Guanglin Li

Guanglin Li, Yifeng Li, Zhichao Ye et al. · bytedance

Empowering autonomous agents with 3D understanding for daily objects is a grand challenge in robotics applications. When exploring in an unknown environment, existing methods for object pose estimation are still not satisfactory due to the diversity of object shapes. In this paper, we propose a novel framework for category-level object shape and pose estimation from a single RGB-D image. To handle the intra-category variation, we adopt a semantic primitive representation that encodes diverse shapes into a unified latent space, which is the key to establish reliable correspondences between observed point clouds and estimated shapes. Then, by using a SIM(3)-invariant shape descriptor, we gracefully decouple the shape and pose of an object, thus supporting latent shape optimization of target objects in arbitrary poses. Extensive experiments show that the proposed method achieves SOTA pose estimation performance and better generalization in the real-world dataset. Code and video are available at https://zju3dv.github.io/gCasp.

Frank Kulwa, Oluwarotimi Williams Samuel, Mojisola Grace Asogbon et al.

The use of deep neural networks in electromyogram (EMG) based prostheses control provides a promising alternative to the hand-crafted features by automatically learning muscle activation patterns from the EMG signals. Meanwhile, the use of raw EMG signals as input to convolution neural networks (CNN) offers a simple, fast, and ideal scheme for effective control of prostheses. Therefore, this study investigates the relationship between window length and overlap, which may influence the generation of robust raw EMG 2-dimensional (2D) signals for application in CNN. And a rule of thumb for a proper combination of these parameters that could guarantee optimal network performance was derived. Moreover, we investigate the relationship between the CNN receptive window size and the raw EMG signal size. Experimental results show that the performance of the CNN increases with the increase in overlap within the generated signals, with the highest improvement of 9.49% accuracy and 23.33% F1-score realized when the overlap is 75% of the window length. Similarly, the network performance increases with the increase in receptive window (kernel) size. Findings from this study suggest that a combination of 75% overlap in 2D EMG signals and wider network kernels may provide ideal motor intents classification for adequate EMG-CNN based prostheses control scheme.

Oluwarotimi Williams Samuel, Mojisola Grace Asogbon, Rami Khushaba et al.

Surface electromyogram (sEMG) is arguably the most sought-after physiological signal with a broad spectrum of biomedical applications, especially in miniaturized rehabilitation robots such as multifunctional prostheses. The widespread use of sEMG to drive pattern recognition (PR)-based control schemes is primarily due to its rich motor information content and non-invasiveness. Moreover, sEMG recordings exhibit non-linear and non-uniformity properties with inevitable interferences that distort intrinsic characteristics of the signal, precluding existing signal processing methods from yielding requisite motor control information. Therefore, we propose a multiresolution decomposition driven by dual-polynomial interpolation (MRDPI) technique for adequate denoising and reconstruction of multi-class EMG signals to guarantee the dual-advantage of enhanced signal quality and motor information preservation. Parameters for optimal MRDPI configuration were constructed across combinations of thresholding estimation schemes and signal resolution levels using EMG datasets of amputees who performed up to 22 predefined upper-limb motions acquired in-house and from the public NinaPro database. Experimental results showed that the proposed method yielded signals that led to consistent and significantly better decoding performance for all metrics compared to existing methods across features, classifiers, and datasets, offering a potential solution for practical deployment of intuitive EMG-PR-based control schemes for multifunctional prostheses and other miniaturized rehabilitation robotic systems that utilize myoelectric signals as control inputs.

Hongjia Zhai, Gan Huang, Qirui Hu et al.

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene understanding. In this paper, we introduce NIS-SLAM, an efficient neural implicit semantic RGB-D SLAM system, that leverages a pre-trained 2D segmentation network to learn consistent semantic representations. Specifically, for high-fidelity surface reconstruction and spatial consistent scene understanding, we combine high-frequency multi-resolution tetrahedron-based features and low-frequency positional encoding as the implicit scene representations. Besides, to address the inconsistency of 2D segmentation results from multiple views, we propose a fusion strategy that integrates the semantic probabilities from previous non-keyframes into keyframes to achieve consistent semantic learning. Furthermore, we implement a confidence-based pixel sampling and progressive optimization weight function for robust camera tracking. Extensive experimental results on various datasets show the better or more competitive performance of our system when compared to other existing neural dense implicit RGB-D SLAM approaches. Finally, we also show that our approach can be used in augmented reality applications. Project page: \href{https://zju3dv.github.io/nis_slam}{https://zju3dv.github.io/nis\_slam}.

Changxin Ke, Rui Zhang, Shuo Wang et al.

The rise of GPU-based high-performance computing (HPC) has driven the widespread adoption of parallel programming models such as CUDA. Yet, the inherent complexity of parallel programming creates a demand for the automated sequential-to-parallel approaches. However, data scarcity poses a significant challenge for machine learning-based sequential-to-parallel code translation. Although recent back-translation methods show promise, they still fail to ensure functional equivalence in the translated code. In this paper, we propose \textbf{QiMeng-MuPa}, a novel \textbf{Mu}tual-Supervised Learning framework for Sequential-to-\textbf{Pa}rallel code translation, to address the functional equivalence issue. QiMeng-MuPa consists of two models, a Translator and a Tester. Through an iterative loop consisting of Co-verify and Co-evolve steps, the Translator and the Tester mutually generate data for each other and improve collectively. The Tester generates unit tests to verify and filter functionally equivalent translated code, thereby evolving the Translator, while the Translator generates translated code as augmented input to evolve the Tester. Experimental results demonstrate that QiMeng-MuPa significantly enhances the performance of the base models: when applied to Qwen2.5-Coder, it not only improves Pass@1 by up to 28.91% and boosts Tester performance by 68.90%, but also outperforms the previous state-of-the-art method CodeRosetta by 1.56 and 6.92 in BLEU and CodeBLEU scores, while achieving performance comparable to DeepSeek-R1 and GPT-4.1. Our code is available at https://github.com/kcxain/mupa.

Guangli Li, Canbiao Wu, Zhehao Zhou et al.

Electroencephalogram (EEG) signals serve as a powerful tool in affective Brain-Computer Interfaces (aBCIs) and play a crucial role in affective computing. In recent years, the introduction of deep learning techniques has significantly advanced the development of aBCIs. However, the current emotion recognition methods based on deep transfer learning face the challenge of the dual dependence of the model on source domain and target domain, As well as being affected by label noise, which seriously affects the performance and generalization ability of the model. To overcome this limitation, we proposes a Pairwise Learning framework with Domain and Category Prototypes for EEG emotion recognition under unseen target conditions (PL-DCP), and integrating concepts of feature disentanglement and prototype inference. Here, the feature disentanglement module extracts and decouples the emotional EEG features to form domain features and class features, and further calculates the dual prototype representation. The Domain-pprototype captures the individual variations across subjects, while the class-prototype captures the cross-individual commonality of emotion categories. In addition, the pairwise learning strategy effectively reduces the noise effect caused by wrong labels. The PL-DCP framework conducts a systematic experimental evaluation on the published datasets SEED, SEED-IV and SEED-V, and the accuracy are 82.88\%, 65.15\% and 61.29\%, respectively. The results show that compared with other State-of-the-Art(SOTA) Methods, the PL-DCP model still achieves slightly better performance than the deep transfer learning method that requires both source and target data, although the target domain is completely unseen during the training. This work provides an effective and robust potential solution for emotion recognition. The source code is available at https://github.com/WuCB-BCI/PL_DCP.

Jiarui Hu, Xianhao Chen, Boyin Feng et al.

Recently neural radiance fields (NeRF) have been widely exploited as 3D representations for dense simultaneous localization and mapping (SLAM). Despite their notable successes in surface modeling and novel view synthesis, existing NeRF-based methods are hindered by their computationally intensive and time-consuming volume rendering pipeline. This paper presents an efficient dense RGB-D SLAM system, i.e., CG-SLAM, based on a novel uncertainty-aware 3D Gaussian field with high consistency and geometric stability. Through an in-depth analysis of Gaussian Splatting, we propose several techniques to construct a consistent and stable 3D Gaussian field suitable for tracking and mapping. Additionally, a novel depth uncertainty model is proposed to ensure the selection of valuable Gaussian primitives during optimization, thereby improving tracking efficiency and accuracy. Experiments on various datasets demonstrate that CG-SLAM achieves superior tracking and mapping performance with a notable tracking speed of up to 15 Hz. We will make our source code publicly available. Project page: https://zju3dv.github.io/cg-slam.