arXiv subjects

Jing Cheng

Publications and source records attributed to Jing Cheng.

At least 37 records · Page 2Linked to original sources

arXiv2024

Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots

This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed posture, minimizing natural body movements to simplify the control problem. However, this approach may overlook the inherent dynamical advantages found in natural locomotion. By considering the robot as two interconnected segments, we concentrate on stance leg motion while allowing passive torso oscillation, drawing inspiration from natural dynamics and underactuated robotics principles. Our control scheme employs Linear Inverted Pendulum (LIP) and Spring-Loaded Inverted Pendulum (SLIP) models to govern front and rear leg movements independently. This approach has been validated through extensive simulations and hardware experiments, demonstrating successful high-speed locomotion with top speeds nearing 4 m/s and reduced ground reaction forces, indicating a more efficient gait. Furthermore, unlike conventional methods, our strategy leverages natural torso oscillations to aid leg circulation and stride length, aligning robot dynamics more closely with biological counterparts. Our findings suggest that embracing the natural dynamics of quadrupedal movement, particularly in asymmetrical gaits like bounding, can lead to more stable, efficient, and high-speed robotic locomotion. This investigation lays the groundwork for future studies on versatile and dynamic quadrupedal gaits and their potential applications in scenarios demanding rapid and effective locomotion.

cs.RO↗

arXiv2024

SPIRiT-Diffusion: Self-Consistency Driven Diffusion Model for Accelerated MRI

Diffusion models have emerged as a leading methodology for image generation and have proven successful in the realm of magnetic resonance imaging (MRI) reconstruction. However, existing reconstruction methods based on diffusion models are primarily formulated in the image domain, making the reconstruction quality susceptible to inaccuracies in coil sensitivity maps (CSMs). k-space interpolation methods can effectively address this issue but conventional diffusion models are not readily applicable in k-space interpolation. To overcome this challenge, we introduce a novel approach called SPIRiT-Diffusion, which is a diffusion model for k-space interpolation inspired by the iterative self-consistent SPIRiT method. Specifically, we utilize the iterative solver of the self-consistent term (i.e., k-space physical prior) in SPIRiT to formulate a novel stochastic differential equation (SDE) governing the diffusion process. Subsequently, k-space data can be interpolated by executing the diffusion process. This innovative approach highlights the optimization model's role in designing the SDE in diffusion models, enabling the diffusion process to align closely with the physics inherent in the optimization model, a concept referred to as model-driven diffusion. We evaluated the proposed SPIRiT-Diffusion method using a 3D joint intracranial and carotid vessel wall imaging dataset. The results convincingly demonstrate its superiority over image-domain reconstruction methods, achieving high reconstruction quality even at a substantial acceleration rate of 10.

cs.CV↗

arXiv2023

Proximal Gradient Descent Unfolding Dense-spatial Spectral-attention Transformer for Compressive Spectral Imaging

The Coded Aperture Snapshot Spectral Compressive Imaging (CASSI) system modulates three-dimensional hyperspectral images into two-dimensional compressed images in a single exposure. Subsequently, three-dimensional hyperspectral images (HSI) can be reconstructed from the two-dimensional compressed measurements using reconstruction algorithms. Among these methods, deep unfolding techniques have demonstrated excellent performance, with RDLUF-MixS^2 achieving the best reconstruction results. However, RDLUF-MixS^2 requires extensive training time, taking approximately 14 days to train RDLUF-MixS^2-9stg on a single RTX 3090 GPU, making it computationally expensive. Furthermore, RDLUF-MixS^2 performs poorly on real data, resulting in significant artifacts in the reconstructed images. In this study, we introduce the Dense-spatial Spectral-attention Transformer (DST) into the Proximal Gradient Descent Unfolding Framework (PGDUF), creating a novel approach called Proximal Gradient Descent Unfolding Dense-spatial Spectral-attention Transformer (PGDUDST). Compared to RDLUF-MixS^2, PGDUDST not only surpasses the network reconstruction performance limit of RDLUF-MixS^2 but also achieves faster convergence. PGDUDST requires only 58% of the training time of RDLUF-MixS^2-9stg to achieve comparable reconstruction results. Additionally, PGDUDST significantly alleviates the artifact issues caused by RDLUF-MixS^2 in real experimental data, demonstrating superior performance and producing clearer reconstructed images.

eess.SP↗

arXiv2023

Physics-Informed DeepMRI: Bridging the Gap from Heat Diffusion to k-Space Interpolation

In the field of parallel imaging (PI), alongside image-domain regularization methods, substantial research has been dedicated to exploring $k$-space interpolation. However, the interpretability of these methods remains an unresolved issue. Furthermore, these approaches currently face acceleration limitations that are comparable to those experienced by image-domain methods. In order to enhance interpretability and overcome the acceleration limitations, this paper introduces an interpretable framework that unifies both $k$-space interpolation techniques and image-domain methods, grounded in the physical principles of heat diffusion equations. Building upon this foundational framework, a novel $k$-space interpolation method is proposed. Specifically, we model the process of high-frequency information attenuation in $k$-space as a heat diffusion equation, while the effort to reconstruct high-frequency information from low-frequency regions can be conceptualized as a reverse heat equation. However, solving the reverse heat equation poses a challenging inverse problem. To tackle this challenge, we modify the heat equation to align with the principles of magnetic resonance PI physics and employ the score-based generative method to precisely execute the modified reverse heat diffusion. Finally, experimental validation conducted on publicly available datasets demonstrates the superiority of the proposed approach over traditional $k$-space interpolation methods, deep learning-based $k$-space interpolation methods, and conventional diffusion models in terms of reconstruction accuracy, particularly in high-frequency regions.

cs.CV↗

arXiv2023

Meta-Learning Enabled Score-Based Generative Model for 1.5T-Like Image Reconstruction from 0.5T MRI

Magnetic resonance imaging (MRI) is known to have reduced signal-to-noise ratios (SNR) at lower field strengths, leading to signal degradation when producing a low-field MRI image from a high-field one. Therefore, reconstructing a high-field-like image from a low-field MRI is a complex problem due to the ill-posed nature of the task. Additionally, obtaining paired low-field and high-field MR images is often not practical. We theoretically uncovered that the combination of these challenges renders conventional deep learning methods that directly learn the mapping from a low-field MR image to a high-field MR image unsuitable. To overcome these challenges, we introduce a novel meta-learning approach that employs a teacher-student mechanism. Firstly, an optimal-transport-driven teacher learns the degradation process from high-field to low-field MR images and generates pseudo-paired high-field and low-field MRI images. Then, a score-based student solves the inverse problem of reconstructing a high-field-like MR image from a low-field MRI within the framework of iterative regularization, by learning the joint distribution of pseudo-paired images to act as a regularizer. Experimental results on real low-field MRI data demonstrate that our proposed method outperforms state-of-the-art unpaired learning methods.

eess.IV↗

arXiv2023

Energetic Analysis on the Optimal Bounding Gaits of Quadrupedal Robots

It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The purpose of this study is to examine four similar asymmetrical quadrupedal gaits that are frequently observed in legged animals in nature. To understand how a specific footfall pattern will change the energetics of a legged system, we first developed a full body model of a quadrupedal robot called A1. And for each gait we created a hybrid system with desired footfall sequence and rigid impacts. In order to find the most energy efficient gait, we used optimal control methods to formulate the problem as a trajectory optimization problem with proper constraints and objective function. This problem was implemented and solved in a nonlinear programming framework called FROST. Based on the optimized trajectories for each gait, we investigated the values of cost of transport and the work done by all joints. Moreover, we analyzed the exchange of angular momentum in different components of the system during the whole stride cycle. According to the simulation results, bounding with two flight phases is likely to be the most energy efficient gait for A1 across a wide range of speed.

cs.RO↗

arXiv2023

Phase retrieval based on shaped incoherent sources

The current ghost imaging phase reconstruction schemes require either complex optical systems, Fourier transform steps, or iterative algorithms, which may increase the difficulty of system design, cause phase retrieval error or take too much time. To address this problem, we propose a five-step phase-shifting method in which no complex optical systems, Fourier transform steps, or iterative algorithms are needed. With five designed incoherent sources, one can obtain five different corresponding ghost imaging patterns, then the phase information of the object can be calculated from those five speckle patterns. The applicability of this theoretical proposal is demonstrated via numerical simulations with two kinds of complicated objects, and the results illustrate the phase information of the complicated object can be reconstructed successfully and quantitatively.

physics.optics↗

arXiv2023

Accelerating Magnetic Resonance T1\r{ho} Mapping Using Simultaneously Spatial Patch-based and Parametric Group-based Low-rank Tensors (SMART)

Quantitative magnetic resonance (MR) T1\r{ho} mapping is a promising approach for characterizing intrinsic tissue-dependent information. However, long scan time significantly hinders its widespread applications. Recently, low-rank tensor has been employed and demonstrated good performance in accelerating MR T1\r{ho} mapping. In this study, we propose a novel method that uses spatial patch-based and parametric group-based low rank tensors simultaneously (SMART) to reconstruct images from highly undersampled k-space data. The spatial patch-based low-rank tensor exploits the high local and nonlocal redundancies and similarities between the contrast images in T1\r{ho} mapping. The parametric group based low-rank tensor, which integrates similar exponential behavior of the image signals, is jointly used to enforce the multidimensional low-rankness in the reconstruction process. In vivo brain datasets were used to demonstrate the validity of the proposed method. Experimental results have demonstrated that the proposed method achieves 11.7-fold and 13.21-fold accelerations in two-dimensional and three-dimensional acquisitions, respectively, with more accurate reconstructed images and maps than several state-of-the-art methods. Prospective reconstruction results further demonstrate the capability of the SMART method in accelerating MR T1\r{ho} imaging.

eess.IV↗

arXiv2022

SPIRiT-Diffusion: SPIRiT-driven Score-Based Generative Modeling for Vessel Wall imaging

Diffusion model is the most advanced method in image generation and has been successfully applied to MRI reconstruction. However, the existing methods do not consider the characteristics of multi-coil acquisition of MRI data. Therefore, we give a new diffusion model, called SPIRiT-Diffusion, based on the SPIRiT iterative reconstruction algorithm. Specifically, SPIRiT-Diffusion characterizes the prior distribution of coil-by-coil images by score matching and characterizes the k-space redundant prior between coils based on self-consistency. With sufficient prior constraint utilized, we achieve superior reconstruction results on the joint Intracranial and Carotid Vessel Wall imaging dataset.

eess.IV↗

arXiv2022

One-shot Generative Prior in Hankel-k-space for Parallel Imaging Reconstruction

Magnetic resonance imaging serves as an essential tool for clinical diagnosis. However, it suffers from a long acquisition time. The utilization of deep learning, especially the deep generative models, offers aggressive acceleration and better reconstruction in magnetic resonance imaging. Nevertheless, learning the data distribution as prior knowledge and reconstructing the image from limited data remains challenging. In this work, we propose a novel Hankel-k-space generative model (HKGM), which can generate samples from a training set of as little as one k-space data. At the prior learning stage, we first construct a large Hankel matrix from k-space data, then extract multiple structured k-space patches from the large Hankel matrix to capture the internal distribution among different patches. Extracting patches from a Hankel matrix enables the generative model to be learned from redundant and low-rank data space. At the iterative reconstruction stage, it is observed that the desired solution obeys the learned prior knowledge. The intermediate reconstruction solution is updated by taking it as the input of the generative model. The updated result is then alternatively operated by imposing low-rank penalty on its Hankel matrix and data consistency con-strain on the measurement data. Experimental results confirmed that the internal statistics of patches within a single k-space data carry enough information for learning a powerful generative model and provide state-of-the-art reconstruction.

eess.IV↗

arXiv2022

Deep unfolding as iterative regularization for imaging inverse problems

Recently, deep unfolding methods that guide the design of deep neural networks (DNNs) through iterative algorithms have received increasing attention in the field of inverse problems. Unlike general end-to-end DNNs, unfolding methods have better interpretability and performance. However, to our knowledge, their accuracy and stability in solving inverse problems cannot be fully guaranteed. To bridge this gap, we modified the training procedure and proved that the unfolding method is an iterative regularization method. More precisely, we jointly learn a convex penalty function adversarially by an input-convex neural network (ICNN) to characterize the distance to a real data manifold and train a DNN unfolded from the proximal gradient descent algorithm with this learned penalty. Suppose the real data manifold intersects the inverse problem solutions with only the unique real solution. We prove that the unfolded DNN will converge to it stably. Furthermore, we demonstrate with an example of MRI reconstruction that the proposed method outperforms conventional unfolding methods and traditional regularization methods in terms of reconstruction quality, stability and convergence speed.

math.OC↗

arXiv2022

Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to use optimization-based algorithms and approximate the system with a simplified, reduced-order model. Additionally, deep neural networks are becoming a more promising option for achieving agile and robust legged locomotion. These approaches, however, either require large amounts of onboard calculations or the collection of millions of data points from a single robot. To address these problems and improve tracking performance, this paper proposes a method based on iterative learning control. This method lets a robot learn from its own mistakes by exploiting the repetitive nature of legged locomotion within only a few trials. Then, a torque library is created as a lookup table so that the robot does not need to repeat calculations or learn the same skill over and over again. This process resembles how animals learn their muscle memories in nature. The proposed method is tested on the A1 robot in a simulated environment, and it allows the robot to pronk at different speeds while precisely following the reference trajectories without heavy calculations.

cs.RO↗

arXiv2022

Self-Score: Self-Supervised Learning on Score-Based Models for MRI Reconstruction

Recently, score-based diffusion models have shown satisfactory performance in MRI reconstruction. Most of these methods require a large amount of fully sampled MRI data as a training set, which, sometimes, is difficult to acquire in practice. This paper proposes a fully-sampled-data-free score-based diffusion model for MRI reconstruction, which learns the fully sampled MR image prior in a self-supervised manner on undersampled data. Specifically, we first infer the fully sampled MR image distribution from the undersampled data by Bayesian deep learning, then perturb the data distribution and approximate their probability density gradient by training a score function. Leveraging the learned score function as a prior, we can reconstruct the MR image by performing conditioned Langevin Markov chain Monte Carlo (MCMC) sampling. Experiments on the public dataset show that the proposed method outperforms existing self-supervised MRI reconstruction methods and achieves comparable performances with the conventional (fully sampled data trained) score-based diffusion methods.

eess.IV↗

arXiv2022

K-UNN: k-Space Interpolation With Untrained Neural Network

Recently, untrained neural networks (UNNs) have shown satisfactory performances for MR image reconstruction on random sampling trajectories without using additional full-sampled training data. However, the existing UNN-based approach does not fully use the MR image physical priors, resulting in poor performance in some common scenarios (e.g., partial Fourier, regular sampling, etc.) and the lack of theoretical guarantees for reconstruction accuracy. To bridge this gap, we propose a safeguarded k-space interpolation method for MRI using a specially designed UNN with a tripled architecture driven by three physical priors of the MR images (or k-space data), including sparsity, coil sensitivity smoothness, and phase smoothness. We also prove that the proposed method guarantees tight bounds for interpolated k-space data accuracy. Finally, ablation experiments show that the proposed method can more accurately characterize the physical priors of MR images than existing traditional methods. Additionally, under a series of commonly used sampling trajectories, experiments also show that the proposed method consistently outperforms traditional parallel imaging methods and existing UNNs, and even outperforms the state-of-the-art supervised-trained k-space deep learning methods in some cases.

cs.CV↗

arXiv2022

Robust Beamforming Design for IRS-Aided URLLC in D2D Networks

Intelligent reflecting surface (IRS) and device-to-device (D2D) communication are two promising technologies for improving transmission reliability between transceivers in communication systems. In this paper, we consider the design of reliable communication between the access point (AP) and actuators for a downlink multiuser multiple-input single-output (MISO) system in the industrial IoT (IIoT) scenario. We propose a two-stage protocol combining IRS with D2D communication so that all actuators can successfully receive the message from AP within a given delay. The superiority of the protocol is that the communication reliability between AP and actuators is doubly augmented by the IRS-aided first-stage transmission and the second-stage D2D transmission. A joint optimization problem of active and passive beamforming is formulated, which aims to maximize the number of actuators with successful decoding. We study the joint beamforming problem for cases where the channel state information (CSI) is perfect and imperfect. For each case, we develop efficient algorithms that include convergence and complexity analysis. Simulation results demonstrate the necessity and role of IRS with a well-optimized reflection matrix, and the D2D network in promoting reliable communication. Moreover, the proposed protocol can enable reliable communication even in the presence of stringent latency requirements and CSI estimation errors.

cs.IT↗

arXiv2022

Ultra-Efficient Resistance Switching between Charge Ordered Phases in 1T-TaS$_2$ with a Single Picosecond Electrical Pulse

Progress in high-performance computing demands significant advances in memory technology. Among novel memory technologies that promise efficient device operation on a sub-ns timescale, resistance switching between charge ordered phases of the 1T-TaS$_2$ has shown to be potentially useful for the development of high-speed, energy efficient non-volatile memory device. While ultrafast switching was previously reported with optical pulses, determination of the intrinsic speed limits of actual devices that are triggered by electrical pulses is technically challenging and hitherto still largely unexplored. A new optoelectronic laboratory-on-a-chip, designed for measurements of ultrafast memory switching, enables an accurate measurement of the electrical switching parameters with 100 fs temporal resolution. A photoconductive response is used for ultrashort electrical pulse generation, while its propagation along a coplanar transmission line is detected using electro-optical sampling using a purpose-grown highly-resistive electro-optic (Cd,Mn)Te crystal substrate. By combining the transmission line and the 1T-TaS$_2$ device in a single optoelectronic circuit a non-volatile resistance switching with a single 1.9 ps electrical pulse is demonstrated, with an extremely small switching energy density per unit area E$_A$ = 9.4 fJ/$μ$m$^2$. The experiments demonstrate ultrafast, energy-efficient circuits utilizing switching between non-volatile charge-ordered states offers a new technological platform for cryogenic memory devices.

cond-mat.str-el↗

arXiv2021

Equilibrated Zeroth-Order Unrolled Deep Networks for Accelerated MRI

Recently, model-driven deep learning unrolls a certain iterative algorithm of a regularization model into a cascade network by replacing the first-order information (i.e., (sub)gradient or proximal operator) of the regularizer with a network module, which appears more explainable and predictable compared to common data-driven networks. Conversely, in theory, there is not necessarily such a functional regularizer whose first-order information matches the replaced network module, which means the network output may not be covered by the original regularization model. Moreover, up to now, there is also no theory to guarantee the global convergence and robustness (regularity) of unrolled networks under realistic assumptions. To bridge this gap, this paper propose to present a safeguarded methodology on network unrolling. Specifically, focusing on accelerated MRI, we unroll a zeroth-order algorithm, of which the network module represents the regularizer itself, so that the network output can be still covered by the regularization model. Furthermore, inspired by the ideal of deep equilibrium models, before backpropagating, we carry out the unrolled iterative network to converge to a fixed point to ensure the convergence. In case the measurement data contains noise, we prove that the proposed network is robust against noisy interference. Finally, numerical experiments show that the proposed network consistently outperforms the state-of-the-art MRI reconstruction methods including traditional regularization methods and other deep learning methods.

cs.LG↗

arXiv2021

RIS-aided D2D Communication Design for URLLC Packet Delivery

In this paper, we consider a smart factory scenario where a set of actuators receive critical control signals from an access point (AP) with reliability and low latency requirements. We investigate jointly active beamforming at the AP and passive phase shifting at the reconfigurable intelligent surface (RIS) for successfully delivering the control signals from the AP to the actuators within a required time duration. The transmission follows a two-stage design. In the first stage, each actuator can both receive the direct signal from AP and the reflected signal from the RIS. In the second stage, the actuators with successful reception in the first stage, relay the message through the D2D network to the actuators with failed receptions. We formulate a non-convex optimization problem where we first obtain an equivalent but more tractable form by addressing the problem with discrete indicator functions. Then, Frobenius inner product based equality is applied for decoupling the optimization variables. Further, we adopt a penalty-based approach to resolve the rank-one constraints. Finally, we deal with the $\ell_0$-norm by $\ell_1$-norm approximation and add an extra term $\ell_1-\ell_2$ for sparsity. Numerical results reveal that the proposed two-stage RIS-aided D2D communication protocol is effective for enabling reliable communication with latency requirements.

cs.IT↗