Wangyang Li

Tao Geng, Dapeng Yang, Ziwei Liu et al.

Dexterous grasping in multi-object scene constitutes a fundamental challenge in robotic manipulation. Current mainstream grasping datasets predominantly focus on single-object scenarios and predefined grasp configurations, often neglecting environmental interference and the modeling of dexterous pre-grasp gesture, thereby limiting their generalizability in real-world applications. To address this, we propose DGS-Net, an end-to-end grasp prediction network capable of learning dense grasp configurations from single-view point clouds in multi-object scene. Furthermore, we propose a two-stage grasp data generation strategy that progresses from dense single-object grasp synthesis to dense scene-level grasp generation. Our dataset comprises 307 objects, 240 multi-object scenes, and over 350k validated grasps. By explicitly modeling grasp offsets and pre-grasp configurations, the dataset provides more robust and accurate supervision for dexterous grasp learning. Experimental results show that DGS-Net achieves grasp success rates of 88.63\% in simulation and 78.98\% on a real robotic platform, while exhibiting lower penetration with a mean penetration depth of 0.375 mm and penetration volume of 559.45 mm^3, outperforming existing methods and demonstrating strong effectiveness and generalization capability. Our dataset is available at https://github.com/4taotao8/DGS-Net.

Siqi Zhao, Wangyang Li, Xiru Wang et al.

Machine learning (ML) and deep learning (DL) techniques have been widely applied to analyze electroencephalography (EEG) signals for disease diagnosis and brain-computer interfaces (BCI). The integration of multimodal data has been shown to enhance the accuracy of ML and DL models. Combining EEG with other modalities can improve clinical decision-making by addressing complex tasks in clinical populations. This systematic literature review explores the use of multimodal EEG data in ML and DL models for clinical applications. A comprehensive search was conducted across PubMed, Web of Science, and Google Scholar, yielding 16 relevant studies after three rounds of filtering. These studies demonstrate the application of multimodal EEG data in addressing clinical challenges, including neuropsychiatric disorders, neurological conditions (e.g., seizure detection), neurodevelopmental disorders (e.g., autism spectrum disorder), and sleep stage classification. Data fusion occurred at three levels: signal, feature, and decision levels. The most commonly used ML models were support vector machines (SVM) and decision trees. Notably, 11 out of the 16 studies reported improvements in model accuracy with multimodal EEG data. This review highlights the potential of multimodal EEG-based ML models in enhancing clinical diagnostics and problem-solving.