Wei Wang

Wei Wang, Jixing He, Xin Wang

It is helpful in preventing colorectal cancer to detect and treat polyps in the gastrointestinal tract early. However, there have been few studies to date on designing polyp image classification networks that balance efficiency and accuracy. This challenge is mainly attributed to the fact that polyps are similar to other pathologies and have complex features influenced by texture, color, and morphology. In this paper, we propose a novel network DFE-IANet based on both spectral transformation and feature interaction. Firstly, to extract detailed features and multi-scale features, the features are transformed by the multi-scale frequency domain feature extraction (MSFD) block to extract texture details at the fine-grained level in the frequency domain. Secondly, the multi-scale interaction attention (MSIA) block is designed to enhance the network's capability of extracting critical features. This block introduces multi-scale features into self-attention, aiming to adaptively guide the network to concentrate on vital regions. Finally, with a compact parameter of only 4M, DFE-IANet outperforms the latest and classical networks in terms of efficiency. Furthermore, DFE-IANet achieves state-of-the-art (SOTA) results on the challenging Kvasir dataset, demonstrating a remarkable Top-1 accuracy of 93.94%. This outstanding accuracy surpasses ViT by 8.94%, ResNet50 by 1.69%, and VMamba by 1.88%. Our code is publicly available at https://github.com/PURSUETHESUN/DFE-IANet.

Kunrui Ze, Wei Wang, Shuoyu Yue et al.

This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental limitation of most works is that they require each robot's pose and sensor measurements are expressed in a common reference frame. However, it is inapplicable for nonholonomic robot formations due to the practical difficulty of aligning IO measurements of individual robot in a common frame. To address this problem, firstly, a concurrent-learning based estimator is firstly proposed to achieve relative localization between neighboring robots in a local frame. Different from most relative localization methods in a global frame, both relative position and orientation in a local frame are estimated with only UWB ranging and IO measurements. Secondly, to deal with information loss caused by directed communication topology, a cooperative localization algorithm is introduced to estimate the relative pose to the leader robot. Thirdly, based on the theoretical results on relative pose estimation, a distributed formation tracking controller is proposed for nonholonomic robots. Both 3D and 2D real-world experiments conducted on aerial robots and grounded robots are provided to demonstrate the effectiveness of the proposed method.

Xiaoxiao Jiang, Suyi Li, Lingyun Yang et al.

Generative image editing using diffusion models has become a prevalent application in today's AI cloud services. In production environments, image editing typically involves a mask that specifies the regions of an image template to be edited. The use of masks provides direct control over the editing process and introduces sparsity in the model inference. In this paper, we present InstGenIE, a system that efficiently serves image editing requests. The key insight behind InstGenIE is that image editing only modifies the masked regions of image templates while preserving the original content in the unmasked areas. Driven by this insight, InstGenIE judiciously skips redundant computations associated with the unmasked areas by reusing cached intermediate activations from previous inferences. To mitigate the high cache loading overhead, InstGenIE employs a bubble-free pipeline scheme that overlaps computation with cache loading. Additionally, to reduce queuing latency in online serving while improving the GPU utilization, InstGenIE proposes a novel continuous batching strategy for diffusion model serving, allowing newly arrived requests to join the running batch in just one step of denoising computation, without waiting for the entire batch to complete. As heterogeneous masks induce imbalanced loads, InstGenIE also develops a load balancing strategy that takes into account the loads of both computation and cache loading. Collectively, InstGenIE outperforms state-of-the-art diffusion serving systems for image editing, achieving up to 3x higher throughput and reducing average request latency by up to 14.7x while ensuring image quality.