Yuan Ji

Lin Yang, Anirvan Dutta, Yuan Ji et al.

Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold (EM) as a unified representation for tool-mediated interaction, and develops a closed-loop framework that integrates haptic estimation, online planning, and adaptive stiffness control. We establish a physical-geometric duality using an adaptive manipulation potential incorporating a differentiable contact model, which induces the manifold's geometric structure and ensures that complex physical interactions are encapsulated as continuous operations on the EM. Within this framework, we reformulate haptic estimation as a manifold parameter estimation problem. Specifically, a hybrid inference strategy (haptic SLAM) is employed in which discrete object shapes are classified via particle filtering, while the continuous object pose is estimated using analytical gradients for efficient optimization. By continuously updating the parameters of the manipulation potential, the framework dynamically reshapes the induced EM to guide online trajectory replanning and implement uncertainty-aware impedance control, thereby closing the perception-action loop. The system is validated through simulation and over 260 real-world screw-loosening trials. Experimental results demonstrate robust identification and manipulation success in standard scenarios while maintaining accurate tracking. Furthermore, ablation studies confirm that haptic SLAM and uncertainty-aware stiffness modulation outperform fixed impedance baselines, effectively preventing jamming during tight tolerance interactions.

Hao Yang, JianYu Wu, Run Fang et al.

With the rapid development of digital pathology, virtual staining has become a key technology in multimedia medical information systems, offering new possibilities for the analysis and diagnosis of pathological images. However, existing H&E-to-IHC studies often overlook the cross-channel correlations between cell nuclei and cell membranes. To address this issue, we propose a novel Cross-Channel Perception Learning (CCPL) strategy. Specifically, CCPL first decomposes HER2 immunohistochemical staining into Hematoxylin and DAB staining channels, corresponding to cell nuclei and cell membranes, respectively. Using the pathology foundation model Gigapath's Tile Encoder, CCPL extracts dual-channel features from both the generated and real images and measures cross-channel correlations between nuclei and membranes. The features of the generated and real stained images, obtained through the Tile Encoder, are also used to calculate feature distillation loss, enhancing the model's feature extraction capabilities without increasing the inference burden. Additionally, CCPL performs statistical analysis on the focal optical density maps of both single channels to ensure consistency in staining distribution and intensity. Experimental results, based on quantitative metrics such as PSNR, SSIM, PCC, and FID, along with professional evaluations from pathologists, demonstrate that CCPL effectively preserves pathological features, generates high-quality virtual stained images, and provides robust support for automated pathological diagnosis using multimedia medical data.

Yang Ni, Yuan Ji, Peter Mueller

We present a consensus Monte Carlo algorithm that scales existing Bayesian nonparametric models for clustering and feature allocation to big data. The algorithm is valid for any prior on random subsets such as partitions and latent feature allocation, under essentially any sampling model. Motivated by three case studies, we focus on clustering induced by a Dirichlet process mixture sampling model, inference under an Indian buffet process prior with a binomial sampling model, and with a categorical sampling model. We assess the proposed algorithm with simulation studies and show results for inference with three datasets: an MNIST image dataset, a dataset of pancreatic cancer mutations, and a large set of electronic health records (EHR). Supplementary materials for this article are available online.

Zhaoxia Yin, Yuan Ji, Bin Luo

Among various methods of reversible data hiding (RDH) in JPEG images, the consideration in designing is only the image quality, but the image quality and the file size expansion are equally important in JPEG images. Based on this situation, we propose a RDH scheme in JPEG images considering both the image quality and the file size expansion while designing the algorithm. The multi-objective optimization strategy is utilized to realize the balance of the two objectives. Specifically, the cover is divided into several non-overlapping signals firstly, and after that, the embedding costs of signals are calculated using the knowledge of the JPEG compression. Next, the optimized combination of signals for embedding data is gained by the multi-objective optimization. Experimental results show the better performance of our proposed RDH compared with state-of-the-art RDH in JPEG images.