arXiv subjects

Zicong Zhang

Publications and source records attributed to Zicong Zhang.

5 recordsLinked to original sources

arXiv2026

A Monolithic Hand with Asymmetric Origami Bending and Dual-chamber Actuators

The passive adaptability inherent in soft robotic hands affords them advantages in applications that require safe and compliant interaction. However, existing soft robotic hands often struggle to simultaneously achieve adequate output performance and easy manufacturing due to their complicated structures. In this paper, we introduce the asymmetric origami bending (AOB) pattern for generating bending motion and the asymmetric dual-chamber (ADC) design for obtaining multifunction capability. The AOB single (AOB-S) chamber and AOB dual-chamber (AOB-D) units are designed and constitute the finger and palm actuators of the proposed Origami-inspired SOft Robotic (OSOR) hand. The OSOR hand achieves bio-inspired fingers-palm motions and adequate output performance within a monolithic structure that significantly simplifies the manufacturing process. By defining the asymmetric ratio to characterize the geometric asymmetry of the unit, the analytical models of the AOB and ADC structures are proposed. The Finite Element Analysis tool for the design of AOB actuators is obtained by geometric analysis. The asymmetric origami design grants the integrated manufacturing of the OSOR hand through a Selective Laser Sintering printing process with a single thermoplastic polyurethane material. The model and simulations are validated by experimental results. Experiments show the finger and palm maximum bending motion range of 203° and 40°, respectively, with output forces of 6.3 N and 16 N. The OSOR hand is capable of pinching a piece of tissue, stably grasping water bottles with two fingers, palm-only grasping, and completing the power grasps in the taxonomy of manufacturing grasps. The compactness, performance, and easy manufacturing of the proposed hand benefit the development of the soft robotic hand with new possibilities.

cs.RO↗

arXiv2026

XSearch: Explainable Code Search via Concept-to-Code Alignment

Semantic code search has been widely adopted in both academia and industry. These approaches embed natural-language queries and code snippets into a shared embedding space and retrieve results based on vector similarity. Despit strong performance on benchmark datasets, they often suffer from poor explainability and generalization. Retrieved code may appear semantically similar yet miss critical functional requirements of the query, while providing no explanation of why the result was retrieved. Moreover, such failures become more severe under distribution shift, where models struggle to generalize to unseen benchmarks. In this work, we propose XSearch, an intrinsically explainable code search framework. Our key insight is that by relying on global embedding similarity, existing retrievers inherently take an inductive view. They learn statistical patterns rather than truly understanding the query's functional requirements. We address this problem by reformulating code search as a deductive concept alignment problem. XSearch (i) identifies functional concepts in the query and (ii) explicitly aligns them with corresponding code statements. This explain-then-predict design produces inherent concept-level explanations and mitigates shortcut learning that harms out-of-distribution generalization. We train an encoder with explicit concept-alignment objectives and perform retrieval through explicit matching between query concepts and code statements. Experiments show that, trained on CodeSearchNet using GraphCodeBERT (125M parameters), XSearch improves performance on out-of-distribution benchmarks from 0.02 to 0.33 (15x) over eight state-of-the-art retrievers, and consistently outperforms both encoder- and decoder-based baselines with up to 7B parameters. A user study demonstrates that concept-alignment explanations enable users to evaluate retrieved results faster and more accurately.

cs.SE↗

arXiv2026

Enhanced Continual Learning of Vision-Language Models with Model Fusion

Vision-Language Models (VLMs) represent a significant breakthrough in artificial intelligence by integrating visual and textual modalities to achieve impressive zero-shot capabilities. However, VLMs are susceptible to catastrophic forgetting when sequentially fine-tuned on multiple downstream tasks. Existing continual learning methods for VLMs face various limitations, often relying on additional reference datasets, compromising zero-shot performance, or being restricted to parameter-efficient fine-tuning scenarios. In this paper, we propose a novel Continual Decoupling-Unifying (ConDU) approach that pioneers the use of model fusion for continual learning in VLMs. Specifically, ConDU maintains a unified model along with task triggers and prototype sets, employing an iterative process of decoupling task experts for previous tasks and unifying them with the task expert for the newly learned task. Additionally, we introduce an inference strategy for zero-shot scenarios by aggregating predictions from multiple decoupled task experts. Extensive experiments on the MTIL benchmark show that ConDU achieves up to a 2\% improvement in average performance across all seen tasks compared to state-of-the-art baselines, while also enhancing zero-shot capabilities relative to the original VLM. Our code is available at https://github.com/zhangzicong518/ConDU.

cs.CV↗

arXiv2021

Temporal Clustering with External Memory Network for Disease Progression Modeling

Disease progression modeling (DPM) involves using mathematical frameworks to quantitatively measure the severity of how certain disease progresses. DPM is useful in many ways such as predicting health state, categorizing disease stages, and assessing patients disease trajectory etc. Recently, with wider availability of electronic health records (EHR) and the broad application of data-driven machine learning method, DPM has attracted much attention yet remains two major challenges: (i) Due to the existence of irregularity, heterogeneity and long-term dependency in EHRs, most existing DPM methods might not be able to provide comprehensive patient representations. (ii) Lots of records in EHRs might be irrelevant to the target disease. Most existing models learn to automatically focus on the relevant information instead of explicitly capture the target-relevant events, which might make the learned model suboptimal. To address these two issues, we propose Temporal Clustering with External Memory Network (TC-EMNet) for DPM that groups patients with similar trajectories to form disease clusters/stages. TC-EMNet uses a variational autoencoder (VAE) to capture internal complexity from the input data and utilizes an external memory work to capture long term distance information, both of which are helpful for producing comprehensive patient states. Last but not least, k-means algorithm is adopted to cluster the extracted comprehensive patient states to capture disease progression. Experiments on two real-world datasets show that our model demonstrates competitive clustering performance against state-of-the-art methods and is able to identify clinically meaningful clusters. The visualization of the extracted patient states shows that the proposed model can generate better patient states than the baselines.

cs.LG↗

arXiv2020

Brain Atlas Guided Attention U-Net for White Matter Hyperintensity Segmentation

White Matter Hyperintensities (WMH) are the most common manifestation of cerebral small vessel disease (cSVD) on the brain MRI. Accurate WMH segmentation algorithms are important to determine cSVD burden and its clinical consequences. Most of existing WMH segmentation algorithms require both fluid attenuated inversion recovery (FLAIR) images and T1-weighted images as inputs. However, T1-weighted images are typically not part of standard clinicalscans which are acquired for patients with acute stroke. In this paper, we propose a novel brain atlas guided attention U-Net (BAGAU-Net) that leverages only FLAIR images with a spatially-registered white matter (WM) brain atlas to yield competitive WMH segmentation performance. Specifically, we designed a dual-path segmentation model with two novel connecting mechanisms, namely multi-input attention module (MAM) and attention fusion module (AFM) to fuse the information from two paths for accurate results. Experiments on two publicly available datasets show the effectiveness of the proposed BAGAU-Net. With only FLAIR images and WM brain atlas, BAGAU-Net outperforms the state-of-the-art method with T1-weighted images, paving the way for effective development of WMH segmentation. Availability:https://github.com/Ericzhang1/BAGAU-Net

eess.IV↗