Zhichao Liu

Wei Cui, Haoyu Wang, Wenkang Qin et al.

Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become widely recognized as particularly suitable for humanoid robots, as it provides both rich semantic and 3D geometric information essential for comprehensive environmental understanding. In this work, we present Humanoid Occupancy, a generalized multimodal occupancy perception system that integrates hardware and software components, data acquisition devices, and a dedicated annotation pipeline. Our framework employs advanced multi-modal fusion techniques to generate grid-based occupancy outputs encoding both occupancy status and semantic labels, thereby enabling holistic environmental understanding for downstream tasks such as task planning and navigation. To address the unique challenges of humanoid robots, we overcome issues such as kinematic interference and occlusion, and establish an effective sensor layout strategy. Furthermore, we have developed the first panoramic occupancy dataset specifically for humanoid robots, offering a valuable benchmark and resource for future research and development in this domain. The network architecture incorporates multi-modal feature fusion and temporal information integration to ensure robust perception. Overall, Humanoid Occupancy delivers effective environmental perception for humanoid robots and establishes a technical foundation for standardizing universal visual modules, paving the way for the widespread deployment of humanoid robots in complex real-world scenarios.

Israt Zarin Era, Fan Zhou, Ahmed Shoyeb Raihan et al.

Directed Energy Deposition (DED) offers significant potential for manufacturing complex and multi-material parts. However, internal defects such as porosity and cracks can compromise mechanical properties and overall performance. This study focuses on in-situ monitoring and characterization of melt pools associated with porosity, aiming to improve defect detection and quality control in DED-printed parts. Traditional machine learning approaches for defect identification rely on extensive labeled datasets, often scarce and expensive to generate in real-world manufacturing. To address this, our framework employs self-supervised learning on unlabeled melt pool data using a Vision Transformer-based Masked Autoencoder (MAE) to produce highly representative embeddings. These fine-tuned embeddings are leveraged via transfer learning to train classifiers on a limited labeled dataset, enabling the effective identification of melt pool anomalies. We evaluate two classifiers: (1) a Vision Transformer (ViT) classifier utilizing the fine-tuned MAE Encoder's parameters and (2) the fine-tuned MAE Encoder combined with an MLP classifier head. Our framework achieves overall accuracy ranging from 95.44% to 99.17% and an average F1 score exceeding 80%, with the ViT Classifier slightly outperforming the MAE Encoder Classifier. This demonstrates the scalability and cost-effectiveness of our approach for automated quality control in DED, effectively detecting defects with minimal labeled data.

Bingzhe Wu, Haodong Duan, Zhichao Liu et al.

Single image super resolution (SISR) is to reconstruct a high resolution image from a single low resolution image. The SISR task has been a very attractive research topic over the last two decades. In recent years, convolutional neural network (CNN) based models have achieved great performance on SISR task. Despite the breakthroughs achieved by using CNN models, there are still some problems remaining unsolved, such as how to recover high frequency details of high resolution images. Previous CNN based models always use a pixel wise loss, such as l2 loss. Although the high resolution images constructed by these models have high peak signal-to-noise ratio (PSNR), they often tend to be blurry and lack high-frequency details, especially at a large scaling factor. In this paper, we build a super resolution perceptual generative adversarial network (SRPGAN) framework for SISR tasks. In the framework, we propose a robust perceptual loss based on the discriminator of the built SRPGAN model. We use the Charbonnier loss function to build the content loss and combine it with the proposed perceptual loss and the adversarial loss. Compared with other state-of-the-art methods, our method has demonstrated great ability to construct images with sharp edges and rich details. We also evaluate our method on different benchmarks and compare it with previous CNN based methods. The results show that our method can achieve much higher structural similarity index (SSIM) scores on most of the benchmarks than the previous state-of-art methods.