Fan Yang

Fan Yang, Dongsheng Luo, Wenrui Chen et al.

Functional dexterous grasping requires precise hand-object interaction, going beyond simple gripping. Existing affordance-based methods primarily predict coarse interaction regions and cannot directly constrain the grasping posture, leading to a disconnection between visual perception and manipulation. To address this issue, we propose a multi-keypoint affordance representation for functional dexterous grasping, which directly encodes task-driven grasp configurations by localizing functional contact points. Our method introduces Contact-guided Multi-Keypoint Affordance (CMKA), leveraging human grasping experience images for weak supervision combined with Large Vision Models for fine affordance feature extraction, achieving generalization while avoiding manual keypoint annotations. Additionally, we present a Keypoint-based Grasp matrix Transformation (KGT) method, ensuring spatial consistency between hand keypoints and object contact points, thus providing a direct link between visual perception and dexterous grasping actions. Experiments on public real-world FAH datasets, IsaacGym simulation, and challenging robotic tasks demonstrate that our method significantly improves affordance localization accuracy, grasp consistency, and generalization to unseen tools and tasks, bridging the gap between visual affordance learning and dexterous robotic manipulation. The source code and demo videos are publicly available at https://github.com/PopeyePxx/MKA.

Yigeng Zhang, Fan Yang, Yifan Zhang et al.

Satirical news is regularly shared in modern social media because it is entertaining with smartly embedded humor. However, it can be harmful to society because it can sometimes be mistaken as factual news, due to its deceptive character. We found that in satirical news, the lexical and pragmatical attributes of the context are the key factors in amusing the readers. In this work, we propose a method that differentiates the satirical news and true news. It takes advantage of satirical writing evidence by leveraging the difference between the prediction loss of two language models, one trained on true news and the other on satirical news, when given a new news article. We compute several statistical metrics of language model prediction loss as features, which are then used to conduct downstream classification. The proposed method is computationally effective because the language models capture the language usage differences between satirical news documents and traditional news documents, and are sensitive when applied to documents outside their domains.

Fan Yang, Ling Chen, Fan Zhou et al.

Real-world dynamical systems often consist of multiple stochastic subsystems that interact with each other. Modeling and forecasting the behavior of such dynamics are generally not easy, due to the inherent hardness in understanding the complicated interactions and evolutions of their constituents. This paper introduces the relational state-space model (R-SSM), a sequential hierarchical latent variable model that makes use of graph neural networks (GNNs) to simulate the joint state transitions of multiple correlated objects. By letting GNNs cooperate with SSM, R-SSM provides a flexible way to incorporate relational information into the modeling of multi-object dynamics. We further suggest augmenting the model with normalizing flows instantiated for vertex-indexed random variables and propose two auxiliary contrastive objectives to facilitate the learning. The utility of R-SSM is empirically evaluated on synthetic and real time-series datasets.

Fan Yang, Ajinkya Kale, Yury Bubnov et al.

In this paper, we propose a novel end-to-end approach for scalable visual search infrastructure. We discuss the challenges we faced for a massive volatile inventory like at eBay and present our solution to overcome those. We harness the availability of large image collection of eBay listings and state-of-the-art deep learning techniques to perform visual search at scale. Supervised approach for optimized search limited to top predicted categories and also for compact binary signature are key to scale up without compromising accuracy and precision. Both use a common deep neural network requiring only a single forward inference. The system architecture is presented with in-depth discussions of its basic components and optimizations for a trade-off between search relevance and latency. This solution is currently deployed in a distributed cloud infrastructure and fuels visual search in eBay ShopBot and Close5. We show benchmark on ImageNet dataset on which our approach is faster and more accurate than several unsupervised baselines. We share our learnings with the hope that visual search becomes a first class citizen for all large scale search engines rather than an afterthought.