade-off between computational costs and segmentation performance, we propose a hybrid network via the combination of convolution neural network (CNN) and transformer layers. Specifically, the hybrid network consists of a encoder-decoder architecture by stacking convolution and decovolution layers. Effective 3D transformer layers are then implemented after the encoder subnetworks, to capture global dependencies between the bottleneck features. To improve the efficiency of hybrid network, two parallel encoder subnetworks are designed for the decoder and the transformer layers, respectively. To further enhance the discriminative capability of hybrid network, a prototype learning guided prediction module is proposed, where the category-specified prototypical features are calculated through on-line clustering. All learned prototypical features are finally combined with the features from decoder for tumor mask prediction. The experimental results on private and public DCE-MRI datasets demonstrate that the proposed hybrid network achieves superior performance than the state-of-the-art (SOTA) methods, while maintaining balance between segmentation accuracy and computation cost. Moreover, we demonstrate that automatically generated tumor masks can be effectively applied to identify HER2-positive subtype from HER2-negative subtype with the similar accuracy to the analysis based on manual tumor segmentation. The source code is available at https://github.com/ZhouL-lab/PLHN.

eess.IV↗

arXiv2023

Multi-View Vertebra Localization and Identification from CT Images

Accurately localizing and identifying vertebrae from CT images is crucial for various clinical applications. However, most existing efforts are performed on 3D with cropping patch operation, suffering from the large computation costs and limited global information. In this paper, we propose a multi-view vertebra localization and identification from CT images, converting the 3D problem into a 2D localization and identification task on different views. Without the limitation of the 3D cropped patch, our method can learn the multi-view global information naturally. Moreover, to better capture the anatomical structure information from different view perspectives, a multi-view contrastive learning strategy is developed to pre-train the backbone. Additionally, we further propose a Sequence Loss to maintain the sequential structure embedded along the vertebrae. Evaluation results demonstrate that, with only two 2D networks, our method can localize and identify vertebrae in CT images accurately, and outperforms the state-of-the-art methods consistently. Our code is available at https://github.com/ShanghaiTech-IMPACT/Multi-View-Vertebra-Localization-and-Identification-from-CT-Images.

eess.IV↗

arXiv2022

Photoacoustic Digital Skin: Generation and Simulation of Human Skin Vascular for Quantitative Image Analysis

Photoacoustic computed tomography (PACT) is a hybrid imaging modality, which combines the high optical contrast of pure optical imaging and the high penetration depth of ultrasound imaging. However, photoacoustic image dataset with good quality and large quantity is lacking. In this paper, we mainly talk about how to generate a practical photoacoustic dataset. Firstly, we extracted 389 3D vessel volumes from CT whole-lung scan database, and enhanced the blood vessel structures. Then for each 3D vessel volume, we embedded it into a three-layer cubic phantom to formulate a skin tissue model, which includes epidermis, dermis, and hypodermis. The vessel volume was placed randomly in dermis layer in 10 different ways. Thus, 3890 3D skin tissue phantoms were generated. Then we assigned optical properties for the four kinds of tissue types. Monte-Carlo optical simulations were deployed to obtain the optical fluence distribution. Then acoustic propagation simulations were deployed to obtain the photoacoustic initial pressure. Universal back-projection algorithm was used to reconstruct the photoacoustic images. This dataset could be used for deep learning-based photoacoustic image reconstruction, classification, registration, quantitative image analysis.

physics.med-ph↗

arXiv2021

Photoacoustic digital brain: numerical modelling and image reconstruction via deep learning

Photoacoustic tomography (PAT) is a newly developed medical imaging modality, which combines the advantages of pure optical imaging and ultrasound imaging, owning both high optical contrast and deep penetration depth. Very recently, PAT is studied in human brain imaging. Nevertheless, while ultrasound waves are passing through the human skull tissues, the strong acoustic attenuation and aberration will happen, which causes photoacoustic signals' distortion. In this work, we use 10 magnetic resonance angiography (MRA) human brain volumes, and manually segment them to obtain the 2D human brain numerical phantoms for PAT. The numerical phantoms contain six kinds of tissues which are scalp, skull, white matter, gray matter, blood vessel and cerebral cortex. For every numerical phantom, optical properties are assigned to every kind of tissues. Then, Monte-Carlo based optical simulation is deployed to obtain the photoacoustic initial pressure. Then, we made two k-wave simulation cases: one takes inhomogeneous medium and uneven sound velocity into consideration, and the other not. Then we use the sensor data of the former one as the input of U-net, and the sensor data of the latter one as the output of U-net to train the network. We randomly choose 7 human brain PA sinograms as the training dataset and 3 human brain PA sinograms as the testing set. The testing result shows that our method could correct the skull acoustic aberration and obtain the blood vessel distribution inside the human brain satisfactorily.

physics.med-ph↗

arXiv2021

SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face challenges such as partial observations, occlusions, unobservable problems, limiting the mapping accuracy and robustness. This paper proposes a novel monocular Semantic Object SLAM (SO-SLAM) system that addresses the introduction of object spatial constraints. We explore three representative spatial constraints, including scale proportional constraint, symmetrical texture constraint and plane supporting constraint. Based on these semantic constraints, we propose two new methods - a more robust object initialization method and an orientation fine optimization method. We have verified the performance of the algorithm on the public datasets and an author-recorded mobile robot dataset and achieved a significant improvement on mapping effects. We will release the code here: https://github.com/XunshanMan/SoSLAM.

cs.RO↗

arXiv2020

Superposed Wave (s-Wave): Accelerating Photoacoustic Simulation

Photoacoustic imaging develops very fast in recent years due to its superior performance in many preclinical and clinical applications. However, it is still in a developing stage, and a lot of experiments have to be performed in a simulation setting. To simulate photoacoustic imaging in a computer, k-Wave is currently the most popular MATLAB toolbox. Lots of research groups choose k-Wave toolbox to perform the forward projection process, which also can be described as forward model. However, by solving complex partial differential equation, k-Wave suffers a lot from computation time. To accelerate photoacoustic simulation, in this paper, we propose a straightforward simulation approach based on superposed Wave (s-Wave). Specifically, we treat the initial pressure distribution as a set of single pixels. Then by pre-obtaining a standard sensor data from single pixel, we can easily use loop and multiplication operators to change phase and amplitude of sensor data for given pixels. We use three different 2D samples and two 3D samples to test the time cost. The result of our proposed s-Wave method shows much less time consumption compared with k-wave. Especially in a sparse configuration in 3D, s-Wave is more than 2000 times faster than k-Wave, whiling getting nearly same sensor data.

physics.med-ph↗

arXiv2020

Limited-view Photoacoustic Imaging Reconstruction With Dual Domain Inputs Under Mutual Information Constraint

Based on photoacoustic effect, photoacoustic tomography is developing very fast in recent years, and becoming an important imaging tool for both preclinical and clinical studies. With enough ultrasound transducers placed around the biological tissue, PAT can provide both deep penetration and high image contrast by hybrid usage of light and sound. However, considering space and measurement environmental limitations, transducers are always placed in a limited-angle way, which means that the other side without transducer coverage suffers severe information loss. With conventional image reconstruction algorithms, the limited-view tissue induces artifacts and information loss, which may cause doctors misdiagnosis or missed diagnosis. In order to solve limited-view PA imaging reconstruction problem, we propose to use both time domain and frequency domain reconstruction algorithms to get delay-and-sum (DAS) image inputs and k-space image inputs. These dual domain images share nearly same texture information but different artifact information, which can teach network how to distinguish these two kinds of information at input level. In this paper, we propose Dual Domain Unet (DuDoUnet) with specially designed Information Sharing Block (ISB), which can further share two domains' information and distinguish artifacts. Besides, we use mutual information (MI) with an auxiliary network, whose inputs and outputs are both ground truth, to compensate prior knowledge of limited-view PA inputs. The proposed method is verified with a public clinical database, and shows superior results with SSIM = 93.5622% and PSNR = 20.8859.

eess.IV↗