Gang Yang

Zhixuan Xu, Chongkai Gao, Zixuan Liu et al.

To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of manipulation tasks, akin to the versatile task-planning ability exhibited by LLMs. The vast diversity in objects, robots, and manipulation tasks presents huge challenges. Our work introduces a comprehensive framework to develop a foundation model for general robotic manipulation that formalizes a manipulation task as contact synthesis. Specifically, our model takes as input object and robot manipulator point clouds, object physical attributes, target motions, and manipulation region masks. It outputs contact points on the object and associated contact forces or post-contact motions for robots to achieve the desired manipulation task. We perform extensive experiments both in the simulation and real-world settings, manipulating articulated rigid objects, rigid objects, and deformable objects that vary in dimensionality, ranging from one-dimensional objects like ropes to two-dimensional objects like cloth and extending to three-dimensional objects such as plasticine. Our model achieves average success rates of around 90\%. Supplementary materials and videos are available on our project website at https://manifoundationmodel.github.io/.

Fanzhe Yan, Gang Yang, Yu Li et al.

Deep learning techniques have demonstrated great potential for accurately estimating brain age by analyzing Magnetic Resonance Imaging (MRI) data from healthy individuals. However, current methods for brain age estimation often directly utilize whole input images, overlooking two important considerations: 1) the heterogeneous nature of brain aging, where different brain regions may degenerate at different rates, and 2) the existence of age-independent redundancies in brain structure. To overcome these limitations, we propose a Dual Graph Attention based Disentanglement Multi-instance Learning (DGA-DMIL) framework for improving brain age estimation. Specifically, the 3D MRI data, treated as a bag of instances, is fed into a 2D convolutional neural network backbone, to capture the unique aging patterns in MRI. A dual graph attention aggregator is then proposed to learn the backbone features by exploiting the intra- and inter-instance relationships. Furthermore, a disentanglement branch is introduced to separate age-related features from age-independent structural representations to ameliorate the interference of redundant information on age prediction. To verify the effectiveness of the proposed framework, we evaluate it on two datasets, UK Biobank and ADNI, containing a total of 35,388 healthy individuals. Our proposed model demonstrates exceptional accuracy in estimating brain age, achieving a remarkable mean absolute error of 2.12 years in the UK Biobank. The results establish our approach as state-of-the-art compared to other competing brain age estimation models. In addition, the instance contribution scores identify the varied importance of brain areas for aging prediction, which provides deeper insights into the understanding of brain aging.

Yanjie Zhu, Haoxiang Li, Yuanyuan Liu et al.

Purpose: To propose a novel deep learning-based method called RG-Net (reconstruction and generation network) for highly accelerated MR parametric mapping by undersampling k-space and reducing the acquired contrast number simultaneously. Methods: The proposed framework consists of a reconstruction module and a generative module. The reconstruction module reconstructs MR images from the acquired few undersampled k-space data with the help of a data prior. The generative module then synthesizes the remaining multi-contrast images from the reconstructed images, where the exponential model is implicitly incorporated into the image generation through the supervision of fully sampled labels. The RG-Net was evaluated on the T1\r{ho} mapping data of knee and brain at different acceleration rates. Regional T1\r{ho} analysis for cartilage and the brain was performed to access the performance of RG-Net. Results: RG-Net yields a high-quality T1\r{ho} map at a high acceleration rate of 17. Compared with the competing methods that only undersample k-space, our framework achieves better performance in T1\r{ho} value analysis. Our method also improves quality of T1\r{ho} maps on patient with glioma. Conclusion: The proposed RG-Net that adopted a new strategy by undersampling k-space and reducing the contrast number simultaneously for fast MR parametric mapping, can achieve a high acceleration rate while maintaining good reconstruction quality. The generative module of our framework can also be used as an insert module in other fast MR parametric mapping methods. Keywords: Deep learning, convolutional neural network, fast MR parametric mapping