arXiv subjects

Ze Cui

Publications and source records attributed to Ze Cui.

3 recordsLinked to original sources

arXiv2026

Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination

We present a real-time upper-body human-to-humanoid motion imitation framework driven by neuromorphic event-based vision. This work addresses practical perceptual bottlenecks of conventional frame-based RGB sensors, specifically their difficulty in high dynamic range (HDR) scenes and rapid motions due to fixed integration times. By leveraging the Prophesee EVK4 event camera, which operates asynchronously with high temporal resolution and a dynamic range exceeding 120 dB, our system supports stable tracking in conditions where standard vision pipelines degrade, such as severe backlighting and very low light environments below 5 lux. The architecture integrates a low-latency Perception Module, utilizing optimized event accumulation and gravity-aligned inertial fusion, with a causal Motion Module (TWIST) that performs online kinematic retargeting. We validate the system on an embedded NVIDIA Booster T1 platform and an 18-DoF humanoid upper-body setup, demonstrating an end-to-end photon-to-action latency of 23-34 ms and advantages over RGB baselines under our experimental setup. The results indicate a practical trade-off: events can be preferable for fast or poorly lit upper-body teleoperation, whereas well-lit static scenes may favor RGB or hybrid sensing.

cs.RO↗

arXiv2024

Bit Rate Matching Algorithm Optimization in JPEG-AI Verification Model

The research on neural network (NN) based image compression has shown superior performance compared to classical compression frameworks. Unlike the hand-engineered transforms in the classical frameworks, NN-based models learn the non-linear transforms providing more compact bit representations, and achieve faster coding speed on parallel devices over their classical counterparts. Those properties evoked the attention of both scientific and industrial communities, resulting in the standardization activity JPEG-AI. The verification model for the standardization process of JPEG-AI is already in development and has surpassed the advanced VVC intra codec. To generate reconstructed images with the desired bits per pixel and assess the BD-rate performance of both the JPEG-AI verification model and VVC intra, bit rate matching is employed. However, the current state of the JPEG-AI verification model experiences significant slowdowns during bit rate matching, resulting in suboptimal performance due to an unsuitable model. The proposed methodology offers a gradual algorithmic optimization for matching bit rates, resulting in a fourfold acceleration and over 1% improvement in BD-rate at the base operation point. At the high operation point, the acceleration increases up to sixfold.

cs.CV↗

arXiv2020

Asymmetric Gained Deep Image Compression With Continuous Rate Adaptation

With the development of deep learning techniques, the combination of deep learning with image compression has drawn lots of attention. Recently, learned image compression methods had exceeded their classical counterparts in terms of rate-distortion performance. However, continuous rate adaptation remains an open question. Some learned image compression methods use multiple networks for multiple rates, while others use one single model at the expense of computational complexity increase and performance degradation. In this paper, we propose a continuously rate adjustable learned image compression framework, Asymmetric Gained Variational Autoencoder (AG-VAE). AG-VAE utilizes a pair of gain units to achieve discrete rate adaptation in one single model with a negligible additional computation. Then, by using exponential interpolation, continuous rate adaptation is achieved without compromising performance. Besides, we propose the asymmetric Gaussian entropy model for more accurate entropy estimation. Exhaustive experiments show that our method achieves comparable quantitative performance with SOTA learned image compression methods and better qualitative performance than classical image codecs. In the ablation study, we confirm the usefulness and superiority of gain units and the asymmetric Gaussian entropy model.

eess.IV↗