Yixuan Zhao

Tong Lu, Ke Xu, Zimo Zhang et al.

Reliable seizure detection in mouse models is essential for preclinical epilepsy research, yet manual review of synchronized video-EEG recordings is labor-intensive and single-modality systems fail for complementary reasons: video-based methods are easily confounded by benign behaviors, whereas EEG-based methods are vulnerable to ictal motion artifacts. We present EEGVFusion, a multimodal framework that combines self-supervised EEG representation learning, spatio-temporal video encoding, optimal-transport alignment, and bidirectional cross-attention to integrate neural and behavioral evidence. We also curate an expert-annotated dataset of synchronized EEG and video recordings comprising 93 sessions from 15 mice for training and evaluation. In the random-session split, EEGVFusion achieved a Balanced Accuracy of 0.9957 with perfect event sensitivity and an Event FAR of 0.6250 FP/h, indicating strong seizure detection performance with a low false-alarm burden. In a single held-out-subject evaluation with Subject 110 reserved for testing, EEGVFusion achieved a Balanced Accuracy of 0.9718 and reduced Event FAR from 2.7250 FP/h for the EEG-only counterpart to 0.4833 FP/h while preserving perfect event sensitivity. Targeted ablations further showed that EEG pre-training and OT alignment help reduce false alarms while preserving event sensitivity.

Xiaoyang Zhan, Shixin Zhou, Qianqian Yang et al.

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to balance collecting high-quality observations from multiple view angles and avoiding unnecessary repetitive traversal. To fill this gap, we propose a complete system combining mapping and planning. We first redefine the task as completing both geometric coverage and semantic viewpoint observation. We then manage semantic and geometric viewpoints separately and propose a novel Priority-driven Decoupled Local Sampler to generate local viewpoint sets. This enables explicit multi-view semantic inspection and voxel coverage without unnecessary repetition. Building on this, we develop a hierarchical planner to ensure efficient global coverage. In addition, we propose a Safe Aggressive Exploration State Machine, which allows aggressive exploration behavior while ensuring the robot's safety. Our system includes a plug-and-play semantic target mapping module that integrates seamlessly with state-of-the-art SLAM algorithms for pointcloud-level dense semantic target mapping. We validate our approach through extensive experiments in both realistic simulations and complex real-world environments. Simulation results show that our planner achieves faster exploration and shorter travel distances while guaranteeing a specified number of multi-view inspections. Real-world experiments further confirm the system's effectiveness in achieving accurate dense semantic object mapping of unstructured environments.