Lu Gan

Sizhe Wei, Xulin Chen, Fengze Xie et al. · gatech

Reinforcement learning has enabled impressive locomotion skills on articulated robots, but common policy representations remain only weakly aligned with robot physics. Generic networks ignore kinematic structure, while graph-based policies encode connectivity without specifying how physical quantities transform across symmetric body parts. We introduce a morphological symmetry graph representation for locomotion policy learning and instantiate it in MS-PPO. Starting from the robot's topological graph, our representation augments each observation and action space with the permutation and sign transformations induced by morphological symmetry. This yields a symmetry-equivariant graph actor and a symmetry-invariant graph critic, enforcing the desired policy and value constraints by construction rather than through reward shaping or data augmentation. We evaluate MS-PPO on a variety of locomotion tasks using both Unitree Go2 quadruped and Unitree G1 humanoid, including command tracking, asymmetric joint failures, out-of-distribution command generalization, and zero-shot sim-to-real deployment. Experiments show improved symmetry generalization, robustness, sample efficiency, and model efficiency over topology- and symmetry-aware baselines.

Xihe Qiu, Yang Dai, Xiaoyu Tan et al.

Magnetic Resonance Imaging (MRI) provides detailed tissue information, but its clinical application is limited by long acquisition time, high cost, and restricted resolution. Image translation has recently gained attention as a strategy to address these limitations. Although Pix2Pix has been widely applied in medical image translation, its potential has not been fully explored. In this study, we propose an enhanced Pix2Pix framework that integrates Squeeze-and-Excitation Residual Networks (SEResNet) and U-Net++ to improve image generation quality and structural fidelity. SEResNet strengthens critical feature representation through channel attention, while U-Net++ enhances multi-scale feature fusion. A simplified PatchGAN discriminator further stabilizes training and refines local anatomical realism. Experimental results demonstrate that under few-shot conditions with fewer than 500 images, the proposed method achieves consistent structural fidelity and superior image quality across multiple intra-modality MRI translation tasks, showing strong generalization ability. These results suggest an effective extension of Pix2Pix for medical image translation.

Vahid Abolghasemi, Hao Shen, Yaochun Shen et al.

In this paper, the problem of terahertz pulsed imaging and reconstruction is addressed. It is assumed that an incomplete (subsampled) three dimensional THz data set has been acquired and the aim is to recover all missing samples. A sparsity-inducing approach is proposed for this purpose. First, a simple interpolation is applied to incomplete noisy data. Then, we propose a spatio-temporal dictionary learning method to obtain an appropriate sparse representation of data based on a joint sparse recovery algorithm. Then, using the sparse coefficients and the learned dictionary, the 3D data is effectively denoised by minimizing a simple cost function. We consider two types of terahertz data to evaluate the performance of the proposed approach; THz data acquired for a model sample with clear layered structures (e.g., a T-shape plastic sheet buried in a polythene pellet), and pharmaceutical tablet data (with low spatial resolution). The achieved signal-to-noise-ratio for reconstruction of T-shape data, from only 5% observation was 19 dB. Moreover, the accuracies of obtained thickness and depth measurements for pharmaceutical tablet data after reconstruction from 10% observation were 98.8%, and 99.9%, respectively. These results, along with chemical mapping analysis, presented at the end of this paper, confirm the accuracy of the proposed method.

Kezhi Li, Lu Gan, Cong Ling

In this paper, a new class of circulant matrices built from deterministic sequences is proposed for convolution-based compressed sensing (CS). In contrast to random convolution, the coefficients of the underlying filter are given by the discrete Fourier transform of a deterministic sequence with good autocorrelation. Both uniform recovery and non-uniform recovery of sparse signals are investigated, based on the coherence parameter of the proposed sensing matrices. Many examples of the sequences are investigated, particularly the Frank-Zadoff-Chu (FZC) sequence, the \textit{m}-sequence and the Golay sequence. A salient feature of the proposed sensing matrices is that they can not only handle sparse signals in the time domain, but also those in the frequency and/or or discrete-cosine transform (DCT) domain.