arXiv subjects

Jun Shi

Publications and source records attributed to Jun Shi.

At least 55 records · Page 3Linked to original sources

arXiv2025

ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera

In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the first time, we propose ASGrasp, a 6-DoF grasp detection network that uses an RGB-D active stereo camera. ASGrasp utilizes a two-layer learning-based stereo network for the purpose of transparent object reconstruction, enabling material-agnostic object grasping in cluttered environments. In contrast to existing RGB-D based grasp detection methods, which heavily depend on depth restoration networks and the quality of depth maps generated by depth cameras, our system distinguishes itself by its ability to directly utilize raw IR and RGB images for transparent object geometry reconstruction. We create an extensive synthetic dataset through domain randomization, which is based on GraspNet-1Billion. Our experiments demonstrate that ASGrasp can achieve over 90% success rate for generalizable transparent object grasping in both simulation and the real via seamless sim-to-real transfer. Our method significantly outperforms SOTA networks and even surpasses the performance upper bound set by perfect visible point cloud inputs.Project page: https://pku-epic.github.io/ASGrasp

cs.RO↗

arXiv2025

Pruner: A Draft-then-Verify Exploration Mechanism to Accelerate Tensor Program Tuning

Tensor program tuning is essential for the efficient deployment of deep neural networks. Search-based approaches have demonstrated scalability and effectiveness in automatically finding high-performance programs for specific hardware. However, the search process is often inefficient, taking hours or even days to discover optimal programs due to the exploration mechanisms guided by an accurate but slow-learned cost model. Meanwhile, the learned cost model trained on one platform cannot seamlessly adapt online to another, which we call cross-platform online unawareness. In this work, we propose Pruner and MoA-Pruner. Pruner is a "Draft-then-Verify" exploration mechanism that accelerates the schedule search process. Instead of applying the complex learned cost model to all explored candidates, Pruner drafts small-scale potential candidates by introducing a naive Symbol-based Analyzer (draft model), then identifies the best candidates by the learned cost model. MoA-Pruner introduces a Momentum online Adaptation strategy to address the cross-platform online unawareness. We incorporate Pruner into the TVM and conduct extensive experiments on three GPU-based platforms. Results show considerable speedup in schedule search time. In online tuning scenarios, Pruner and MoA-Pruner achieve an average speedup of $2.6 \times$ and $4.82 \times$ compared to Ansor. In offline tuning scenarios, Pruner achieves an average speedup of $4.75 \times$ and $4.05\times$ compared to TenSet and TLP, respectively. Furthermore, Pruner achieves an average speedup of $4.08 \times$ compared to MetaSchedule on TensorCore.

cs.LG↗

arXiv2025

EHC-MM: Embodied Holistic Control for Mobile Manipulation

Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied Holistic Control for Mobile Manipulation(EHC-MM) with the embodied function of sig(w): By formulating the DMCG principle as a Quadratic Programming (QP) problem, sig(w) dynamically balances the robot's emphasis between movement and manipulation with the consideration of the robot's state and environment. In addition, we propose the Monitor-Position-Based Servoing (MPBS) with sig(w), enabling the tracking of the target during the operation. This approach enables coordinated control among the robot's base, arm, and camera, enhancing task efficiency. Through extensive simulations and real-world experiments, our approach significantly improves both the success rate and efficiency of mobile manipulation tasks, achieving a 95.6% success rate in real-world scenarios and a 52.8% increase in time efficiency.

cs.RO↗

arXiv2025

LMS-Net: A Learned Mumford-Shah Network For Few-Shot Medical Image Segmentation

Few-shot semantic segmentation (FSS) methods have shown great promise in handling data-scarce scenarios, particularly in medical image segmentation tasks. However, most existing FSS architectures lack sufficient interpretability and fail to fully incorporate the underlying physical structures of semantic regions. To address these issues, in this paper, we propose a novel deep unfolding network, called the Learned Mumford-Shah Network (LMS-Net), for the FSS task. Specifically, motivated by the effectiveness of pixel-to-prototype comparison in prototypical FSS methods and the capability of deep priors to model complex spatial structures, we leverage our learned Mumford-Shah model (LMS model) as a mathematical foundation to integrate these insights into a unified framework. By reformulating the LMS model into prototype update and mask update tasks, we propose an alternating optimization algorithm to solve it efficiently. Further, the iterative steps of this algorithm are unfolded into corresponding network modules, resulting in LMS-Net with clear interpretability. Comprehensive experiments on three publicly available medical segmentation datasets verify the effectiveness of our method, demonstrating superior accuracy and robustness in handling complex structures and adapting to challenging segmentation scenarios. These results highlight the potential of LMS-Net to advance FSS in medical imaging applications. Our code will be available at: https://github.com/SDZhang01/LMSNet

cs.CV↗

arXiv2025

Deep Unfolding Network with Spatial Alignment for multi-modal MRI reconstruction

Multi-modal Magnetic Resonance Imaging (MRI) offers complementary diagnostic information, but some modalities are limited by the long scanning time. To accelerate the whole acquisition process, MRI reconstruction of one modality from highly undersampled k-space data with another fully-sampled reference modality is an efficient solution. However, the misalignment between modalities, which is common in clinic practice, can negatively affect reconstruction quality. Existing deep learning-based methods that account for inter-modality misalignment perform better, but still share two main common limitations: (1) The spatial alignment task is not adaptively integrated with the reconstruction process, resulting in insufficient complementarity between the two tasks; (2) the entire framework has weak interpretability. In this paper, we construct a novel Deep Unfolding Network with Spatial Alignment, termed DUN-SA, to appropriately embed the spatial alignment task into the reconstruction process. Concretely, we derive a novel joint alignment-reconstruction model with a specially designed cross-modal spatial alignment term. By relaxing the model into cross-modal spatial alignment and multi-modal reconstruction tasks, we propose an effective algorithm to solve this model alternatively. Then, we unfold the iterative steps of the proposed algorithm and design corresponding network modules to build DUN-SA with interpretability. Through end-to-end training, we effectively compensate for spatial misalignment using only reconstruction loss, and utilize the progressively aligned reference modality to provide inter-modality prior to improve the reconstruction of the target modality. Comprehensive experiments on three real datasets demonstrate that our method exhibits superior reconstruction performance compared to state-of-the-art methods.

eess.IV↗

arXiv2024

Technical Report: Towards Spatial Feature Regularization in Deep-Learning-Based Array-SAR Reconstruction

Array synthetic aperture radar (Array-SAR), also known as tomographic SAR (TomoSAR), has demonstrated significant potential for high-quality 3D mapping, particularly in urban areas.While deep learning (DL) methods have recently shown strengths in reconstruction, most studies rely on pixel-by-pixel reconstruction, neglecting spatial features like building structures, leading to artifacts such as holes and fragmented edges. Spatial feature regularization, effective in traditional methods, remains underexplored in DL-based approaches. Our study integrates spatial feature regularization into DL-based Array-SAR reconstruction, addressing key questions: What spatial features are relevant in urban-area mapping? How can these features be effectively described, modeled, regularized, and incorporated into DL networks? The study comprises five phases: spatial feature description and modeling, regularization, feature-enhanced network design, evaluation, and discussions. Sharp edges and geometric shapes in urban scenes are analyzed as key features. An intra-slice and inter-slice strategy is proposed, using 2D slices as reconstruction units and fusing them into 3D scenes through parallel and serial fusion. Two computational frameworks-iterative reconstruction with enhancement and light reconstruction with enhancement-are designed, incorporating spatial feature modules into DL networks, leading to four specialized reconstruction networks. Using our urban building simulation dataset and two public datasets, six tests evaluate close-point resolution, structural integrity, and robustness in urban scenarios. Results show that spatial feature regularization significantly improves reconstruction accuracy, retrieves more complete building structures, and enhances robustness by reducing noise and outliers.

eess.IV↗

arXiv2024

Promptable Representation Distribution Learning and Data Augmentation for Gigapixel Histopathology WSI Analysis

Gigapixel image analysis, particularly for whole slide images (WSIs), often relies on multiple instance learning (MIL). Under the paradigm of MIL, patch image representations are extracted and then fixed during the training of the MIL classifiers for efficiency consideration. However, the invariance of representations makes it difficult to perform data augmentation for WSI-level model training, which significantly limits the performance of the downstream WSI analysis. The current data augmentation methods for gigapixel images either introduce additional computational costs or result in a loss of semantic information, which is hard to meet the requirements for efficiency and stability needed for WSI model training. In this paper, we propose a Promptable Representation Distribution Learning framework (PRDL) for both patch-level representation learning and WSI-level data augmentation. Meanwhile, we explore the use of prompts to guide data augmentation in feature space, which achieves promptable data augmentation for training robust WSI-level models. The experimental results have demonstrated that the proposed method stably outperforms state-of-the-art methods.

cs.CV↗

arXiv2024

Pan-cancer Histopathology WSI Pre-training with Position-aware Masked Autoencoder

Large-scale pre-training models have promoted the development of histopathology image analysis. However, existing self-supervised methods for histopathology images primarily focus on learning patch features, while there is a notable gap in the availability of pre-training models specifically designed for WSI-level feature learning. In this paper, we propose a novel self-supervised learning framework for pan-cancer WSI-level representation pre-training with the designed position-aware masked autoencoder (PAMA). Meanwhile, we propose the position-aware cross-attention (PACA) module with a kernel reorientation (KRO) strategy and an anchor dropout (AD) mechanism. The KRO strategy can capture the complete semantic structure and eliminate ambiguity in WSIs, and the AD contributes to enhancing the robustness and generalization of the model. We evaluated our method on 7 large-scale datasets from multiple organs for pan-cancer classification tasks. The results have demonstrated the effectiveness and generalization of PAMA in discriminative WSI representation learning and pan-cancer WSI pre-training. The proposed method was also compared with 8 WSI analysis methods. The experimental results have indicated that our proposed PAMA is superior to the state-of-the-art methods. The code and checkpoints are available at https://github.com/WkEEn/PAMA.

cs.CV↗

arXiv2024

Slide-based Graph Collaborative Training for Histopathology Whole Slide Image Analysis

The development of computational pathology lies in the consensus that pathological characteristics of tumors are significant guidance for cancer diagnostics. Most existing research focuses on the inner-contextual information within each WSI yet ignores the possible inter-correlations between slides. As the development of tumors is a continuous process involving a series of histological, morphological, and genetic changes that accumulate over time, the similarities and differences between WSIs across various stages, grades, locations and patients should potentially contribute to the representation of WSIs and deserve to be taken into account in WSI modeling. To verify the advancement of introducing the slide inter-correlations into the representation learning of WSIs, we proposed a generic WSI analysis pipeline SlideGCD that can be adapted to any existing Multiple Instance Learning (MIL) frameworks and improve their performance. With the new paradigm, the prior knowledge of cancer development can participate in the end-to-end workflow, which concurrently initializes and refines the slide representation, as a guide for message passing in the slide-based graph. Extensive comparisons and experiments are conducted to validate the effectiveness and robustness of the proposed pipeline across 4 different tasks, including cancer subtyping, cancer staging, survival prediction, and gene mutation prediction, with 7 representative SOTA WSI analysis frameworks as backbones.

cs.CV↗

arXiv2024

HASN: Hybrid Attention Separable Network for Efficient Image Super-resolution

Recently, lightweight methods for single image super-resolution (SISR) have gained significant popularity and achieved impressive performance due to limited hardware resources. These methods demonstrate that adopting residual feature distillation is an effective way to enhance performance. However, we find that using residual connections after each block increases the model's storage and computational cost. Therefore, to simplify the network structure and learn higher-level features and relationships between features, we use depthwise separable convolutions, fully connected layers, and activation functions as the basic feature extraction modules. This significantly reduces computational load and the number of parameters while maintaining strong feature extraction capabilities. To further enhance model performance, we propose the Hybrid Attention Separable Block (HASB), which combines channel attention and spatial attention, thus making use of their complementary advantages. Additionally, we use depthwise separable convolutions instead of standard convolutions, significantly reducing the computational load and the number of parameters while maintaining strong feature extraction capabilities. During the training phase, we also adopt a warm-start retraining strategy to exploit the potential of the model further. Extensive experiments demonstrate the effectiveness of our approach. Our method achieves a smaller model size and reduced computational complexity without compromising performance. Code can be available at https://github.com/nathan66666/HASN.git

eess.IV↗

arXiv2024

Deciphering the Impact of Pretraining Data on Large Language Models through Machine Unlearning

Through pretraining on a corpus with various sources, Large Language Models (LLMs) have gained impressive performance. However, the impact of each component of the pretraining corpus remains opaque. As a result, the organization of the pretraining corpus is still empirical and may deviate from the optimal. To address this issue, we systematically analyze the impact of 48 datasets from 5 major categories of pretraining data of LLMs and measure their impacts on LLMs using benchmarks about nine major categories of model capabilities. Our analyses provide empirical results about the contribution of multiple corpora on the performances of LLMs, along with their joint impact patterns, including complementary, orthogonal, and correlational relationships. We also identify a set of ``high-impact data'' such as Books that is significantly related to a set of model capabilities. These findings provide insights into the organization of data to support more efficient pretraining of LLMs.

cs.CL↗

arXiv2024

Topological GCN for Improving Detection of Hip Landmarks from B-Mode Ultrasound Images

The B-mode ultrasound based computer-aided diagnosis (CAD) has demonstrated its effectiveness for diagnosis of Developmental Dysplasia of the Hip (DDH) in infants. However, due to effect of speckle noise in ultrasound im-ages, it is still a challenge task to accurately detect hip landmarks. In this work, we propose a novel hip landmark detection model by integrating the Topological GCN (TGCN) with an Improved Conformer (TGCN-ICF) into a unified frame-work to improve detection performance. The TGCN-ICF includes two subnet-works: an Improved Conformer (ICF) subnetwork to generate heatmaps and a TGCN subnetwork to additionally refine landmark detection. This TGCN can effectively improve detection accuracy with the guidance of class labels. Moreo-ver, a Mutual Modulation Fusion (MMF) module is developed for deeply ex-changing and fusing the features extracted from the U-Net and Transformer branches in ICF. The experimental results on the real DDH dataset demonstrate that the proposed TGCN-ICF outperforms all the compared algorithms.

eess.IV↗

arXiv2024

Revisiting $C$ and $CP$ Violation in $η\to π^+π^-π^0$ Decay

The decay $η\to π^+π^-π^0$ is an ideal process in which to study flavor-conserving $C$ and $CP$ violation beyond the Standard Model. We deduce the $C$- and $CP$-odd quark operators that contribute to $η\to π^+π^-π^0$ originating from the mass-dimension 6 Standard Model effective field theory. The corresponding hadron-level operators that generate a non-vanishing $I=0$ amplitude at order $p^6$ in the chiral effective theory are presented for the first time, in addition to the leading order operatorsascribed to the $I=2$ final state. By fitting the KLOE-2 and the most recent BESIII experimental data, we determine the coefficients of the lowest order $I=0$ and $I=2$ amplitudes and estimate the potential new physics energy scale. We also perform an impact study of the future $η\to π^+π^-π^0$ experiments.

hep-ph↗

arXiv2024

SlideGCD: Slide-based Graph Collaborative Training with Knowledge Distillation for Whole Slide Image Classification

Existing WSI analysis methods lie on the consensus that histopathological characteristics of tumors are significant guidance for cancer diagnostics. Particularly, as the evolution of cancers is a continuous process, the correlations and differences across various stages, anatomical locations and patients should be taken into account. However, recent research mainly focuses on the inner-contextual information in a single WSI, ignoring the correlations between slides. To verify whether introducing the slide inter-correlations can bring improvements to WSI representation learning, we propose a generic WSI analysis pipeline SlideGCD that considers the existing multi-instance learning (MIL) methods as the backbone and forge the WSI classification task as a node classification problem. More specifically, SlideGCD declares a node buffer that stores previous slide embeddings for subsequent extensive slide-based graph construction and conducts graph learning to explore the inter-correlations implied in the slide-based graph. Moreover, we frame the MIL classifier and graph learning into two parallel workflows and deploy the knowledge distillation to transfer the differentiable information to the graph neural network. The consistent performance boosting, brought by SlideGCD, of four previous state-of-the-art MIL methods is observed on two TCGA benchmark datasets. The code is available at https://github.com/HFUT-miaLab/SlideGCD.

cs.CV↗

arXiv2024

Lifelong Histopathology Whole Slide Image Retrieval via Distance Consistency Rehearsal

Content-based histopathological image retrieval (CBHIR) has gained attention in recent years, offering the capability to return histopathology images that are content-wise similar to the query one from an established database. However, in clinical practice, the continuously expanding size of WSI databases limits the practical application of the current CBHIR methods. In this paper, we propose a Lifelong Whole Slide Retrieval (LWSR) framework to address the challenges of catastrophic forgetting by progressive model updating on continuously growing retrieval database. Our framework aims to achieve the balance between stability and plasticity during continuous learning. To preserve system plasticity, we utilize local memory bank with reservoir sampling method to save instances, which can comprehensively encompass the feature spaces of both old and new tasks. Furthermore, A distance consistency rehearsal (DCR) module is designed to ensure the retrieval queue's consistency for previous tasks, which is regarded as stability within a lifelong CBHIR system. We evaluated the proposed method on four public WSI datasets from TCGA projects. The experimental results have demonstrated the proposed method is effective and is superior to the state-of-the-art methods.

cs.CV↗

arXiv2024

Predictive Accuracy-Based Active Learning for Medical Image Segmentation

Active learning is considered a viable solution to alleviate the contradiction between the high dependency of deep learning-based segmentation methods on annotated data and the expensive pixel-level annotation cost of medical images. However, most existing methods suffer from unreliable uncertainty assessment and the struggle to balance diversity and informativeness, leading to poor performance in segmentation tasks. In response, we propose an efficient Predictive Accuracy-based Active Learning (PAAL) method for medical image segmentation, first introducing predictive accuracy to define uncertainty. Specifically, PAAL mainly consists of an Accuracy Predictor (AP) and a Weighted Polling Strategy (WPS). The former is an attached learnable module that can accurately predict the segmentation accuracy of unlabeled samples relative to the target model with the predicted posterior probability. The latter provides an efficient hybrid querying scheme by combining predicted accuracy and feature representation, aiming to ensure the uncertainty and diversity of the acquired samples. Extensive experiment results on multiple datasets demonstrate the superiority of PAAL. PAAL achieves comparable accuracy to fully annotated data while reducing annotation costs by approximately 50% to 80%, showcasing significant potential in clinical applications. The code is available at https://github.com/shijun18/PAAL-MedSeg.

cs.CV↗

arXiv2024

Spatial and Modal Optimal Transport for Fast Cross-Modal MRI Reconstruction

Multi-modal magnetic resonance imaging (MRI) plays a crucial role in comprehensive disease diagnosis in clinical medicine. However, acquiring certain modalities, such as T2-weighted images (T2WIs), is time-consuming and prone to be with motion artifacts. It negatively impacts subsequent multi-modal image analysis. To address this issue, we propose an end-to-end deep learning framework that utilizes T1-weighted images (T1WIs) as auxiliary modalities to expedite T2WIs' acquisitions. While image pre-processing is capable of mitigating misalignment, improper parameter selection leads to adverse pre-processing effects, requiring iterative experimentation and adjustment. To overcome this shortage, we employ Optimal Transport (OT) to synthesize T2WIs by aligning T1WIs and performing cross-modal synthesis, effectively mitigating spatial misalignment effects. Furthermore, we adopt an alternating iteration framework between the reconstruction task and the cross-modal synthesis task to optimize the final results. Then, we prove that the reconstructed T2WIs and the synthetic T2WIs become closer on the T2 image manifold with iterations increasing, and further illustrate that the improved reconstruction result enhances the synthesis process, whereas the enhanced synthesis result improves the reconstruction process. Finally, experimental results from FastMRI and internal datasets confirm the effectiveness of our method, demonstrating significant improvements in image reconstruction quality even at low sampling rates.

eess.IV↗

arXiv2024

Fast Fermion Smearing Scheme with Gaussian-like Profile

We propose a novel smearing scheme which gives a Gaussian-like profile and is more efficient than the traditional Gaussian smearing in terms of computer time consumption. We also carry out a detailed analysis of the profiles, smearing sizes, and the behaviors of hadron effective masses of different smearing schemes, and point out that having a sufficient number of gauge paths in a smearing scheme is essential to produce strong smearing effects. For a moderate smearing size $\bar{r}\sim 10a$, the time cost for the novel smearing is less than $1/8$ of that for the traditional Gaussian smearing. In practical lattice calculations with larger smearing sizes or finer lattice spacings the improvement will be more substantial.

hep-lat↗