Cheng Zhu

Cheng Zhu, Jiayi Zhu, Xi Wu et al.

Graph Convolutional Networks (GCNs) can capture non-Euclidean spatial dependence between different brain regions. The graph pooling operator, a crucial element of GCNs, enhances the representation learning capability and facilitates the acquisition of abnormal brain maps. However, most existing research designs graph pooling operators solely from the perspective of nodes while disregarding the original edge features. This confines graph pooling application scenarios and diminishes its ability to capture critical substructures. In this paper, we propose a novel edge-aware hard clustering graph pool (EHCPool), which is tailored to dominant edge features and redefines the clustering process. EHCPool initially introduced the 'Edge-to-Node' score criterion which utilized edge information to evaluate the significance of nodes. An innovative Iteration n-top strategy was then developed, guided by edge scores, to adaptively learn sparse hard clustering assignments for graphs. Additionally, a N-E Aggregation strategy is designed to aggregate node and edge features in each independent subgraph. Extensive experiments on the multi-site public datasets demonstrate the superiority and robustness of the proposed model. More notably, EHCPool has the potential to probe different types of dysfunctional brain networks from a data-driven perspective. Method code: https://github.com/swfen/EHCPool

Haonan Chen, Cheng Zhu, Shuijing Liu et al.

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In contrast, human videos provide a natural way for data collection without specialized hardware, though they pose challenges on robot learning due to viewpoint variations and embodiment gaps. To address these challenges, we propose a framework that transfers tool-use knowledge from humans to robots. To improve the policy's robustness to viewpoint variations, we use two RGB cameras to reconstruct 3D scenes and apply Gaussian splatting for novel view synthesis. We reduce the embodiment gap using segmented observations and tool-centric, task-space actions to achieve embodiment-invariant visuomotor policy learning. We demonstrate our framework's effectiveness across a diverse suite of tool-use tasks, where our learned policy shows strong generalization and robustness to human perturbations, camera motion, and robot base movement. Our method achieves a 71\% improvement in task success over teleoperation-based diffusion policies and dramatically reduces data collection time by 77\% and 41\% compared to teleoperation and the state-of-the-art interface, respectively.