arXiv subjects

Zhuangzhuang Zhang

Publications and source records attributed to Zhuangzhuang Zhang.

9 recordsLinked to original sources

arXiv2026

CHDP: Cooperative Hybrid Diffusion Policies for Reinforcement Learning in Parameterized Action Space

Hybrid action space, which combines discrete choices and continuous parameters, is prevalent in domains such as robot control and game AI. However, efficiently modeling and optimizing hybrid discrete-continuous action space remains a fundamental challenge, mainly due to limited policy expressiveness and poor scalability in high-dimensional settings. To address this challenge, we view the hybrid action space problem as a fully cooperative game and propose a \textbf{Cooperative Hybrid Diffusion Policies (CHDP)} framework to solve it. CHDP employs two cooperative agents that leverage a discrete and a continuous diffusion policy, respectively. The continuous policy is conditioned on the discrete action's representation, explicitly modeling the dependency between them. This cooperative design allows the diffusion policies to leverage their expressiveness to capture complex distributions in their respective action spaces. To mitigate the update conflicts arising from simultaneous policy updates in this cooperative setting, we employ a sequential update scheme that fosters co-adaptation. Moreover, to improve scalability when learning in high-dimensional discrete action space, we construct a codebook that embeds the action space into a low-dimensional latent space. This mapping enables the discrete policy to learn in a compact, structured space. Finally, we design a Q-function-based guidance mechanism to align the codebook's embeddings with the discrete policy's representation during training. On challenging hybrid action benchmarks, CHDP outperforms the state-of-the-art method by up to $19.3\%$ in success rate.

cs.AI↗

arXiv2026

All Vehicles Can Lie: Efficient Adversarial Defense in Fully Untrusted-Vehicle Collaborative Perception via Pseudo-Random Bayesian Inference

Collaborative perception (CP) enables multiple vehicles to augment their individual perception capacities through the exchange of feature-level sensory data. However, this fusion mechanism is inherently vulnerable to adversarial attacks, especially in fully untrusted-vehicle environments. Existing defense approaches often assume a trusted ego vehicle as a reference or incorporate additional binary classifiers. These assumptions limit their practicality in real-world deployments due to the questionable trustworthiness of ego vehicles, the requirement for real-time detection, and the need for generalizability across diverse scenarios. To address these challenges, we propose a novel Pseudo-Random Bayesian Inference (PRBI) framework, a first efficient defense method tailored for fully untrusted-vehicle CP. PRBI detects adversarial behavior by leveraging temporal perceptual discrepancies, using the reliable perception from the preceding frame as a dynamic reference. Additionally, it employs a pseudo-random grouping strategy that requires only two verifications per frame, while applying Bayesian inference to estimate both the number and identities of malicious vehicles. Theoretical analysis has proven the convergence and stability of the proposed PRBI framework. Extensive experiments show that PRBI requires only 2.5 verifications per frame on average, outperforming existing methods significantly, and restores detection precision to between 79.4% and 86.9% of pre-attack levels.

cs.CV↗

arXiv2025

FedBAP: Backdoor Defense via Benign Adversarial Perturbation in Federated Learning

Federated Learning (FL) enables collaborative model training while preserving data privacy, but it is highly vulnerable to backdoor attacks. Most existing defense methods in FL have limited effectiveness due to their neglect of the model's over-reliance on backdoor triggers, particularly as the proportion of malicious clients increases. In this paper, we propose FedBAP, a novel defense framework for mitigating backdoor attacks in FL by reducing the model's reliance on backdoor triggers. Specifically, first, we propose a perturbed trigger generation mechanism that creates perturbation triggers precisely matching backdoor triggers in location and size, ensuring strong influence on model outputs. Second, we utilize these perturbation triggers to generate benign adversarial perturbations that disrupt the model's dependence on backdoor triggers while forcing it to learn more robust decision boundaries. Finally, we design an adaptive scaling mechanism to dynamically adjust perturbation intensity, effectively balancing defense strength and model performance. The experimental results demonstrate that FedBAP reduces the attack success rates by 0.22%-5.34%, 0.48%-6.34%, and 97.22%-97.6% under three types of backdoor attacks, respectively. In particular, FedBAP demonstrates outstanding performance against novel backdoor attacks.

cs.CR↗

arXiv2023

Grasp Stability Assessment Through Attention-Guided Cross-Modality Fusion and Transfer Learning

Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion techniques to combine visual and tactile modalities, resulting in the inadequate utilization of complementary information and the inability to model interactions between unimodal features. This work proposes an attention-guided cross-modality fusion architecture to comprehensively integrate visual and tactile features. This model mainly comprises convolutional neural networks (CNNs), self-attention, and cross-attention mechanisms. In addition, most existing methods collect datasets from real-world systems, which is time-consuming and high-cost, and the datasets collected are comparatively limited in size. This work establishes a robotic grasping system through physics simulation to collect a multimodal dataset. To address the sim-to-real transfer gap, we propose a migration strategy encompassing domain randomization and domain adaptation techniques. The experimental results demonstrate that the proposed fusion framework achieves markedly enhanced prediction performance (approximately 10%) compared to other baselines. Moreover, our findings suggest that the trained model can be reliably transferred to real robotic systems, indicating its potential to address real-world challenges.

cs.RO↗

arXiv2022

Pixel-global Self-supervised Learning with Uncertainty-aware Context Stabilizer

We developed a novel SSL approach to capture global consistency and pixel-level local consistencies between differently augmented views of the same images to accommodate downstream discriminative and dense predictive tasks. We adopted the teacher-student architecture used in previous contrastive SSL methods. In our method, the global consistency is enforced by aggregating the compressed representations of augmented views of the same image. The pixel-level consistency is enforced by pursuing similar representations for the same pixel in differently augmented views. Importantly, we introduced an uncertainty-aware context stabilizer to adaptively preserve the context gap created by the two views from different augmentations. Moreover, we used Monte Carlo dropout in the stabilizer to measure uncertainty and adaptively balance the discrepancy between the representations of the same pixels in different views.

cs.CV↗

arXiv2022

Pyramid Medical Transformer for Medical Image Segmentation

Deep neural networks have been a prevailing technique in the field of medical image processing. However, the most popular convolutional neural networks (CNNs) based methods for medical image segmentation are imperfect because they model long-range dependencies by stacking layers or enlarging filters. Transformers and the self-attention mechanism are recently proposed to effectively learn long-range dependencies by modeling all pairs of word-to-word attention regardless of their positions. The idea has also been extended to the computer vision field by creating and treating image patches as embeddings. Considering the computation complexity for whole image self-attention, current transformer-based models settle for a rigid partitioning scheme that potentially loses informative relations. Besides, current medical transformers model global context on full resolution images, leading to unnecessary computation costs. To address these issues, we developed a novel method to integrate multi-scale attention and CNN feature extraction using a pyramidal network architecture, namely Pyramid Medical Transformer (PMTrans). The PMTrans captured multi-range relations by working on multi-resolution images. An adaptive partitioning scheme was implemented to retain informative relations and to access different receptive fields efficiently. Experimental results on three medical image datasets (gland segmentation, MoNuSeg, and HECKTOR datasets) showed that PMTrans outperformed the latest CNN-based and transformer-based models for medical image segmentation.

cs.CV↗

arXiv2021

Weaving Attention U-net: A Novel Hybrid CNN and Attention-based Method for Organs-at-risk Segmentation in Head and Neck CT Images

In radiotherapy planning, manual contouring is labor-intensive and time-consuming. Accurate and robust automated segmentation models improve the efficiency and treatment outcome. We aim to develop a novel hybrid deep learning approach, combining convolutional neural networks (CNNs) and the self-attention mechanism, for rapid and accurate multi-organ segmentation on head and neck computed tomography (CT) images. Head and neck CT images with manual contours of 115 patients were retrospectively collected and used. We set the training/validation/testing ratio to 81/9/25 and used the 10-fold cross-validation strategy to select the best model parameters. The proposed hybrid model segmented ten organs-at-risk (OARs) altogether for each case. The performance of the model was evaluated by three metrics, i.e., the Dice Similarity Coefficient (DSC), Hausdorff distance 95% (HD95), and mean surface distance (MSD). We also tested the performance of the model on the Head and Neck 2015 challenge dataset and compared it against several state-of-the-art automated segmentation algorithms. The proposed method generated contours that closely resemble the ground truth for ten OARs. Our results of the new Weaving Attention U-net demonstrate superior or similar performance on the segmentation of head and neck CT images.

eess.IV↗

arXiv2021

Semi-supervised Semantic Segmentation of Prostate and Organs-at-Risk on 3D Pelvic CT Images

Automated segmentation can assist radiotherapy treatment planning by saving manual contouring efforts and reducing intra-observer and inter-observer variations. The recent development of deep learning approaches has revoluted medical data processing, including semantic segmentation, by dramatically improving performance. However, training effective deep learning models usually require a large amount of high-quality labeled data, which are often costly to collect. We developed a novel semi-supervised adversarial deep learning approach for 3D pelvic CT image semantic segmentation. Unlike supervised deep learning methods, the new approach can utilize both annotated and un-annotated data for training. It generates un-annotated synthetic data by a data augmentation scheme using generative adversarial networks (GANs). We applied the new approach to segmenting multiple organs in male pelvic CT images, where CT images without annotations and GAN-synthesized un-annotated images were used in semi-supervised learning. Experimental results, evaluated by three metrics (Dice similarity coefficient, average Hausdorff distance, and average surface Hausdorff distance), showed that the new method achieved either comparable performance with substantially fewer annotated images or better performance with the same amount of annotated data, outperforming the existing state-of-the-art methods.

cs.CV↗

arXiv2020

ARPM-net: A novel CNN-based adversarial method with Markov Random Field enhancement for prostate and organs at risk segmentation in pelvic CT images

Purpose: The research is to develop a novel CNN-based adversarial deep learning method to improve and expedite the multi-organ semantic segmentation of CT images, and to generate accurate contours on pelvic CT images. Methods: Planning CT and structure datasets for 120 patients with intact prostate cancer were retrospectively selected and divided for 10-fold cross-validation. The proposed adversarial multi-residual multi-scale pooling Markov Random Field (MRF) enhanced network (ARPM-net) implements an adversarial training scheme. A segmentation network and a discriminator network were trained jointly, and only the segmentation network was used for prediction. The segmentation network integrates a newly designed MRF block into a variation of multi-residual U-net. The discriminator takes the product of the original CT and the prediction/ground-truth as input and classifies the input into fake/real. The segmentation network and discriminator network can be trained jointly as a whole, or the discriminator can be used for fine-tuning after the segmentation network is coarsely trained. Multi-scale pooling layers were introduced to preserve spatial resolution during pooling using less memory compared to atrous convolution layers. An adaptive loss function was proposed to enhance the training on small or low contrast organs. The accuracy of modeled contours was measured with the Dice similarity coefficient (DSC), Average Hausdorff Distance (AHD), Average Surface Hausdorff Distance (ASHD), and relative Volume Difference (VD) using clinical contours as references to the ground-truth. The proposed ARPM-net method was compared to several stateof-the-art deep learning methods.

eess.IV↗