Xinyi Yu

Jintao Rong, Hao Chen, Linlin Ou et al. · cmu

The Contrastive Language-Image Pretraining (CLIP) model has been widely used in various downstream vision tasks. The few-shot learning paradigm has been widely adopted to augment its capacity for these tasks. However, current paradigms may struggle with fine-grained classification, such as satellite image recognition, due to widening domain gaps. To address this limitation, we propose retrieval-enhanced visual prompt learning (RePrompt), which introduces retrieval mechanisms to cache and reuse the knowledge of downstream tasks. RePrompt constructs a retrieval database from either training examples or external data if available, and uses a retrieval mechanism to enhance multiple stages of a simple prompt learning baseline, thus narrowing the domain gap. During inference, our enhanced model can reference similar samples brought by retrieval to make more accurate predictions. A detailed analysis reveals that retrieval helps to improve the distribution of late features, thus, improving generalization for downstream tasks. Reprompt attains state-of-the-art performance on a wide range of vision datasets, including 11 image datasets, 3 video datasets, 1 multi-view dataset, and 4 domain generalization benchmarks.

Xinyi Yu, Guanbin Li, Wei Lou et al.

Nuclei segmentation is a fundamental but challenging task in the quantitative analysis of histopathology images. Although fully-supervised deep learning-based methods have made significant progress, a large number of labeled images are required to achieve great segmentation performance. Considering that manually labeling all nuclei instances for a dataset is inefficient, obtaining a large-scale human-annotated dataset is time-consuming and labor-intensive. Therefore, augmenting a dataset with only a few labeled images to improve the segmentation performance is of significant research and application value. In this paper, we introduce the first diffusion-based augmentation method for nuclei segmentation. The idea is to synthesize a large number of labeled images to facilitate training the segmentation model. To achieve this, we propose a two-step strategy. In the first step, we train an unconditional diffusion model to synthesize the Nuclei Structure that is defined as the representation of pixel-level semantic and distance transform. Each synthetic nuclei structure will serve as a constraint on histopathology image synthesis and is further post-processed to be an instance map. In the second step, we train a conditioned diffusion model to synthesize histopathology images based on nuclei structures. The synthetic histopathology images paired with synthetic instance maps will be added to the real dataset for training the segmentation model. The experimental results show that by augmenting 10% labeled real dataset with synthetic samples, one can achieve comparable segmentation results with the fully-supervised baseline. The code is released in: https://github.com/lhaof/Nudiff

Michael Gleicher, Xinyi Yu, Yuheng Chen

Classification methods for binary (yes/no) tasks often produce a continuously valued score. Machine learning practitioners must perform model selection, calibration, discretization, performance assessment, tuning, and fairness assessment. Such tasks involve examining classifier results, typically using summary statistics and manual examination of details. In this paper, we provide an interactive visualization approach to support such continuously-valued classifier examination tasks. Our approach addresses the three phases of these tasks: calibration, operating point selection, and examination. We enhance standard views and introduce task-specific views so that they can be integrated into a multi-view coordination (MVC) system. We build on an existing comparison-based approach, extending it to continuous classifiers by treating the continuous values as trinary (positive, unsure, negative) even if the classifier will not ultimately use the 3-way classification. We provide use cases that demonstrate how our approach enables machine learning practitioners to accomplish key tasks.

Xin-Yi Yu, Jun-Xin Yu, Li-Bo Zhou et al.

We present InstantStyleGaussian, an innovative 3D style transfer method based on the 3D Gaussian Splatting (3DGS) scene representation. By inputting a target-style image, it quickly generates new 3D GS scenes. Our method operates on pre-reconstructed GS scenes, combining diffusion models with an improved iterative dataset update strategy. It utilizes diffusion models to generate target style images, adds these new images to the training dataset, and uses this dataset to iteratively update and optimize the GS scenes, significantly accelerating the style editing process while ensuring the quality of the generated scenes. Extensive experimental results demonstrate that our method ensures high-quality stylized scenes while offering significant advantages in style transfer speed and consistency.

Kaijun Wang, Liqin Lu, Mingyu Liu et al.

Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large language models have improved spatial reasoning and task planning through semantic priors, existing implementations remain confined to tabletop scenarios, failing to address the constrained perception and limited actuation ranges of mobile platforms. Second, current manipulation strategies exhibit insufficient generalization when confronted with the diverse object configurations encountered in open-world environments. Third, while crucial for practical deployment, the dual requirement of maintaining high platform maneuverability alongside precise end-effector control in unstructured settings remains understudied. In this work, we present ODYSSEY, a unified mobile manipulation framework for agile quadruped robots equipped with manipulators, which seamlessly integrates high-level task planning with low-level whole-body control. To address the challenge of egocentric perception in language-conditioned tasks, we introduce a hierarchical planner powered by a vision-language model, enabling long-horizon instruction decomposition and precise action execution. At the control level, our novel whole-body policy achieves robust coordination across challenging terrains. We further present the first benchmark for long-horizon mobile manipulation, evaluating diverse indoor and outdoor scenarios. Through successful sim-to-real transfer, we demonstrate the system's generalization and robustness in real-world deployments, underscoring the practicality of legged manipulators in unstructured environments. Our work advances the feasibility of generalized robotic assistants capable of complex, dynamic tasks. Our project page: https://kaijwang.github.io/odyssey.github.io/

Xinyi Yu, Zhiwei Lin, Yongtao Wang

Synthetic Aperture Radar (SAR) object detection faces significant challenges from speckle noise, small target ambiguities, and on-board computational constraints. While existing approaches predominantly focus on SAR-specific architectural modifications, this paper explores the application of the existing lightweight object detector, i.e., YOLOv10, for SAR object detection and enhances its performance through Neural Architecture Search (NAS). Specifically, we employ NAS to systematically optimize the network structure, especially focusing on the backbone architecture search. By constructing an extensive search space and leveraging evolutionary search, our method identifies a favorable architecture that balances accuracy, parameter efficiency, and computational cost. Notably, this work introduces NAS to SAR object detection for the first time. The experimental results on the large-scale SARDet-100K dataset demonstrate that our optimized model outperforms existing SAR detection methods, achieving superior detection accuracy while maintaining lower computational overhead. We hope this work offers a novel perspective on leveraging NAS for real-world applications.

Mingyang Zhang, Xinyi Yu, Jingtao Rong et al.

In the past years, significant improvements in the field of neural architecture search(NAS) have been made. However, it is still challenging to search for efficient networks due to the gap between the searched constraint and real inference time exists. To search for a high-performance network with low inference time, several previous works set a computational complexity constraint for the search algorithm. However, many factors affect the speed of inference(e.g., FLOPs, MACs). The correlation between a single indicator and the latency is not strong. Currently, some re-parameterization(Rep) techniques are proposed to convert multi-branch to single-path architecture which is inference-friendly. Nevertheless, multi-branch architectures are still human-defined and inefficient. In this work, we propose a new search space that is suitable for structural re-parameterization techniques. RepNAS, a one-stage NAS approach, is present to efficiently search the optimal diverse branch block(ODBB) for each layer under the branch number constraint. Our experimental results show the searched ODBB can easily surpass the manual diverse branch block(DBB) with efficient training.

Xinyi Yu, Yuehai Fan, Siyu Xu et al.

Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating environment is variable in real time. To tackle these problems, we propose a self-adaptive model-free SAC-PID control approach based on reinforcement learning for automatic control of mobile robots. A new hierarchical structure is developed, which includes the upper controller based on soft actor-critic (SAC), one of the most competitive continuous control algorithms, and the lower controller based on incremental PID controller. Soft actor-critic receives the dynamic information of the mobile robot as input, and simultaneously outputs the optimal parameters of incremental PID controllers to compensate for the error between the path and the mobile robot in real time. In addition, the combination of 24-neighborhood method and polynomial fitting is developed to improve the adaptability of SAC-PID control method to complex environments. The effectiveness of the SAC-PID control method is verified with several different difficulty paths both on Gazebo and real mecanum mobile robot. Futhermore, compared with fuzzy PID control, the SAC-PID method has merits of strong robustness, generalization and real-time performance.

Mingyang Zhang, Xinyi Yu, Jingtao Rong et al.

Automated Machine Learning(Auto-ML) pruning methods aim at searching a pruning strategy automatically to reduce the computational complexity of deep Convolutional Neural Networks(deep CNNs). However, some previous work found that the results of many Auto-ML pruning methods cannot even surpass the results of the uniformly pruning method. In this paper, the ineffectiveness of Auto-ML pruning which is caused by unfull and unfair training of the supernet is shown. A deep supernet suffers from unfull training because it contains too many candidates. To overcome the unfull training, a stage-wise pruning(SWP) method is proposed, which splits a deep supernet into several stage-wise supernets to reduce the candidate number and utilize inplace distillation to supervise the stage training. Besides, A wide supernet is hit by unfair training since the sampling probability of each channel is unequal. Therefore, the fullnet and the tinynet are sampled in each training iteration to ensure each channel can be overtrained. Remarkably, the proxy performance of the subnets trained with SWP is closer to the actual performance than that of most of the previous Auto-ML pruning work. Experiments show that SWP achieves the state-of-the-art on both CIFAR-10 and ImageNet under the mobile setting.

Michael Gleicher, Aditya Barve, Xinyi Yu et al.

Machine learning practitioners often compare the results of different classifiers to help select, diagnose and tune models. We present Boxer, a system to enable such comparison. Our system facilitates interactive exploration of the experimental results obtained by applying multiple classifiers to a common set of model inputs. The approach focuses on allowing the user to identify interesting subsets of training and testing instances and comparing performance of the classifiers on these subsets. The system couples standard visual designs with set algebra interactions and comparative elements. This allows the user to compose and coordinate views to specify subsets and assess classifier performance on them. The flexibility of these compositions allow the user to address a wide range of scenarios in developing and assessing classifiers. We demonstrate Boxer in use cases including model selection, tuning, fairness assessment, and data quality diagnosis.

Mingyang Zhang, Xinyi Yu, Jingtao Rong et al.

Previous AutoML pruning works utilized individual layer features to automatically prune filters. We analyze the correlation for two layers from the different blocks which have a short-cut structure. It shows that, in one block, the deeper layer has many redundant filters which can be represented by filters in the former layer. So, it is necessary to take information from other layers into consideration in pruning. In this paper, a novel pruning method, named GraphPruning, is proposed. Any series of the network is viewed as a graph. To automatically aggregate neighboring features for each node, a graph aggregator based on graph convolution networks(GCN) is designed. In the training stage, a PruningNet that is given aggregated node features generates reasonable weights for any size of the sub-network. Subsequently, the best configuration of the Pruned Network is searched by reinforcement learning. Different from previous work, we take the node features from a well-trained graph aggregator instead of the hand-craft features, as the states in reinforcement learning. Compared with other AutoML pruning works, our method has achieved the state-of-the-art under the same conditions on ImageNet-2012.