Yihao Liu

Tong Mu, Yihao Liu, Mehran Armand

Imitation learning frameworks for robotic manipulation have drawn attention in the recent development of language model grounded robotics. However, the success of the frameworks largely depends on the coverage of the demonstration cases: When the demonstration set does not include examples of how to act in all possible situations, the action may fail and can result in cascading errors. To solve this problem, we propose a framework that uses serialized Finite State Machine (FSM) to generate demonstrations and improve the success rate in manipulation tasks requiring a long sequence of precise interactions. To validate its effectiveness, we use environmentally evolving and long-horizon puzzles that require long sequential actions. Experimental results show that our approach achieves a success rate of up to 98 in these tasks, compared to the controlled condition using existing approaches, which only had a success rate of up to 60, and, in some tasks, almost failed completely.

Lianrui Zuo, Blake E. Dewey, Aaron Carass et al.

Accuracy and consistency are two key factors in computer-assisted magnetic resonance (MR) image analysis. However, contrast variation from site to site caused by lack of standardization in MR acquisition impedes consistent measurements. In recent years, image harmonization approaches have been proposed to compensate for contrast variation in MR images. Current harmonization approaches either require cross-site traveling subjects for supervised training or heavily rely on site-specific harmonization models to encourage harmonization accuracy. These requirements potentially limit the application of current harmonization methods in large-scale multi-site studies. In this work, we propose an unsupervised MR harmonization framework, CALAMITI (Contrast Anatomy Learning and Analysis for MR Intensity Translation and Integration), based on information bottleneck theory. CALAMITI learns a disentangled latent space using a unified structure for multi-site harmonization without the need for traveling subjects. Our model is also able to adapt itself to harmonize MR images from a new site with fine tuning solely on images from the new site. Both qualitative and quantitative results show that the proposed method achieves superior performance compared with other unsupervised harmonization approaches.