Yongqiang Zhao

Amirhosein Alian, Yongqiang Zhao, Shiyi Gu et al.

Despite the importance of tactile sensing for reliable manipulation, most existing Vision-Language-Action (VLA) datasets remain vision-only, and those that do incorporate tactile information typically lack the joint combination of task diversity, language conditioning, and action trajectories. Furthermore, existing teleoperation pipelines rarely provide haptic feedback to the operator, despite its established role in demonstration quality and manipulation stability. In this work, we present HapTile, a contact-grounded visuotactile manipulation dataset that advances beyond vision-only trajectory datasets by embedding physical interaction sensing at two levels: fingertip tactile feedback at the robot end-effector, and haptic-informed demonstrations at the teleoperator side. The data collection platform integrates haptic feedback directly into the teleoperation controller, enabling the operator to perceive contact interactions in real time. It is built around a standard and reproducible robotic system equipped with custom-designed fingertip tactile sensors. The dataset comprises everyday manipulation tasks spanning a broad range of contact-rich skills, including pick-and-place, folding, pressing, stacking, and other routine activities. Each task is paired with language instructions that condition the policy on the manipulation objective, together with synchronized visuotactile observations and action trajectories. In addition, we provide a benchmarking study on contact-rich policy learning using two baseline models to evaluate the effectiveness of the proposed contact-grounded dataset. The dataset and additional details are available on our website: haptile-dataset.github.io.

Binglu Wang, Lei Zhang, Zhaozhong Wang et al.

This paper presents CORE, a conceptually simple, effective and communication-efficient model for multi-agent cooperative perception. It addresses the task from a novel perspective of cooperative reconstruction, based on two key insights: 1) cooperating agents together provide a more holistic observation of the environment, and 2) the holistic observation can serve as valuable supervision to explicitly guide the model learning how to reconstruct the ideal observation based on collaboration. CORE instantiates the idea with three major components: a compressor for each agent to create more compact feature representation for efficient broadcasting, a lightweight attentive collaboration component for cross-agent message aggregation, and a reconstruction module to reconstruct the observation based on aggregated feature representations. This learning-to-reconstruct idea is task-agnostic, and offers clear and reasonable supervision to inspire more effective collaboration, eventually promoting perception tasks. We validate CORE on OPV2V, a large-scale multi-agent percetion dataset, in two tasks, i.e., 3D object detection and semantic segmentation. Results demonstrate that the model achieves state-of-the-art performance on both tasks, and is more communication-efficient.

Kai Feng, Yongqiang Zhao, Seong G. Kong et al.

This paper presents a deep learning-based spectral demosaicing technique trained in an unsupervised manner. Many existing deep learning-based techniques relying on supervised learning with synthetic images, often underperform on real-world images especially when the number of spectral bands increases. According to the characteristics of the spectral mosaic image, this paper proposes a mosaic loss function, the corresponding model structure, a transformation strategy, and an early stopping strategy, which form a complete unsupervised spectral demosaicing framework. A challenge in real-world spectral demosaicing is inconsistency between the model parameters and the computational resources of the imager. We reduce the complexity and parameters of the spectral attention module by dividing the spectral attention tensor into spectral attention matrices in the spatial dimension and spectral attention vector in the channel dimension, which is more suitable for unsupervised framework. This paper also presents Mosaic25, a real 25-band hyperspectral mosaic image dataset of various objects, illuminations, and materials for benchmarking. Extensive experiments on synthetic and real-world datasets demonstrate that the proposed method outperforms conventional unsupervised methods in terms of spatial distortion suppression, spectral fidelity, robustness, and computational cost.

Haijin Zeng, Kai Feng, Jiezhang Cao et al.

Pixel binning based Quad sensors have emerged as a promising solution to overcome the hardware limitations of compact cameras in low-light imaging. However, binning results in lower spatial resolution and non-Bayer CFA artifacts. To address these challenges, we propose a dual-head joint remosaicing and denoising network (DJRD), which enables the conversion of noisy Quad Bayer and standard noise-free Bayer pattern without any resolution loss. DJRD includes a newly designed Quad Bayer remosaicing (QB-Re) block, integrated denoising modules based on Swin-transformer and multi-scale wavelet transform. The QB-Re block constructs the convolution kernel based on the CFA pattern to achieve a periodic color distribution in the perceptual field, which is used to extract exact spectral information and reduce color misalignment. The integrated Swin-Transformer and multi-scale wavelet transform capture non-local dependencies, frequency and location information to effectively reduce practical noise. By identifying challenging patches utilizing Moire and zipper detection metrics, we enable our model to concentrate on difficult patches during the post-training phase, which enhances the model's performance in hard cases. Our proposed model outperforms competing models by approximately 3dB, without additional complexity in hardware or software.

Yongqiang Zhao, Haining Luo, Yupeng Wang et al.

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or sim-to-real transfer, existing tracing methods either lack generalizability across different categories of deformable objects or struggle to complete tasks reliably in the real world. To address this, we propose a novel visual-tactile imitation learning method to achieve one-dimensional (1D) and two-dimensional (2D) deformable object tracing with a unified model. Our method is designed from both local and global perspectives based on visual and tactile sensing. Locally, we introduce a weighted loss that emphasizes actions maintaining contact near the center of the tactile image, improving fine-grained adjustment. Globally, we propose a tracing task loss that helps the policy to regulate task progression. On the hardware side, to compensate for the limited features extracted from visual information, we integrate tactile sensing into a low-cost teleoperation system considering both the teleoperator and the robot. Extensive ablation and comparative experiments on diverse 1D and 2D deformable objects demonstrate the effectiveness of our approach, achieving an average success rate of 80% on seen objects and 65% on unseen objects.

Yuting Lu, Lingtong Min, Binglu Wang et al.

Remote sensing image super-resolution (RSISR) plays a vital role in enhancing spatial detials and improving the quality of satellite imagery. Recently, Transformer-based models have shown competitive performance in RSISR. To mitigate the quadratic computational complexity resulting from global self-attention, various methods constrain attention to a local window, enhancing its efficiency. Consequently, the receptive fields in a single attention layer are inadequate, leading to insufficient context modeling. Furthermore, while most transform-based approaches reuse shallow features through skip connections, relying solely on these connections treats shallow and deep features equally, impeding the model's ability to characterize them. To address these issues, we propose a novel transformer architecture called Cross-Spatial Pixel Integration and Cross-Stage Feature Fusion Based Transformer Network (SPIFFNet) for RSISR. Our proposed model effectively enhances global cognition and understanding of the entire image, facilitating efficient integration of features cross-stages. The model incorporates cross-spatial pixel integration attention (CSPIA) to introduce contextual information into a local window, while cross-stage feature fusion attention (CSFFA) adaptively fuses features from the previous stage to improve feature expression in line with the requirements of the current stage. We conducted comprehensive experiments on multiple benchmark datasets, demonstrating the superior performance of our proposed SPIFFNet in terms of both quantitative metrics and visual quality when compared to state-of-the-art methods.

Yongqiang Zhao, Zhenyu Li, Zhi Jin et al.

The Multi-Modal Large Language Model (MLLM) refers to an extension of the Large Language Model (LLM) equipped with the capability to receive and infer multi-modal data. Spatial awareness stands as one of the crucial abilities of MLLM, encompassing diverse skills related to understanding spatial relationships among objects and between objects and the scene area. Industries such as autonomous driving, smart healthcare, robotics, virtual, and augmented reality heavily demand MLLM's spatial awareness capabilities. However, there exists a noticeable gap between the current spatial awareness capabilities of MLLM and the requirements set by human needs. To address this issue, this paper proposes using more precise spatial position information between objects to guide MLLM in providing more accurate responses to user-related inquiries. Specifically, for a particular multi-modal task, we utilize algorithms for acquiring geometric spatial information and scene graphs to obtain relevant geometric spatial information and scene details of objects involved in the query. Subsequently, based on this information, we direct MLLM to address spatial awareness-related queries posed by the user. Extensive experiments were conducted in benchmarks such as MME, MM-Vet, and other multi-modal large language models. The experimental results thoroughly confirm the efficacy of the proposed method in enhancing the spatial awareness tasks and associated tasks of MLLM.

Linqiang Li, Jinglei Hao, Yongqiang Zhao et al.

Shortwave-infrared(SWIR) spectral information, ranging from 1 μm to 2.5μm, overcomes the limitations of traditional color cameras in acquiring scene information. However, conventional SWIR hyperspectral imaging systems face challenges due to their bulky setups and low acquisition speeds. This work introduces a snapshot SWIR hyperspectral imaging system based on a metasurface filter and a corresponding filter selection method to achieve the lowest correlation coefficient among these filters. This system offers the advantages of compact size and snapshot imaging. We propose a novel inter and intra prior learning unfolding framework to achieve high-quality SWIR hyperspectral image reconstruction, which bridges the gap between prior learning and cross-stage information interaction. Additionally, We design an adaptive feature transfer mechanism to adaptively transfer the contextual correlation of multi-scale encoder features to prevent detailed information loss in the decoder. Experiment results demonstrate that our method can reconstruct hyperspectral images with high speed and superior performance over existing methods.

Yongqiang Zhao, Zhenyu Li, Feng Zhang et al.

Multi-modal Large Language Model (MLLM) refers to a model expanded from a Large Language Model (LLM) that possesses the capability to handle and infer multi-modal data. Current MLLMs typically begin by using LLMs to decompose tasks into multiple subtasks, then employing individual pre-trained models to complete specific subtasks, and ultimately utilizing LLMs to integrate the results of each subtasks to obtain the results of the task. In real-world scenarios, when dealing with large projects, it is common practice to break down the project into smaller sub-projects, with different teams providing corresponding solutions or results. The project owner then decides which solution or result to use, ensuring the best possible outcome for each subtask and, consequently, for the entire project. Inspired by this, this study considers selecting multiple pre-trained models to complete the same subtask. By combining the results from multiple pre-trained models, the optimal subtask result is obtained, enhancing the performance of the MLLM. Specifically, this study first selects multiple pre-trained models focused on the same subtask based on distinct evaluation approaches, and then invokes these models in parallel to process input data and generate corresponding subtask results. Finally, the results from multiple pre-trained models for the same subtask are compared using the LLM, and the best result is chosen as the outcome for that subtask. Extensive experiments are conducted in this study using GPT-4 annotated datasets and human-annotated datasets. The results of various evaluation metrics adequately demonstrate the effectiveness of the proposed approach in this paper.

Chengfeng Dou, Zhi Jin, Wenpin Jiao et al.

The use of large language models in medical dialogue generation has garnered significant attention, with a focus on improving response quality and fluency. While previous studies have made progress in optimizing model performance for single-round medical Q&A tasks, there is a need to enhance the model's capability for multi-round conversations to avoid logical inconsistencies. To address this, we propose an approach called preference learning from process feedback~(PLPF), which integrates the doctor's diagnostic logic into LLMs. PLPF involves rule modeling, preference data generation, and preference alignment to train the model to adhere to the diagnostic process. Experimental results using Standardized Patient Testing show that PLPF enhances the diagnostic accuracy of the baseline model in medical conversations by 17.6%, outperforming traditional reinforcement learning from human feedback. Additionally, PLPF demonstrates effectiveness in both multi-round and single-round dialogue tasks, showcasing its potential for improving medical dialogue generation.

Zhenyu Li, Guanlin Wu, Cheems Wang et al.

The test-time compute strategy, such as Chain-of-Thought (CoT), has significantly enhanced the ability of large language models to solve complex tasks like logical reasoning. However, empirical studies indicate that simply increasing the compute budget can sometimes lead to a collapse in test-time performance when employing typical task decomposition strategies such as CoT. This work hypothesizes that reasoning failures with larger compute budgets stem from static planning methods, which hardly perceive the intrinsic boundaries of LLM reasoning. We term it as the Limited Reasoning Space hypothesis and perform theoretical analysis through the lens of a non-autonomous stochastic dynamical system. This insight suggests that there is an optimal range for compute budgets; over-planning can lead to redundant feedback and may even impair reasoning capabilities. To exploit the compute-scaling benefits and suppress over-planning, this work proposes Halo, a model predictive control framework for LLM planning. Halo is designed for long-horizon tasks with reason-based planning and crafts an entropy-driven dual controller, which adopts a Measure-then-Plan strategy to achieve controllable reasoning. Experimental results demonstrate that Halo outperforms static baselines on complex long-horizon tasks by dynamically regulating planning at the reasoning boundary.

Yongqiang Zhao, Xuyang Zhang, Zhuo Chen et al.

Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In this paper, we propose a novel visual-tactile skill learning framework for the PiH task that leverages its inverse task, i.e., peg-out-of-hole (PooH) disassembly, to facilitate PiH learning. Compared to PiH, PooH is inherently easier as it only needs to overcome existing friction without precise alignment, making data collection more efficient. To this end, we formulate both PooH and PiH as Partially Observable Markov Decision Processes (POMDPs) in a unified environment with shared visual-tactile observation space. A visual-tactile PooH policy is first trained; its trajectories, containing kinematic, visual and tactile information, are temporally reversed and action-randomized to provide expert data for PiH. In the policy learning, visual sensing facilitates the peg-hole approach, while tactile measurements compensate for peg-hole misalignment. Experiments across diverse peg-hole geometries show that the visual-tactile policy attains 6.4% lower contact forces than its single-modality counterparts, and that our framework achieves average success rates of 87.5% on seen objects and 77.1% on unseen objects, outperforming direct RL methods that train PiH policies from scratch by 18.1% in success rate. Demos, code, and datasets are available at https://sites.google.com/view/pooh2pih.

Zhiyuan Wu, Yongqiang Zhao, Shan Luo

Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to extract more meaningful information. However, these approaches often rely on direct combination, such as feature addition and concatenation, for modality fusion, which tend to result in poor feature integration. In this paper, we propose ConViTac, a visual-tactile representation learning network designed to enhance the alignment of features during fusion using contrastive representations. Our key contribution is a Contrastive Embedding Conditioning (CEC) mechanism that leverages a contrastive encoder pretrained through self-supervised contrastive learning to project visual and tactile inputs into unified latent embeddings. These embeddings are used to couple visual-tactile feature fusion through cross-modal attention, aiming at aligning the unified representations and enhancing performance on downstream tasks. We conduct extensive experiments to demonstrate the superiority of ConViTac in real world over current state-of-the-art methods and the effectiveness of our proposed CEC mechanism, which improves accuracy by up to 12.0% in material classification and grasping prediction tasks.

Yuting Lu, Ziliang Wang, Weixin Xu et al.

Clinical deployment requires segmentation models to stay stable under distribution shifts and perturbations. The mainstream solution is adversarial training (AT) to improve robustness; however, AT often brings a clean--robustness trade-off and high training/tuning cost, which limits scalability and maintainability in medical imaging. We propose \emph{Layer-wise Noise-Guided Selective Wavelet Reconstruction (LNG-SWR)}. During training, we inject small, zero-mean noise at multiple layers to learn a frequency-bias prior that steers representations away from noise-sensitive directions. We then apply prior-guided selective wavelet reconstruction on the input/feature branch to achieve frequency adaptation: suppress noise-sensitive bands, enhance directional structures and shape cues, and stabilize boundary responses while maintaining spectral consistency. The framework is backbone-agnostic and adds low additional inference overhead. It can serve as a plug-in enhancement to AT and also improves robustness without AT. On CT and ultrasound datasets, under a unified protocol with PGD-$L_{\infty}/L_{2}$ and SSAH, LNG-SWR delivers consistent gains on clean Dice/IoU and significantly reduces the performance drop under strong attacks; combining LNG-SWR with AT yields additive gains. When combined with adversarial training, robustness improves further without sacrificing clean accuracy, indicating an engineering-friendly and scalable path to robust segmentation. These results indicate that LNG-SWR provides a simple, effective, and engineering-friendly path to robust medical image segmentation in both adversarial and standard training regimes.

Chengfeng Dou, Ying Zhang, Zhi Jin et al.

Evidence-based medicine (EBM) plays a crucial role in the application of large language models (LLMs) in healthcare, as it provides reliable support for medical decision-making processes. Although it benefits from current retrieval-augmented generation~(RAG) technologies, it still faces two significant challenges: the collection of dispersed evidence and the efficient organization of this evidence to support the complex queries necessary for EBM. To tackle these issues, we propose using LLMs to gather scattered evidence from multiple sources and present a knowledge hypergraph-based evidence management model to integrate these evidence while capturing intricate relationships. Furthermore, to better support complex queries, we have developed an Importance-Driven Evidence Prioritization (IDEP) algorithm that utilizes the LLM to generate multiple evidence features, each with an associated importance score, which are then used to rank the evidence and produce the final retrieval results. Experimental results from six datasets demonstrate that our approach outperforms existing RAG techniques in application domains of interest to EBM, such as medical quizzing, hallucination detection, and decision support. Testsets and the constructed knowledge graph can be accessed at \href{https://drive.google.com/file/d/1WJ9QTokK3MdkjEmwuFQxwH96j_Byawj_/view?usp=drive_link}{https://drive.google.com/rag4ebm}.

Chengfeng Dou, Zhi Jin, Wenping Jiao et al.

The patient-centered medical dialogue systems strive to offer diagnostic interpretation services to users who are less knowledgeable about medical knowledge, through emphasizing the importance of providing responses specific to the patients. It is difficult for the large language models (LLMs) to guarantee the specificity of responses in spite of its promising performance even in some tasks in medical field. Inspired by in-context learning, we propose PlugMed, a Plug-and-Play Medical Dialogue System, for addressing this challenge. PlugMed is equipped with two modules, the prompt generation (PG) module and the response ranking (RR) module, to enhances LLMs' dialogue strategies for improving the specificity of the dialogue. The PG module is designed to stimulate the imitative ability of LLMs by providing them with real dialogues from similar patients as prompts. The RR module incorporates fine-tuned small model as response filter to enable the selection of appropriate responses generated by LLMs. Furthermore, we introduce a new evaluation method based on matching both user's intent and high-frequency medical term to effectively assess the specificity of the responses. We conduct experimental evaluations on three medical dialogue datasets, and the results, including both automatic and human evaluation, demonstrate the effectiveness of our approach.

Binglu Wang, Chengzhe Lu, Dawei Yan et al.

Portrait photo retouching is a photo retouching task that emphasizes human-region priority and group-level consistency. The lookup table-based method achieves promising retouching performance by learning image-adaptive weights to combine 3-dimensional lookup tables (3D LUTs) and conducting pixel-to-pixel color transformation. However, this paradigm ignores the local context cues and applies the same transformation to portrait pixels and background pixels when they exhibit the same raw RGB values. In contrast, an expert usually conducts different operations to adjust the color temperatures and tones of portrait regions and background regions. This inspires us to model local context cues to improve the retouching quality explicitly. Firstly, we consider an image patch and predict pixel-adaptive lookup table weights to precisely retouch the center pixel. Secondly, as neighboring pixels exhibit different affinities to the center pixel, we estimate a local attention mask to modulate the influence of neighboring pixels. Thirdly, the quality of the local attention mask can be further improved by applying supervision, which is based on the affinity map calculated by the groundtruth portrait mask. As for group-level consistency, we propose to directly constrain the variance of mean color components in the Lab space. Extensive experiments on PPR10K dataset verify the effectiveness of our method, e.g. on high-resolution photos, the PSNR metric receives over 0.5 gains while the group-level consistency metric obtains at least 2.1 decreases.

Rongyuan Wu, Yongqiang Zhao, Ning Li et al.

Division-of-focal-plane (DoFP) polarization imaging technical recently has been applied in many fields. However, the images captured by such sensors cannot be used directly because they suffer from instantaneous field-of-view errors and low resolution problem. This paper builds a fast DoFP demosaicing system with proposed progressive polarization demosaicing convolutional neural network (PPDN), which is specifically designed for edge-side GPU devices like Navidia Jetson TX2. The proposed network consists of two parts: reconstruction stage and refining stage. The former recovers four polarization channels from a single DoFP image. The latter fine-tune the four channels to obtain more accurate polarization information. PPDN can be implemented in another version: PPDN-L (large), for the platforms of high computing resources. Experiments show that PPDN can compete with the best existing methods with fewer parameters and faster inference speed and meet the real-time demands of imaging system.

Lianwei Wu, Yuan Rao, Yongqiang Zhao et al.

Recently, many methods discover effective evidence from reliable sources by appropriate neural networks for explainable claim verification, which has been widely recognized. However, in these methods, the discovery process of evidence is nontransparent and unexplained. Simultaneously, the discovered evidence only roughly aims at the interpretability of the whole sequence of claims but insufficient to focus on the false parts of claims. In this paper, we propose a Decision Tree-based Co-Attention model (DTCA) to discover evidence for explainable claim verification. Specifically, we first construct Decision Tree-based Evidence model (DTE) to select comments with high credibility as evidence in a transparent and interpretable way. Then we design Co-attention Self-attention networks (CaSa) to make the selected evidence interact with claims, which is for 1) training DTE to determine the optimal decision thresholds and obtain more powerful evidence; and 2) utilizing the evidence to find the false parts in the claim. Experiments on two public datasets, RumourEval and PHEME, demonstrate that DTCA not only provides explanations for the results of claim verification but also achieves the state-of-the-art performance, boosting the F1-score by 3.11%, 2.41%, respectively.