Tong Wu

Xiaochao Pan, Jiawei Yao, Hongrui Kou et al.

In the realm of autonomous driving, achieving precise 3D reconstruction of the driving environment is critical for ensuring safety and effective navigation. Neural Radiance Fields (NeRF) have shown promise in creating highly detailed and accurate models of complex environments. However, the application of NeRF in autonomous driving scenarios encounters several challenges, primarily due to the sparsity of viewpoints inherent in camera trajectories and the constraints on data collection in unbounded outdoor scenes, which typically occur along predetermined paths. This limitation not only reduces the available scene information but also poses significant challenges for NeRF training, as the sparse and path-distributed observational data leads to under-representation of the scene's geometry. In this paper, we introduce HarmonicNeRF, a novel approach for outdoor self-supervised monocular scene reconstruction. HarmonicNeRF capitalizes on the strengths of NeRF and enhances surface reconstruction accuracy by augmenting the input space with geometry-informed synthetic views. This is achieved through the application of spherical harmonics to generate novel radiance values, taking into careful consideration the color observations from the limited available real-world views. Additionally, our method incorporates proxy geometry to effectively manage occlusion, generating radiance pseudo-labels that circumvent the limitations of traditional image-warping techniques, which often fail in sparse data conditions typical of autonomous driving environments. Extensive experiments conducted on the KITTI, Argoverse, and NuScenes datasets demonstrate our approach establishes new benchmarks in synthesizing novel depth views and reconstructing scenes, significantly outperforming existing methods. Project page: https://github.com/Jiawei-Yao0812/HarmonicNeRF

Junhao Gong, Shoujie Li, Kit-Wa Sou et al.

Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireless electronics that integrate dual-zone vision-tactile sensing. The central zone dynamically switches between vision and tactile modalities via illumination control, while the peripheral zone provides continuous spatial awareness. The modular mechanical design supports both vacuum (sustained-contact adhesion) and Bernoulli (contactless lifting) actuation while maintaining the identical dual-zone sensing architecture, demonstrating sensing-actuation decoupling where sensing and actuation principles are orthogonally separable. We validate hardware versatility through dual control paradigms. Modular perception-driven grasping achieves comparable success rates across vacuum (90.0%) and Bernoulli (86.7%) modes using identical sensing and control pipelines, validating the sensing architecture's effectiveness across fundamentally different pneumatic principles. Diffusion-based end-to-end learning achieves 73.3% and 66.7% success on contact-aware manipulation tasks, with ablation studies confirming 13% improvements from multi-head attention coordinating dual-zone observations. Hardware designs, firmware, and experimental videos are available at the companion website: https://flexicup.junhaogong.top.

Tong Wu, Yunlong Wang, Yue Wang et al.

Automatic representation learning of key entities in electronic health record (EHR) data is a critical step for healthcare informatics that turns heterogeneous medical records into structured and actionable information. Here we propose ME2Vec, an algorithmic framework for learning low-dimensional vectors of the most common entities in EHR: medical services, doctors, and patients. ME2Vec leverages diverse graph embedding techniques to cater for the unique characteristic of each medical entity. Using real-world clinical data, we demonstrate the efficacy of ME2Vec over competitive baselines on disease diagnosis prediction.

Fan Zhang, Tong Wu, Yunlong Wang et al.

Many computational models were proposed to extract temporal patterns from clinical time series for each patient and among patient group for predictive healthcare. However, the common relations among patients (e.g., share the same doctor) were rarely considered. In this paper, we represent patients and clinicians relations by bipartite graphs addressing for example from whom a patient get a diagnosis. We then solve for the top eigenvectors of the graph Laplacian, and include the eigenvectors as latent representations of the similarity between patient-clinician pairs into a time-sensitive prediction model. We conducted experiments using real-world data to predict the initiation of first-line treatment for Chronic Lymphocytic Leukemia (CLL) patients. Results show that relational similarity can improve prediction over multiple baselines, for example a 5% incremental over long-short term memory baseline in terms of area under precision-recall curve.