Chi Zhang

Yiwen Chen, Zhihao Li, Yikai Wang et al.

Recent advances in sparse voxel representations have significantly improved the quality of 3D content generation, enabling high-resolution modeling with fine-grained geometry. However, existing frameworks suffer from severe computational inefficiencies due to the quadratic complexity of attention mechanisms in their two-stage diffusion pipelines. In this work, we propose Ultra3D, an efficient 3D generation framework that significantly accelerates sparse voxel modeling without compromising quality. Our method leverages the compact VecSet representation to efficiently generate a coarse object layout in the first stage, reducing token count and accelerating voxel coordinate prediction. To refine per-voxel latent features in the second stage, we introduce Part Attention, a geometry-aware localized attention mechanism that restricts attention computation within semantically consistent part regions. This design preserves structural continuity while avoiding unnecessary global attention, achieving up to 6.7x speed-up in latent generation. To support this mechanism, we construct a scalable part annotation pipeline that converts raw meshes into part-labeled sparse voxels. Extensive experiments demonstrate that Ultra3D supports high-resolution 3D generation at 1024 resolution and achieves state-of-the-art performance in both visual fidelity and user preference.

Yang Zhang, Chenwei Wang, Ouyang Lu et al.

Vision-Language-Action (VLA) models pre-trained on large, diverse datasets show remarkable potential for general-purpose robotic manipulation. However, a primary bottleneck remains in adapting these models to downstream tasks, especially when the robot's embodiment or the task itself differs from the pre-training data. This discrepancy leads to a significant mismatch in action distributions, demanding extensive data and compute for effective fine-tuning. To address this challenge, we introduce \textbf{Align-Then-stEer (\texttt{ATE})}, a novel, data-efficient, and plug-and-play adaptation framework. \texttt{ATE} first aligns disparate action spaces by constructing a unified latent space, where a variational autoencoder constrained by reverse KL divergence embeds adaptation actions into modes of the pre-training action latent distribution. Subsequently, it steers the diffusion- or flow-based VLA's generation process during fine-tuning via a guidance mechanism that pushes the model's output distribution towards the target domain. We conduct extensive experiments on cross-embodiment and cross-task manipulation in both simulation and real world. Compared to direct fine-tuning of representative VLAs, our method improves the average multi-task success rate by up to \textbf{9.8\%} in simulation and achieves a striking \textbf{32\% success rate gain} in a real-world cross-embodiment setting. Our work presents a general and lightweight solution that greatly enhances the practicality of deploying VLA models to new robotic platforms and tasks.

Kai Qiao, Chi Zhang, Jian Chen et al.

Recently, visual encoding based on functional magnetic resonance imaging (fMRI) have realized many achievements with the rapid development of deep network computation. Visual encoding model is aimed at predicting brain activity in response to presented image stimuli. Currently, visual encoding is accomplished mainly by firstly extracting image features through convolutional neural network (CNN) model pre-trained on computer vision task, and secondly training a linear regression model to map specific layer of CNN features to each voxel, namely voxel-wise encoding. However, the two-step manner model, essentially, is hard to determine which kind of well features are well linearly matched for beforehand unknown fMRI data with little understanding of human visual representation. Analogizing computer vision mostly related human vision, we proposed the end-to-end convolution regression model (ETECRM) in the region of interest (ROI)-wise manner to accomplish effective and efficient visual encoding. The end-to-end manner was introduced to make the model automatically learn better matching features to improve encoding performance. The ROI-wise manner was used to improve the encoding efficiency for many voxels. In addition, we designed the selective optimization including self-adapting weight learning and weighted correlation loss, noise regularization to avoid interfering of ineffective voxels in ROI-wise encoding. Experiment demonstrated that the proposed model obtained better predicting accuracy than the two-step manner of encoding models. Comparative analysis implied that end-to-end manner and large volume of fMRI data may drive the future development of visual encoding.

Chi Zhang, Kai Qiao, Linyuan Wang et al.

Background: Building visual encoding models to accurately predict visual responses is a central challenge for current vision-based brain-machine interface techniques. To achieve high prediction accuracy on neural signals, visual encoding models should include precise visual features and appropriate prediction algorithms. Most existing visual encoding models employ hand-craft visual features (e.g., Gabor wavelets or semantic labels) or data-driven features (e.g., features extracted from deep neural networks (DNN)). They also assume a linear mapping between feature representation to brain activity. However, it remains unknown whether such linear mapping is sufficient for maximizing prediction accuracy. New Method: We construct a new visual encoding framework to predict cortical responses in a benchmark functional magnetic resonance imaging (fMRI) dataset. In this framework, we employ the transfer learning technique to incorporate a pre-trained DNN (i.e., AlexNet) and train a nonlinear mapping from visual features to brain activity. This nonlinear mapping replaces the conventional linear mapping and is supposed to improve prediction accuracy on brain activity. Results: The proposed framework can significantly predict responses of over 20% voxels in early visual areas (i.e., V1-lateral occipital region, LO) and achieve unprecedented prediction accuracy. Comparison with Existing Methods: Comparing to two conventional visual encoding models, we find that the proposed encoding model shows consistent higher prediction accuracy in all early visual areas, especially in relatively anterior visual areas (i.e., V4 and LO). Conclusions: Our work proposes a new framework to utilize pre-trained visual features and train non-linear mappings from visual features to brain activity.

Kai Qiao, Chi Zhang, Linyuan Wang et al.

In neuroscience, all kinds of computation models were designed to answer the open question of how sensory stimuli are encoded by neurons and conversely, how sensory stimuli can be decoded from neuronal activities. Especially, functional Magnetic Resonance Imaging (fMRI) studies have made many great achievements with the rapid development of the deep network computation. However, comparing with the goal of decoding orientation, position and object category from activities in visual cortex, accurate reconstruction of image stimuli from human fMRI is a still challenging work. In this paper, the capsule network (CapsNet) architecture based visual reconstruction (CNAVR) method is developed to reconstruct image stimuli. The capsule means containing a group of neurons to perform the better organization of feature structure and representation, inspired by the structure of cortical mini column including several hundred neurons in primates. The high-level capsule features in the CapsNet includes diverse features of image stimuli such as semantic class, orientation, location and so on. We used these features to bridge between human fMRI and image stimuli. We firstly employed the CapsNet to train the nonlinear mapping from image stimuli to high-level capsule features, and from high-level capsule features to image stimuli again in an end-to-end manner. After estimating the serviceability of each voxel by encoding performance to accomplish the selecting of voxels, we secondly trained the nonlinear mapping from dimension-decreasing fMRI data to high-level capsule features. Finally, we can predict the high-level capsule features with fMRI data, and reconstruct image stimuli with the CapsNet. We evaluated the proposed CNAVR method on the dataset of handwritten digital images, and exceeded about 10% than the accuracy of all existing state-of-the-art methods on the structural similarity index (SSIM).