Gao Wang

Zongyuan Shen, Yaming Ou, Shalabh Gupta et al.

Motion planning in dynamic environments requires robots to continuously adapt their paths in response to environmental changes for safe and uninterrupted navigation. While many surveys have reviewed planning in static settings, systematic reviews focused on dynamic environments remain limited. This paper presents a comprehensive survey of 138 works, primarily published between 2015 and 2025, spanning both classical and learning-based approaches. The motion planning methods are grouped into five categories based on the concepts of sampling, graph search, model predictive control, learning, and additional classical local planning approaches, including velocity obstacles, potential fields and dynamic windows. The learning techniques include supervised learning and reinforcement learning. We also discuss the role of dynamic perception in motion planning, covering techniques for detecting and modeling moving obstacles using cameras, LiDAR, and event-based sensors. The survey analyzes the principles, strengths, and limitations of each method, with particular attention to challenges unique to dynamic environments, such as prediction uncertainty, human-robot interaction, and the freezing robot problem. The survey provides researchers with a structured understanding of motion planning methods in dynamic environments.

Gao Wang, Daniele Faccio

Brain-computer interfaces (BCIs) are enabling a range of new possibilities and routes for augmenting human capability. Here, we propose BCIs as a route towards forms of computation, i.e. computational imaging, that blend the brain with external silicon processing. We demonstrate ghost imaging of a hidden scene using the human visual system that is combined with an adaptive computational imaging scheme. This is achieved through a projection pattern `carving' technique that relies on real-time feedback from the brain to modify patterns at the light projector, thus enabling more efficient and higher resolution imaging. This brain-computer connectivity demonstrates a form of augmented human computation that could in the future extend the sensing range of human vision and provide new approaches to the study of the neurophysics of human perception. As an example, we illustrate a simple experiment whereby image reconstruction quality is affected by simultaneous conscious processing and readout of the perceived light intensities.

Xinyu Chen, Yuyi Qian, Jiang Lin et al.

Video object insertion requires ensuring spatio-temporal coherence and interactive realism, extending far beyond simple content placement. However, current approaches are often hindered by a reliance on explicit motion engineering or resource-intensive retraining, restricting their flexibility and generalization. To bridge this gap, we present \textit{SimInsert}, a training-free paradigm that efficiently decouples the task into intuitive single-frame editing and semantic motion description. By harnessing the robust generative priors of image-to-video diffusion models, SimInsert propagates edits temporally, strictly preserving background invariance while enabling plausible, text-driven interactions between the inserted object and the dynamic environment. Our approach hinges on non-invasive guidance mechanisms that enforce structural consistency, facilitate seamless boundary fusion, and counteract the fidelity drift that typically accumulates during the denoising trajectory. Extensive quantitative experiments validate our efficacy: SimInsert surpasses state-of-the-art methods with an 18.8\% gain in PSNR, 20.1\% in SSIM, and a 44.1\% decrease in LPIPS, offering a streamlined solution for high-fidelity video editing.

Zhuangfan Huang, Xiaosong Li, Gao Wang et al.

Polarization image fusion combines S0 and DOLP images to reveal surface roughness and material properties through complementary texture features, which has important applications in camouflage recognition, tissue pathology analysis, surface defect detection and other fields. To intergrate coL-Splementary information from different polarized images in complex luminance environment, we propose a luminance-aware multi-scale network (MLSN). In the encoder stage, we propose a multi-scale spatial weight matrix through a brightness-branch , which dynamically weighted inject the luminance into the feature maps, solving the problem of inherent contrast difference in polarized images. The global-local feature fusion mechanism is designed at the bottleneck layer to perform windowed self-attention computation, to balance the global context and local details through residual linking in the feature dimension restructuring stage. In the decoder stage, to further improve the adaptability to complex lighting, we propose a Brightness-Enhancement module, establishing the mapping relationship between luminance distribution and texture features, realizing the nonlinear luminance correction of the fusion result. We also present MSP, an 1000 pairs of polarized images that covers 17 types of indoor and outdoor complex lighting scenes. MSP provides four-direction polarization raw maps, solving the scarcity of high-quality datasets in polarization image fusion. Extensive experiment on MSP, PIF and GAND datasets verify that the proposed MLSN outperms the state-of-the-art methods in subjective and objective evaluations, and the MS-SSIM and SD metircs are higher than the average values of other methods by 8.57%, 60.64%, 10.26%, 63.53%, 22.21%, and 54.31%, respectively. The source code and dataset is avalable at https://github.com/1hzf/MLS-UNet.

Qisen Ma, Keming Mao, Gao Wang et al.

Accurate segmentation of skin lesions in dermatoscopic images is crucial for the early diagnosis of skin cancer and improving the survival rate of patients. However, it is still a challenging task due to the irregularity of lesion areas, the fuzziness of boundaries, and other complex interference factors. In this paper, a novel LCAUnet is proposed to improve the ability of complementary representation with fusion of edge and body features, which are often paid little attentions in traditional methods. First, two separate branches are set for edge and body segmentation with CNNs and Transformer based architecture respectively. Then, LCAF module is utilized to fuse feature maps of edge and body of the same level by local cross-attention operation in encoder stage. Furthermore, PGMF module is embedded for feature integration with prior guided multi-scale adaption. Comprehensive experiments on public available dataset ISIC 2017, ISIC 2018, and PH2 demonstrate that LCAUnet outperforms most state-of-the-art methods. The ablation studies also verify the effectiveness of the proposed fusion techniques.

Yue Wang, Tong Wu, Yunlong Wang et al.

Models have been proposed to extract temporal patterns from longitudinal electronic health records (EHR) for clinical predictive models. However, the common relations among patients (e.g., receiving the same medical treatments) were rarely considered. In this paper, we propose to learn patient similarity features as phenotypes from the aggregated patient-medical service matrix using non-negative matrix factorization. On real-world medical claim data, we show that the learned phenotypes are coherent within each group, and also explanatory and indicative of targeted diseases. We conducted experiments to predict the diagnoses for Chronic Lymphocytic Leukemia (CLL) patients. Results show that the phenotype-based similarity features can improve prediction over multiple baselines, including logistic regression, random forest, convolutional neural network, and more.