Chenyang Gu

Yunliang Jiang, Chenyang Gu, Zhenfeng Xue et al.

As a special case of common object removal, image person removal is playing an increasingly important role in social media and criminal investigation domains. Due to the integrity of person area and the complexity of human posture, person removal has its own dilemmas. In this paper, we propose a novel idea to tackle these problems from the perspective of data synthesis. Concerning the lack of dedicated dataset for image person removal, two dataset production methods are proposed to automatically generate images, masks and ground truths respectively. Then, a learning framework similar to local image degradation is proposed so that the masks can be used to guide the feature extraction process and more texture information can be gathered for final prediction. A coarse-to-fine training strategy is further applied to refine the details. The data synthesis and learning framework combine well with each other. Experimental results verify the effectiveness of our method quantitatively and qualitatively, and the trained network proves to have good generalization ability either on real or synthetic images.

Sixiang Chen, Jiaming Liu, Siyuan Qian et al.

Recently, mobile manipulation has attracted increasing attention for enabling language-conditioned robotic control in household tasks. However, existing methods still face challenges in coordinating mobile base and manipulator, primarily due to two limitations. On the one hand, they fail to explicitly model the influence of the mobile base on manipulator control, which easily leads to error accumulation under high degrees of freedom. On the other hand, they treat the entire mobile manipulation process with the same visual observation modality (e.g., either all 2D or all 3D), overlooking the distinct multimodal perception requirements at different stages during mobile manipulation. To address this, we propose the Adaptive Coordination Diffusion Transformer (AC-DiT), which enhances mobile base and manipulator coordination for end-to-end mobile manipulation. First, since the motion of the mobile base directly influences the manipulator's actions, we introduce a mobility-to-body conditioning mechanism that guides the model to first extract base motion representations, which are then used as context prior for predicting whole-body actions. This enables whole-body control that accounts for the potential impact of the mobile base's motion. Second, to meet the perception requirements at different stages of mobile manipulation, we design a perception-aware multimodal conditioning strategy that dynamically adjusts the fusion weights between various 2D visual images and 3D point clouds, yielding visual features tailored to the current perceptual needs. This allows the model to, for example, adaptively rely more on 2D inputs when semantic information is crucial for action prediction, while placing greater emphasis on 3D geometric information when precise spatial understanding is required. We validate AC-DiT through extensive experiments on both simulated and real-world mobile manipulation tasks.

Liangyuan Hu, Chenyang Gu

The preponderance of large-scale healthcare databases provide abundant opportunities for comparative effectiveness research. Evidence necessary to making informed treatment decisions often relies on comparing effectiveness of multiple treatment options on outcomes of interest observed in a small number of individuals. Causal inference with multiple treatments and rare outcomes is a subject that has been treated sparingly in the literature. This paper designs three sets of simulations, representative of the structure of our healthcare database study, and propose causal analysis strategies for such settings. We investigate and compare the operating characteristics of three types of methods and their variants: Bayesian Additive Regression Trees (BART), regression adjustment on multivariate spline of generalized propensity scores (RAMS) and inverse probability of treatment weighting (IPTW) with multinomial logistic regression or generalized boosted models. Our results suggest that BART and RAMS provide lower bias and mean squared error, and the widely used IPTW methods deliver unfavorable operating characteristics. We illustrate the methods using a case study evaluating the comparative effectiveness of robotic-assisted surgery, video-assisted thoracoscopic surgery and open thoracotomy for treating non-small cell lung cancer.

Yuwei Zhang, Xin Wu, Chenyang Gu et al.

This is a method report for the Kaggle data competition 'Predict future sales'. In this paper, we propose a rather simple approach to future sales predicting based on feature engineering, Random Forest Regressor and ensemble learning. Its performance turned out to exceed many of the conventional methods and get final score 0.88186, representing root mean squared error. As of this writing, our model ranked 5th on the leaderboard. (till 8.5.2018)