arXiv subjects

Zhikai Yang

Publications and source records attributed to Zhikai Yang.

4 recordsLinked to original sources

arXiv2026

Frequency-Hierarchical Active k-Space Sampling for Diagnostic MRI

Active sampling for accelerated MRI must distribute a tight sampling budget across spatial frequencies that carry very different kinds of information. Low frequencies hold most of the anatomical context; high frequencies carry the fine details that drive pathology assessment. Existing active samplers either treat both regions identically or restrict the action space to entire Cartesian rows, which forces a poor compromise at high acceleration. We propose HieraSample, a task-driven framework built around this hierarchy. A cosine-annealed curriculum lowers the acceleration factor from 20x to 4x across 80 acquisition steps while keeping a fully-sampled low-frequency disk at every step; a Mamba-based policy then picks individual high-frequency coordinates from features extracted by dual disease and severity classifiers. The reward is the per-sample reduction in class-weighted cross-entropy after each action, so a positive reward corresponds directly to a more confident correct prediction. On the fastMRI+ knee benchmark, HieraSample matches the fully-sampled oracle on ACL diagnosis from 4x to 10x acceleration, and improves on a recent Cartesian baseline by as much as 20.4 AUC points on ACL severity.

cs.CV↗

arXiv2025

Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning

Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To address this, we developed Astra, a comprehensive dual-model architecture, Astra-Global and Astra-Local, for mobile robot navigation. Astra-Global, a multimodal LLM, processes vision and language inputs to perform self and goal localization using a hybrid topological-semantic graph as the global map, and outperforms traditional visual place recognition methods. Astra-Local, a multitask network, handles local path planning and odometry estimation. Its 4D spatial-temporal encoder, trained through self-supervised learning, generates robust 4D features for downstream tasks. The planning head utilizes flow matching and a novel masked ESDF loss to minimize collision risks for generating local trajectories, and the odometry head integrates multi-sensor inputs via a transformer encoder to predict the relative pose of the robot. Deployed on real in-house mobile robots, Astra achieves high end-to-end mission success rate across diverse indoor environments.

cs.RO↗

arXiv2025

Tumor Detection, Segmentation and Classification Challenge on Automated 3D Breast Ultrasound: The TDSC-ABUS Challenge

Breast cancer is one of the most common causes of death among women worldwide. Early detection helps in reducing the number of deaths. Automated 3D Breast Ultrasound (ABUS) is a newer approach for breast screening, which has many advantages over handheld mammography such as safety, speed, and higher detection rate of breast cancer. Tumor detection, segmentation, and classification are key components in the analysis of medical images, especially challenging in the context of 3D ABUS due to the significant variability in tumor size and shape, unclear tumor boundaries, and a low signal-to-noise ratio. The lack of publicly accessible, well-labeled ABUS datasets further hinders the advancement of systems for breast tumor analysis. Addressing this gap, we have organized the inaugural Tumor Detection, Segmentation, and Classification Challenge on Automated 3D Breast Ultrasound 2023 (TDSC-ABUS2023). This initiative aims to spearhead research in this field and create a definitive benchmark for tasks associated with 3D ABUS image analysis. In this paper, we summarize the top-performing algorithms from the challenge and provide critical analysis for ABUS image examination. We offer the TDSC-ABUS challenge as an open-access platform at https://tdsc-abus2023.grand-challenge.org/ to benchmark and inspire future developments in algorithmic research.

eess.IV↗

arXiv2024

Morphology-Enhanced CAM-Guided SAM for weakly supervised Breast Lesion Segmentation

Ultrasound imaging plays a critical role in the early detection of breast cancer. Accurate identification and segmentation of lesions are essential steps in clinical practice, requiring methods to assist physicians in lesion segmentation. However, ultrasound lesion segmentation models based on supervised learning require extensive manual labeling, which is both time-consuming and labor-intensive. In this study, we present a novel framework for weakly supervised lesion segmentation in early breast ultrasound images. Our method uses morphological enhancement and class activation map (CAM)-guided localization. Finally, we employ the Segment Anything Model (SAM), a computer vision foundation model, for detailed segmentation. This approach does not require pixel-level annotation, thereby reducing the cost of data annotation. The performance of our method is comparable to supervised learning methods that require manual annotations, achieving a Dice score of 74.39% and outperforming comparative supervised models in terms of Hausdorff distance in the BUSI dataset. These results demonstrate that our framework effectively integrates weakly supervised learning with SAM, providing a promising solution for breast cancer image analysis. The code for this study is available at: https://github.com/YueXin18/MorSeg-CAM-SAM.

cs.CV↗