arXiv subjects

Zehui Zhao

Publications and source records attributed to Zehui Zhao.

5 recordsLinked to original sources

arXiv2026

HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations

Human demonstrations, which can be collected at scale and naturally capture active hand-eye coordination, are a promising data source for learning humanoid loco-manipulation. However, directly transferring human demonstrations to humanoids requires a precise world-frame tracking controller, which is often brittle under Out-of-Distribution(OOD) targets, while human-to-humanoid gaps persist in both egocentric observation and action execution. To address these challenges, we present HALOMI, a scalable framework for learning humanoid loco-manipulation with active perception from human demonstrations. HALOMI extends Universal Manipulation Interface (UMI) with egocentric sensing to collect ego-view and wrist-view observations along with head-hand trajectories at scale. We further propose a manifold-constrained controller that plans in a learned latent behavior manifold to enable precise and robust head-hand tracking in the world frame. To bridge the human-to-humanoid gap, we perform ego-view alignment and introduce a controller-aware reference trajectory adaptation to reduce mismatch in both observation and action execution. We validate HALOMI on a Unitree G1 humanoid robot with an actuated neck across five real-world tasks involving navigation, grasping, bimanual manipulation, whole-body coordination, and dynamic behaviors. Across the three quantitatively evaluated tasks, HALOMI achieves an average success rate of 85\%, while additional qualitative demonstrations show its ability to support dynamic tossing and deep-squat grasping.

cs.RO↗

arXiv2026

Random neural networks match observed dimensionality of neural population recordings and motivate stronger experimental tests

Randomly connected neural networks have long served as a theoretical tool for studying collective dynamics in neural populations, yet quantitative comparisons to experiments remain limited. Recent technological advances have made it possible to resolve population-wide correlations across neurons, and minimal models such as random neural networks predict their generic structure. Whether the two agree quantitatively remains untested. In this work, we examine whether a minimally structured random neural network can account for the low dimensionality of activity in neural population recordings by building on recent developments in Dynamical Mean-Field Theory and incorporating two additional experimentally relevant features into the model: finite measurement time and variability across behavioral contexts. We show that, when these factors are included, the dimensionality measured from large-scale recordings is consistent with the values predicted by random models. However, current recording durations make it difficult to use dimensionality to discriminate among connectivity structures. We further show that analytically predicted dimensionality varies non-monotonically with external input strength, and that the orientation similarity between neural manifolds recorded under different behavioral contexts can be more sensitive to network structure than dimensionality is. Together, these results provide quantitative guidance for experimental design to infer the connectivity structure underlying population activity.

q-bio.NC↗

arXiv2025

VGS-ATD: Robust Distributed Learning for Multi-Label Medical Image Classification Under Heterogeneous and Imbalanced Conditions

In recent years, advanced deep learning architectures have shown strong performance in medical imaging tasks. However, the traditional centralized learning paradigm poses serious privacy risks as all data is collected and trained on a single server. To mitigate this challenge, decentralized approaches such as federated learning and swarm learning have emerged, allowing model training on local nodes while sharing only model weights. While these methods enhance privacy, they struggle with heterogeneous and imbalanced data and suffer from inefficiencies due to frequent communication and the aggregation of weights. More critically, the dynamic and complex nature of clinical environments demands scalable AI systems capable of continuously learning from diverse modalities and multilabels. Yet, both centralized and decentralized models are prone to catastrophic forgetting during system expansion, often requiring full model retraining to incorporate new data. To address these limitations, we propose VGS-ATD, a novel distributed learning framework. To validate VGS-ATD, we evaluate it in experiments spanning 30 datasets and 80 independent labels across distributed nodes, VGS-ATD achieved an overall accuracy of 92.7%, outperforming centralized learning (84.9%) and swarm learning (72.99%), while federated learning failed under these conditions due to high requirements on computational resources. VGS-ATD also demonstrated strong scalability, with only a 1% drop in accuracy on existing nodes after expansion, compared to a 20% drop in centralized learning, highlighting its resilience to catastrophic forgetting. Additionally, it reduced computational costs by up to 50% relative to both centralized and swarm learning, confirming its superior efficiency and scalability.

cs.CV↗

arXiv2024

Robust and Explainable Framework to Address Data Scarcity in Diagnostic Imaging

Deep learning has significantly advanced automatic medical diagnostics and released the occupation of human resources to reduce clinical pressure, yet the persistent challenge of data scarcity in this area hampers its further improvements and applications. To address this gap, we introduce a novel ensemble framework called `Efficient Transfer and Self-supervised Learning based Ensemble Framework' (ETSEF). ETSEF leverages features from multiple pre-trained deep learning models to efficiently learn powerful representations from a limited number of data samples. To the best of our knowledge, ETSEF is the first strategy that combines two pre-training methodologies (Transfer Learning and Self-supervised Learning) with ensemble learning approaches. Various data enhancement techniques, including data augmentation, feature fusion, feature selection, and decision fusion, have also been deployed to maximise the efficiency and robustness of the ETSEF model. Five independent medical imaging tasks, including endoscopy, breast cancer, monkeypox, brain tumour, and glaucoma detection, were tested to demonstrate ETSEF's effectiveness and robustness. Facing limited sample numbers and challenging medical tasks, ETSEF has proved its effectiveness by improving diagnostics accuracies from 10\% to 13.3\% when compared to strong ensemble baseline models and up to 14.4\% improvements compared with published state-of-the-art methods. Moreover, we emphasise the robustness and trustworthiness of the ETSEF method through various vision-explainable artificial intelligence techniques, including Grad-CAM, SHAP, and t-SNE. Compared to those large-scale deep learning models, ETSEF can be deployed flexibly and maintain superior performance for challenging medical imaging tasks, showing the potential to be applied to more areas that lack training data

cs.CV↗

arXiv2024

Transfer or Self-Supervised? Bridging the Performance Gap in Medical Imaging

Recently, transfer learning and self-supervised learning have gained significant attention within the medical field due to their ability to mitigate the challenges posed by limited data availability, improve model generalisation, and reduce computational expenses. Transfer learning and self-supervised learning hold immense potential for advancing medical research. However, it is crucial to recognise that transfer learning and self-supervised learning architectures exhibit distinct advantages and limitations, manifesting variations in accuracy, training speed, and robustness. This paper compares the performance and robustness of transfer learning and self-supervised learning in the medical field. Specifically, we pre-trained two models using the same source domain datasets with different pre-training methods and evaluated them on small-sized medical datasets to identify the factors influencing their final performance. We tested data with several common issues in medical domains, such as data imbalance, data scarcity, and domain mismatch, through comparison experiments to understand their impact on specific pre-trained models. Finally, we provide recommendations to help users apply transfer learning and self-supervised learning methods in medical areas, and build more convenient and efficient deployment strategies.

cs.CV↗