Zheng Li

Haizhou Ge, Yufei Jia, Zheng Li et al.

Many contact-rich manipulation tasks require precise force regulation. However, most imitation learning (IL) policies remain position-centric and lack explicit force awareness, and adding force/torque sensors to collaborative robot arms is often costly and requires additional hardware design. To overcome these issues, we propose FILIC, a Force-guided Imitation Learning framework with impedance torque control. FILIC integrates a Transformer-based IL policy with an impedance controller in a dual-loop structure, enabling compliant force-informed, force-executed manipulation. For robots without force/torque sensors, we introduce a cost-effective end-effector force estimator using joint torque measurements through analytical Jacobian-based inversion while compensating with model-predicted torques from a digital twin. Experiments show that FILIC significantly outperforms vision-only and joint-torque-based methods, achieving safer, more compliant, and adaptable contact-rich manipulation. The source code is available at https://github.com/OpenGHz/mujoco-wrench-estimator.git.

Li Wang, Wenyu Chen, Zheng Li et al.

The rapid advancement of generative models has led to the proliferation of highly realistic AI-generated images, posing significant challenges for detection methods to generalize across diverse and evolving generative techniques. Existing approaches often fail to adapt to unknown models without costly retraining, limiting their practicability. To fill this gap, we propose Post-hoc Distribution Alignment (PDA), a novel approach for the generalizable detection for AI-generated images. The key idea is to use the known generative model to regenerate undifferentiated test images. This process aligns the distributions of the re-generated real images with the known fake images, enabling effective distinction from unknown fake images. PDA employs a two-step detection framework: 1) evaluating whether a test image aligns with the known fake distribution based on deep k-nearest neighbor (KNN) distance, and 2) re-generating test images using known generative models to create pseudo-fake images for further classification. This alignment strategy allows PDA to effectively detect fake images without relying on unseen data or requiring retraining. Extensive experiments demonstrate the superiority of PDA, achieving 96.73\% average accuracy across six state-of-the-art generative models, including GANs, diffusion models, and text-to-image models, and improving by 16.07\% over the best baseline. Through t-SNE visualizations and KNN distance analysis, we provide insights into PDA's effectiveness in separating real and fake images. Our work provides a flexible and effective solution for real-world fake image detection, advancing the generalization ability of detection systems.