Yudong Mao | Searcharxiv

arXiv2025

Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-robot Navigation with Immersive Manipulation

Magnetic micro-robots have demonstrated immense potential in biomedical applications, such as in vivo drug delivery, non-invasive diagnostics, and cell-based therapies, owing to their precise maneuverability and small size. However, current micromanipulation techniques often rely solely on a two-dimensional (2D) microscopic view as sensory feedback, while traditional control interfaces do not provide an intuitive manner for operators to manipulate micro-robots. These limitations increase the cognitive load on operators, who must interpret limited feedback and translate it into effective control actions. To address these challenges, we propose a Deep Reinforcement Learning-Based Semi-Autonomous Control (DRL-SC) framework for magnetic micro-robot navigation in a simulated microvascular system. Our framework integrates Mixed Reality (MR) to facilitate immersive manipulation of micro-robots, thereby enhancing situational awareness and control precision. Simulation and experimental results demonstrate that our approach significantly improves navigation efficiency, reduces control errors, and enhances the overall robustness of the system in simulated microvascular environments.

cs.RO↗

arXiv2022

Deep Decomposition and Bilinear Pooling Network for Blind Night-Time Image Quality Evaluation

Blind image quality assessment (BIQA), which aims to accurately predict the image quality without any pristine reference information, has been extensively concerned in the past decades. Especially, with the help of deep neural networks, great progress has been achieved. However, it remains less investigated on BIQA for night-time images (NTIs) which usually suffers from complicated authentic distortions such as reduced visibility, low contrast, additive noises, and color distortions. These diverse authentic degradations particularly challenges the design of effective deep neural network for blind NTI quality evaluation (NTIQE). In this paper, we propose a novel deep decomposition and bilinear pooling network (DDB-Net) to better address this issue. The DDB-Net contains three modules, i.e., an image decomposition module, a feature encoding module, and a bilinear pooling module. The image decomposition module is inspired by the Retinex theory and involves decoupling the input NTI into an illumination layer component responsible for illumination information and a reflection layer component responsible for content information. Then, the feature encoding module involves learning feature representations of degradations that are rooted in the two decoupled components separately. Finally, by modeling illumination-related and content-related degradations as two-factor variations, the two feature sets are bilinearly pooled together to form a unified representation for quality prediction. The superiority of the proposed DDB-Net has been well validated by extensive experiments on several benchmark datasets. The source code will be made available soon.

cs.MM↗