Ziheng Zhou

Ran Gong, Jiangyong Huang, Yizhou Zhao et al. · berkeley

Understanding the continuous states of objects is essential for task learning and planning in the real world. However, most existing task learning benchmarks assume discrete (e.g., binary) object goal states, which poses challenges for the learning of complex tasks and transferring learned policy from simulated environments to the real world. Furthermore, state discretization limits a robot's ability to follow human instructions based on the grounding of actions and states. To tackle these challenges, we present ARNOLD, a benchmark that evaluates language-grounded task learning with continuous states in realistic 3D scenes. ARNOLD is comprised of 8 language-conditioned tasks that involve understanding object states and learning policies for continuous goals. To promote language-instructed learning, we provide expert demonstrations with template-generated language descriptions. We assess task performance by utilizing the latest language-conditioned policy learning models. Our results indicate that current models for language-conditioned manipulations continue to experience significant challenges in novel goal-state generalizations, scene generalizations, and object generalizations. These findings highlight the need to develop new algorithms that address this gap and underscore the potential for further research in this area. Project website: https://arnold-benchmark.github.io.

Weinan Song, Gaurav Fotedar, Nima Tajbakhsh et al.

Deep learning models tend to underperform in the presence of domain shifts. Domain transfer has recently emerged as a promising approach wherein images exhibiting a domain shift are transformed into other domains for augmentation or adaptation. However, with the absence of paired and annotated images, models merely learned by adversarial loss and cycle consistency loss could result in poor consistency of anatomy structures during the translation. Additionally, the complexity of learning multi-domain transfer could significantly increase with the number of target domains and source images. In this paper, we propose a multi-domain transfer network, named MDT-Net, to address the limitations above through perceptual supervision. Specifically, our model consists of a single encoder-decoder network and multiple domain-specific transfer modules to disentangle feature representations of the anatomy content and domain variance. Owing to this architecture, the model could significantly reduce the complexity when the translation is conducted among multiple domains. To demonstrate the performance of our method, we evaluate our model qualitatively and quantitatively on RETOUCH, an OCT dataset comprising scans from three different scanner devices (domains). Furthermore, we take the transfer results as additional training data for fluid segmentation to prove the advantage of our model indirectly, i.e., in the task of data adaptation and augmentation. Experimental results show that our method could bring universal improvement in these segmentation tasks, which demonstrates the effectiveness and efficiency of MDT-Net in multi-domain transfer.

Zhiyuan Zha, Xin Liu, Ziheng Zhou et al.

Group sparsity has shown great potential in various low-level vision tasks (e.g, image denoising, deblurring and inpainting). In this paper, we propose a new prior model for image denoising via group sparsity residual constraint (GSRC). To enhance the performance of group sparse-based image denoising, the concept of group sparsity residual is proposed, and thus, the problem of image denoising is translated into one that reduces the group sparsity residual. To reduce the residual, we first obtain some good estimation of the group sparse coefficients of the original image by the first-pass estimation of noisy image, and then centralize the group sparse coefficients of noisy image to the estimation. Experimental results have demonstrated that the proposed method not only outperforms many state-of-the-art denoising methods such as BM3D and WNNM, but results in a faster speed.