arXiv subjects

Yongqiang Huang

Publications and source records attributed to Yongqiang Huang.

18 recordsLinked to original sources

arXiv2025

Uncertainty-Driven Hierarchical Sampling for Unbalanced Continual Malware Detection with Time-Series Update-Based Retrieval

Android malware detection continues to face persistent challenges stemming from long-term concept drift and class imbalance, as evolving malicious behaviors and shifting usage patterns dynamically reshape feature distributions. Although continual learning (CL) mitigates drift, existing replay-based methods suffer from inherent bias. Specifically, their reliance on classifier uncertainty for sample selection disproportionately prioritizes the dominant benign class, causing overfitting and reduced generalization to evolving malware. To address these limitations, we propose a novel uncertainty-guided CL framework. First, we introduce a hierarchical balanced sampler that employs a dual-phase uncertainty strategy to dynamically balance benign and malicious samples while simultaneously selecting high-information, high-uncertainty instances within each class. This mechanism ensures class equilibrium across both replay and incremental data, thereby enhancing adaptability to emerging threats. Second, we augment the framework with a vector retrieval mechanism that exploits historical malware embeddings to identify evolved variants via similarity-based retrieval, thereby complementing classifier updates. Extensive experiments demonstrate that our framework significantly outperforms state-of-the-art methods under strict low-label conditions (50 labels per phase). It achieves a true positive rate (TPR) of 92.95\% and a mean accuracy (mACC) of 94.26\%, which validates its efficacy for sustainable Android malware detection.

cs.CE↗

arXiv2025

Federated Learning for Large Models in Medical Imaging: A Comprehensive Review

Artificial intelligence (AI) has demonstrated considerable potential in the realm of medical imaging. However, the development of high-performance AI models typically necessitates training on large-scale, centralized datasets. This approach is confronted with significant challenges due to strict patient privacy regulations and legal restrictions on data sharing and utilization. These limitations hinder the development of large-scale models in medical domains and impede continuous updates and training with new data. Federated Learning (FL), a privacy-preserving distributed training framework, offers a new solution by enabling collaborative model development across fragmented medical datasets. In this survey, we review FL's contributions at two stages of the full-stack medical analysis pipeline. First, in upstream tasks such as CT or MRI reconstruction, FL enables joint training of robust reconstruction networks on diverse, multi-institutional datasets, alleviating data scarcity while preserving confidentiality. Second, in downstream clinical tasks like tumor diagnosis and segmentation, FL supports continuous model updating by allowing local fine-tuning on new data without centralizing sensitive images. We comprehensively analyze FL implementations across the medical imaging pipeline, from physics-informed reconstruction networks to diagnostic AI systems, highlighting innovations that improve communication efficiency, align heterogeneous data, and ensure secure parameter aggregation. Meanwhile, this paper provides an outlook on future research directions, aiming to serve as a valuable reference for the field's development.

cs.CR↗

arXiv2025

FedRIR: Rethinking Information Representation in Federated Learning

Mobile and Web-of-Things (WoT) devices at the network edge generate vast amounts of data for machine learning applications, yet privacy concerns hinder centralized model training. Federated Learning (FL) allows clients (devices) to collaboratively train a shared model coordinated by a central server without transfer private data, but inherent statistical heterogeneity among clients presents challenges, often leading to a dilemma between clients' needs for personalized local models and the server's goal of building a generalized global model. Existing FL methods typically prioritize either global generalization or local personalization, resulting in a trade-off between these two objectives and limiting the full potential of diverse client data. To address this challenge, we propose a novel framework that simultaneously enhances global generalization and local personalization by Rethinking Information Representation in the Federated learning process (FedRIR). Specifically, we introduce Masked Client-Specific Learning (MCSL), which isolates and extracts fine-grained client-specific features tailored to each client's unique data characteristics, thereby enhancing personalization. Concurrently, the Information Distillation Module (IDM) refines the global shared features by filtering out redundant client-specific information, resulting in a purer and more robust global representation that enhances generalization. By integrating the refined global features with the isolated client-specific features, we construct enriched representations that effectively capture both global patterns and local nuances, thereby improving the performance of downstream tasks on the client. The code is available at https://github.com/Deep-Imaging-Group/FedRIR.

cs.LG↗

arXiv2024

Navigate Complex Physical Worlds via Geometrically Constrained LLM

This study investigates the potential of Large Language Models (LLMs) for reconstructing and constructing the physical world solely based on textual knowledge. It explores the impact of model performance on spatial understanding abilities. To enhance the comprehension of geometric and spatial relationships in the complex physical world, the study introduces a set of geometric conventions and develops a workflow based on multi-layer graphs and multi-agent system frameworks. It examines how LLMs achieve multi-step and multi-objective geometric inference in a spatial environment using multi-layer graphs under unified geometric conventions. Additionally, the study employs a genetic algorithm, inspired by large-scale model knowledge, to solve geometric constraint problems. In summary, this work innovatively explores the feasibility of using text-based LLMs as physical world builders and designs a workflow to enhance their capabilities.

cs.CL↗

arXiv2021

One Network to Solve Them All: A Sequential Multi-Task Joint Learning Network Framework for MR Imaging Pipeline

Magnetic resonance imaging (MRI) acquisition, reconstruction, and segmentation are usually processed independently in the conventional practice of MRI workflow. It is easy to notice that there are significant relevances among these tasks and this procedure artificially cuts off these potential connections, which may lead to losing clinically important information for the final diagnosis. To involve these potential relations for further performance improvement, a sequential multi-task joint learning network model is proposed to train a combined end-to-end pipeline in a differentiable way, aiming at exploring the mutual influence among those tasks simultaneously. Our design consists of three cascaded modules: 1) deep sampling pattern learning module optimizes the $k$-space sampling pattern with predetermined sampling rate; 2) deep reconstruction module is dedicated to reconstructing MR images from the undersampled data using the learned sampling pattern; 3) deep segmentation module encodes MR images reconstructed from the previous module to segment the interested tissues. The proposed model retrieves the latently interactive and cyclic relations among those tasks, from which each task will be mutually beneficial. The proposed framework is verified on MRB dataset, which achieves superior performance on other SOTA methods in terms of both reconstruction and segmentation.

eess.IV↗

arXiv2021

MANAS: Multi-Scale and Multi-Level Neural Architecture Search for Low-Dose CT Denoising

Lowering the radiation dose in computed tomography (CT) can greatly reduce the potential risk to public health. However, the reconstructed images from the dose-reduced CT or low-dose CT (LDCT) suffer from severe noise, compromising the subsequent diagnosis and analysis. Recently, convolutional neural networks have achieved promising results in removing noise from LDCT images; the network architectures used are either handcrafted or built on top of conventional networks such as ResNet and U-Net. Recent advance on neural network architecture search (NAS) has proved that the network architecture has a dramatic effect on the model performance, which indicates that current network architectures for LDCT may be sub-optimal. Therefore, in this paper, we make the first attempt to apply NAS to LDCT and propose a multi-scale and multi-level NAS for LDCT denoising, termed MANAS. On the one hand, the proposed MANAS fuses features extracted by different scale cells to capture multi-scale image structural details. On the other hand, the proposed MANAS can search a hybrid cell- and network-level structure for better performance. Extensively experimental results on three different dose levels demonstrate that the proposed MANAS can achieve better performance in terms of preserving image structural details than several state-of-the-art methods. In addition, we also validate the effectiveness of the multi-scale and multi-level architecture for LDCT denoising.

physics.med-ph↗

arXiv2021

DAN-Net: Dual-Domain Adaptive-Scaling Non-local Network for CT Metal Artifact Reduction

Metal implants can heavily attenuate X-rays in computed tomography (CT) scans, leading to severe artifacts in reconstructed images, which significantly jeopardize image quality and negatively impact subsequent diagnoses and treatment planning. With the rapid development of deep learning in the field of medical imaging, several network models have been proposed for metal artifact reduction (MAR) in CT. Despite the encouraging results achieved by these methods, there is still much room to further improve performance. In this paper, a novel Dual-domain Adaptive-scaling Non-local network (DAN-Net) for MAR. We correct the corrupted sinogram using adaptive scaling first to preserve more tissue and bone details as a more informative input. Then, an end-to-end dual-domain network is adopted to successively process the sinogram and its corresponding reconstructed image generated by the analytical reconstruction layer. In addition, to better suppress the existing artifacts and restrain the potential secondary artifacts caused by inaccurate results of the sinogram-domain network, a novel residual sinogram learning strategy and nonlocal module are leveraged in the proposed network model. In the experiments, the proposed DAN-Net demonstrates performance competitive with several state-of-the-art MAR methods in both qualitative and quantitative aspects.

physics.med-ph↗

arXiv2020

Functional Object-Oriented Network for Manipulation Learning

This paper presents a novel structured knowledge representation called the functional object-oriented network (FOON) to model the connectivity of the functional-related objects and their motions in manipulation tasks. The graphical model FOON is learned by observing object state change and human manipulations with the objects. Using a well-trained FOON, robots can decipher a task goal, seek the correct objects at the desired states on which to operate, and generate a sequence of proper manipulation motions. The paper describes FOON's structure and an approach to form a universal FOON with extracted knowledge from online instructional videos. A graph retrieval approach is presented to generate manipulation motion sequences from the FOON to achieve a desired goal, demonstrating the flexibility of FOON in creating a novel and adaptive means of solving a problem using knowledge gathered from multiple sources. The results are demonstrated in a simulated environment to illustrate the motion sequences generated from the FOON to carry out the desired tasks.

cs.RO↗

arXiv2020

Robot Gaining Accurate Pouring Skills through Self-Supervised Learning and Generalization

Pouring is one of the most commonly executed tasks in humans' daily lives, whose accuracy is affected by multiple factors, including the type of material to be poured and the geometry of the source and receiving containers. In this work, we propose a self-supervised learning approach that learns the pouring dynamics, pouring motion, and outcomes from unsupervised demonstrations for accurate pouring. The learned pouring model is then generalized by self-supervised practicing to different conditions such as using unaccustomed pouring cups. We have evaluated the proposed approach first with one container from the training set and four new but similar containers. The proposed approach achieved better pouring accuracy than a regular human with a similar pouring speed for all five cups. Both the accuracy and pouring speed outperform state-of-the-art works. We have also evaluated the proposed self-supervised generalization approach using unaccustomed containers that are far different from the ones in the training set. The self-supervised generalization reduces the pouring error of the unaccustomed containers to the desired accuracy level.

cs.RO↗

arXiv2020

CT Reconstruction with PDF: Parameter-Dependent Framework for Multiple Scanning Geometries and Dose Levels

Current mainstream of CT reconstruction methods based on deep learning usually needs to fix the scanning geometry and dose level, which will significantly aggravate the training cost and need more training data for clinical application. In this paper, we propose a parameter-dependent framework (PDF) which trains data with multiple scanning geometries and dose levels simultaneously. In the proposed PDF, the geometry and dose level are parameterized and fed into two multi-layer perceptrons (MLPs). The MLPs are leveraged to modulate the feature maps of CT reconstruction network, which condition the network outputs on different scanning geometries and dose levels. The experiments show that our proposed method can obtain competing performance similar to the original network trained with specific geometry and dose level, which can efficiently save the extra training cost for multiple scanning geometries and dose levels.

physics.med-ph↗

arXiv2020

MAGIC: Manifold and Graph Integrative Convolutional Network for Low-Dose CT Reconstruction

Low-dose computed tomography (LDCT) scans, which can effectively alleviate the radiation problem, will degrade the imaging quality. In this paper, we propose a novel LDCT reconstruction network that unrolls the iterative scheme and performs in both image and manifold spaces. Because patch manifolds of medical images have low-dimensional structures, we can build graphs from the manifolds. Then, we simultaneously leverage the spatial convolution to extract the local pixel-level features from the images and incorporate the graph convolution to analyze the nonlocal topological features in manifold space. The experiments show that our proposed method outperforms both the quantitative and qualitative aspects of state-of-the-art methods. In addition, aided by a projection loss component, our proposed method also demonstrates superior performance for semi-supervised learning. The network can remove most noise while maintaining the details of only 10% (40 slices) of the training data labeled.

eess.IV↗

arXiv2020

Manipulation Motion Taxonomy and Coding for Robots

This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion types, and 3) provide a path to transferring learned manipulations to new unlearned manipulations. Using instructional videos as a reference, we selected a list of common manipulation motions seen in cooking activities grouped into similar motions based on several trajectory and contact attributes. Manipulation codes are then developed based on the taxonomy attributes to represent the manipulation motions. The manipulation taxonomy is then used for comparing motion data in the Daily Interactive Manipulation (DIM) data set to reveal their motion similarities.

cs.RO↗

arXiv2020

Noise-Powered Disentangled Representation for Unsupervised Speckle Reduction of Optical Coherence Tomography Images

Due to its noninvasive character, optical coherence tomography (OCT) has become a popular diagnostic method in clinical settings. However, the low-coherence interferometric imaging procedure is inevitably contaminated by heavy speckle noise, which impairs both visual quality and diagnosis of various ocular diseases. Although deep learning has been applied for image denoising and achieved promising results, the lack of well-registered clean and noisy image pairs makes it impractical for supervised learning-based approaches to achieve satisfactory OCT image denoising results. In this paper, we propose an unsupervised OCT image speckle reduction algorithm that does not rely on well-registered image pairs. Specifically, by employing the ideas of disentangled representation and generative adversarial network, the proposed method first disentangles the noisy image into content and noise spaces by corresponding encoders. Then, the generator is used to predict the denoised OCT image with the extracted content features. In addition, the noise patches cropped from the noisy image are utilized to facilitate more accurate disentanglement. Extensive experiments have been conducted, and the results suggest that our proposed method is superior to the classic methods and demonstrates competitive performance to several recently proposed learning-based approaches in both quantitative and qualitative aspects.

eess.IV↗

arXiv2020

MD-Recon-Net: A Parallel Dual-Domain Convolutional Neural Network for Compressed Sensing MRI

Compressed sensing magnetic resonance imaging (CS-MRI) is a theoretical framework that can accurately reconstruct images from undersampled k-space data with a much lower sampling rate than the one set by the classical Nyquist-Shannon sampling theorem. Therefore, CS-MRI can efficiently accelerate acquisition time and relieve the psychological burden on patients while maintaining high imaging quality. The problems with traditional CS-MRI reconstruction are solved by iterative numerical solvers, which usually suffer from expensive computational cost and the lack of accurate handcrafted priori. In this paper, inspired by deep learning's (DL's) fast inference and excellent end-to-end performance, we propose a novel cascaded convolutional neural network called MD-Recon-Net to facilitate fast and accurate MRI reconstruction. Especially, different from existing DL-based methods, which operate on single domain data or both domains in a certain order, our proposed MD-Recon-Net contains two parallel and interactive branches that simultaneously perform on k-space and spatial-domain data, exploring the latent relationship between k-space and the spatial domain. The simulated experimental results show that the proposed method not only achieves competitive visual effects to several state-of-the-art methods, but also outperforms other DL-based methods in terms of model scale and computational cost.

physics.med-ph↗

arXiv2019

Accurate Robotic Pouring for Serving Drinks

Pouring is the second most frequently executed motion in cooking scenarios. In this work, we present our system of accurate pouring that generates the angular velocities of the source container using recurrent neural networks. We collected demonstrations of human pouring water. We made a physical system on which the velocities of the source container were generated at each time step and executed by a motor. We tested our system on pouring water from containers that are not used for training and achieved an error of as low as 4 milliliters. We also used the system to pour oil and syrup. The accuracy achieved with oil is slightly lower than but comparable with that of water.

cs.RO↗

arXiv2018

A Dataset of Daily Interactive Manipulation

Robots that succeed in factories stumble to complete the simplest daily task humans take for granted, for the change of environment makes the task exceedingly difficult. Aiming to teach robot perform daily interactive manipulation in a changing environment using human demonstrations, we collected our own data of interactive manipulation. The dataset focuses on position, orientation, force, and torque of objects manipulated in daily tasks. The dataset includes 1,593 trials of 32 types of daily motions and 1,596 trials of pouring alone, as well as helper code. We present our dataset to facilitate the research on task-oriented interactive manipulation.

cs.RO↗

arXiv2017

Learning to Pour

Pouring is a simple task people perform daily. It is the second most frequently executed motion in cooking scenarios, after pick-and-place. We present a pouring trajectory generation approach, which uses force feedback from the cup to determine the future velocity of pouring. The approach uses recurrent neural networks as its building blocks. We collected the pouring demonstrations which we used for training. To test our approach in simulation, we also created and trained a force estimation system. The simulated experiments show that the system is able to generalize to single unseen element of the pouring characteristics.

cs.RO↗

arXiv2016

Datasets on object manipulation and interaction: a survey

A dataset is crucial for model learning and evaluation. Choosing the right dataset to use or making a new dataset requires the knowledge of those that are available. In this work, we provide that knowledge, by reviewing twenty datasets that were published in the recent six years and that are directly related to object manipulation. We report on modalities, activities, and annotations for each individual dataset and give our view on its use for object manipulation. We also compare the datasets and summarize them. We conclude with our suggestion on future datasets.

cs.RO↗