Shengyuan Yu | Searcharxiv

arXiv2026

HybridFlow: A Two-Step Generative Policy for Robotic Manipulation

Limited by inference latency, existing robot manipulation policies lack sufficient real-time interaction capability with the environment. Although faster generation methods such as flow matching are gradually replacing diffusion methods, researchers are pursuing even faster generation suitable for interactive robot control. MeanFlow, as a one-step variant of flow matching, has shown strong potential in image generation, but its precision in action generation does not meet the stringent requirements of robotic manipulation. We therefore propose \textbf{HybridFlow}, a \textbf{3-stage method} with \textbf{2-NFE}: Global Jump in MeanFlow mode, ReNoise for distribution alignment, and Local Refine in ReFlow mode. This method balances inference speed and generation quality by leveraging the rapid advantage of MeanFlow one-step generation while ensuring action precision with minimal generation steps. Through real-world experiments, HybridFlow outperforms the 16-step Diffusion Policy by \textbf{15--25\%} in success rate while reducing inference time from 152ms to 19ms (\textbf{8$\times$ speedup}, \textbf{$\sim$52Hz}); it also achieves 70.0\% success on unseen-color OOD grasping and 66.3\% on deformable object folding. We envision HybridFlow as a practical low-latency method to enhance real-world interaction capabilities of robotic manipulation policies.

cs.RO↗

arXiv2022

Multimodal Brain Disease Classification with Functional Interaction Learning from Single fMRI Volume

In neuroimaging analysis, fMRI can well assess the function changes for brain diseases with no obvious structural lesions. To date, most deep-learning-based fMRI studies have employed functional connectivity (FC) as the basic feature for disease classification. However, FC is calculated on time series of predefined regions of interest and neglects detailed information contained in each voxel. Another drawback of using FC is the limited sample size for the training of deep models. The low representation ability of FC leads to poor performance in clinical practice, especially when dealing with multimodal medical data involving multiple types of visual signals and textual records for brain diseases. To overcome this bottleneck problem in the fMRI feature modality, we propose BrainFormer, an end-to-end functional interaction learning method for brain disease classification with single fMRI volume. Unlike traditional deep learning methods that construct convolution and transformers on FC, BrainFormer learns the functional interaction from fMRI signals, by modeling the local cues within each voxel with 3D convolutions and capturing the global correlations among distant regions with specially designed global attention mechanisms from shallow layers to deep layers. Meanwhile, BrainFormer can deal with multimodal medical data including fMRI volume, structural MRI, FC features and phenotypic data to achieve more comprehensive brain disease diagnosis. We evaluate BrainFormer on five independent multi-site datasets on autism, Alzheimer's disease, depression, attention deficit hyperactivity disorder and headache disorders. The results demonstrate its effectiveness and generalizability for multiple brain diseases diagnosis with multimodal features. BrainFormer may promote precision of neuroimaging-based diagnosis in clinical practice and motivate future studies on fMRI analysis.

eess.IV↗