Search Results for author: Zhongyu Li

Found 39 papers, 11 papers with code

Asymmetric Co-Training with Explainable Cell Graph Ensembling for Histopathological Image Classification

no code implementations24 Aug 2023 Ziqi Yang, Zhongyu Li, Chen Liu, Xiangde Luo, Xingguang Wang, Dou Xu, CHAOQUN LI, Xiaoying Qin, Meng Yang, Long Jin

To make full use of pixel-level and cell-level features dynamically, we propose an asymmetric co-training framework combining a deep graph convolutional network and a convolutional neural network for multi-class histopathological image classification.

Classification Histopathological Image Classification +1

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments

1 code implementation28 Feb 2023 Yifan Zeng, Suiyi He, Han Hoang Nguyen, Yihan Li, Zhongyu Li, Koushil Sreenath, Jun Zeng

This work introduces a novel control strategy called Iterative Linear Quadratic Regulator for Iterative Tasks (i2LQR), which aims to improve closed-loop performance with local trajectory optimization for iterative tasks in a dynamic environment.

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning

no code implementations19 Feb 2023 Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath

This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world.

reinforcement-learning Reinforcement Learning (RL)

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

1 code implementation12 Sep 2022 Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine

In this work, we introduce a framework for training generalized locomotion (GenLoco) controllers for quadrupedal robots.

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot

no code implementations1 Aug 2022 Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath

Developing algorithms to enable a legged robot to shoot a soccer ball to a given target is a challenging problem that combines robot motion control and planning into one task.

Friction Hierarchical Reinforcement Learning +3

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots

no code implementations29 Jun 2022 Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath

We develop and demonstrate one of the first collaborative autonomy framework that is able to move a cable-towed load, which is too heavy to move by a single robot, through narrow spaces with real-time feedback and reactive planning in experiments.

Adapting Rapid Motor Adaptation for Bipedal Robots

no code implementations30 May 2022 Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik

In this work, we leverage recent advances in rapid adaptation for locomotion control, and extend them to work on bipedal robots.

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models

no code implementations11 May 2022 Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath

Furthermore, we illustrate that the found linear model is able to provide guarantees by safety-critical optimal control framework, e. g., Model Predictive Control with Control Barrier Functions, on an example of autonomous navigation using Cassie while taking advantage of the agility provided by the RL-based controller.

Autonomous Navigation reinforcement-learning +1

Teaching Robots to Span the Space of Functional Expressive Motion

no code implementations4 Mar 2022 Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan

As a result 1) all user feedback can contribute to learning about every emotion; 2) the robot can generate trajectories for any emotion in the space instead of only a few predefined ones; and 3) the robot can respond emotively to user-generated natural language by mapping it to a target VAD.

Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments

no code implementations13 Sep 2021 Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath

This demonstrates reliable autonomy to drive the robot to safely avoid obstacles while walking to the goal location in various kinds of height-constrained cluttered environments.

Autonomous Navigation Trajectory Planning

Unsupervised Domain Adaptation for the Histopathological Cell Segmentation through Self-Ensembling

no code implementations MICCAI Workshop COMPAY 2021 CHAOQUN LI, Yitian Zhou, TangQi Shi, Yenan Wu, Meng Yang, Zhongyu Li

Meanwhile, we present a self-ensembling model to consider the source and the target domain together as a semi-supervised segmentation task to reduce the differences of outputs.

Cell Segmentation Unsupervised Domain Adaptation

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles

no code implementations1 Jul 2021 Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath

The resulted jumping mode is utilized in an autonomous navigation pipeline that leverages a search-based global planner and a local planner to enable the robot to reach the goal location by walking.

Autonomous Navigation Decision Making +1

CRT-Net: A Generalized and Scalable Framework for the Computer-Aided Diagnosis of Electrocardiogram Signals

no code implementations28 May 2021 Jingyi Liu, Zhongyu Li, Xiayue Fan, Jintao Yan, Bolin Li, Xuemeng Hu, Qing Xia, Yue Wu

Subsequently, a novel deep neural network, namely CRT-Net, is designed for the fine-grained and comprehensive representation and recognition of 1-D ECG signals.

Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions

2 code implementations21 May 2021 Jun Zeng, Zhongyu Li, Koushil Sreenath

In the existing approaches, the feasibility of the optimization and the system safety cannot be enhanced at the same time theoretically.

3DMNDT:3D multi-view registration method based on the normal distributions transform

no code implementations20 Mar 2021 Jihua Zhu, Di Wang, Jiaxi Mu, Huimin Lu, Zhiqiang Tian, Zhongyu Li

Under the NDT framework, this paper proposes a novel multi-view registration method, named 3D multi-view registration based on the normal distributions transform (3DMNDT), which integrates the K-means clustering and Lie algebra solver to achieve multi-view registration.


Effective multi-view registration of point sets based on student's t mixture model

1 code implementation13 Dec 2020 Yanlin Ma, Jihua Zhu, Zhongyu Li, Zhiqiang Tian, Yaochen Li

What's more, the t-distribution takes the noise with heavy-tail into consideration, which makes the proposed method be inherently robust to noises and outliers.

Tensor-based Intrinsic Subspace Representation Learning for Multi-view Clustering

no code implementations19 Oct 2020 Qinghai Zheng, Yu Zhang, Jihua Zhu, Zhongyu Li, Haoyu Tang, Shuangxun Ma

It can be seen that specific information contained in different views is fully investigated by the rank preserving decomposition, and the high-order correlations of multi-view data are also mined by the low-rank tensor constraint.

Clustering Multi-view Subspace Clustering +1

Multi-view Subspace Clustering Networks with Local and Global Graph Information

1 code implementation19 Oct 2020 Qinghai Zheng, Jihua Zhu, Yuanyuan Ma, Zhongyu Li, Zhiqiang Tian

Furthermore, underlying graph information of multi-view data is always ignored in most existing multi-view subspace clustering methods.

Clustering Multi-view Subspace Clustering

Towards Automatic Manipulation of Intra-cardiac Echocardiography Catheter

no code implementations12 Sep 2020 Young-Ho Kim, Jarrod Collins, Zhongyu Li, Ponraj Chinnadurai, Ankur Kapoor, C. Huie Lin, Tommaso Mansi

We present a simplified calibration approach for error compensation and verify with complex rotation of the catheter in benchtop and phantom experiments under varying realistic curvature conditions.

Anatomy Non-Linear Elasticity

Graph Neural Networks for UnsupervisedDomain Adaptation of Histopathological ImageAnalytics

no code implementations21 Aug 2020 Dou Xu, Chang Cai, Chaowei Fang, Bin Kong, Jihua Zhu, Zhongyu Li

To thisend, we present a novel method for the unsupervised domain adaptationin histopathological image analysis, based on a backbone for embeddinginput images into a feature space, and a graph neural layer for propa-gating the supervision signals of images with labels.

Contrastive Learning Histopathological Image Classification +3

Bidirectional Loss Function for Label Enhancement and Distribution Learning

no code implementations7 Jul 2020 Xinyuan Liu, Jihua Zhu, Qinghai Zheng, Zhongyu Li, Ruixin Liu, Jun Wang

More specifically, this novel loss function not only considers the mapping errors generated from the projection of the input space into the output one but also accounts for the reconstruction errors generated from the projection of the output space back to the input one.

Multi-Label Learning

Robust Motion Averaging under Maximum Correntropy Criterion

no code implementations21 Apr 2020 Jihua Zhu, Jie Hu, Huimin Lu, Badong Chen, Zhongyu Li

Recently, the motion averaging method has been introduced as an effective means to solve the multi-view registration problem.

Generalized Label Enhancement with Sample Correlations

no code implementations7 Apr 2020 Qinghai Zheng, Jihua Zhu, Haoyu Tang, Xinyuan Liu, Zhongyu Li, Huimin Lu

Recently, label distribution learning (LDL) has drawn much attention in machine learning, where LDL model is learned from labelel instances.

BIG-bench Machine Learning

Registration of multi-view point sets under the perspective of expectation-maximization

1 code implementation18 Feb 2020 Jihua Zhu, Jing Zhang, Huimin Lu, Zhongyu Li

Registration of multi-view point sets is a prerequisite for 3D model reconstruction.

CFEA: Collaborative Feature Ensembling Adaptation for Domain Adaptation in Unsupervised Optic Disc and Cup Segmentation

2 code implementations16 Oct 2019 Peng Liu, Bin Kong, Zhongyu Li, Shaoting Zhang, Ruogu Fang

Our proposed CFEA is an interactive paradigm which presents an exquisite of collaborative adaptation through both adversarial learning and ensembling weights.

Unsupervised Domain Adaptation

Visual Space Optimization for Zero-shot Learning

no code implementations30 Jun 2019 Xinsheng Wang, Shanmin Pang, Jihua Zhu, Zhongyu Li, Zhiqiang Tian, Yaochen Li

The other is to optimize the visual feature structure in an intermediate embedding space, and in this method we successfully devise a multilayer perceptron framework based algorithm that is able to learn the common intermediate embedding space and meanwhile to make the visual data structure more distinctive.

Zero-Shot Learning

Feature Concatenation Multi-view Subspace Clustering

1 code implementation30 Jan 2019 Qinghai Zheng, Jihua Zhu, Zhongyu Li, Shanmin Pang, Jun Wang, Yaochen Li

To this end, this paper proposes a novel multi-view subspace clustering approach dubbed Feature Concatenation Multi-view Subspace Clustering (FCMSC), which boosts the clustering performance by exploring the consensus information of multi-view data.

Clustering Multi-view Subspace Clustering

Adaptive Co-weighting Deep Convolutional Features For Object Retrieval

no code implementations20 Mar 2018 Jiaxing Wang, Jihua Zhu, Shanmin Pang, Zhongyu Li, Yaochen Li, Xueming Qian

Aggregating deep convolutional features into a global image vector has attracted sustained attention in image retrieval.

Image Retrieval Retrieval

Simultaneous merging multiple grid maps using the robust motion averaging

no code implementations14 Jun 2017 Zutao Jiang, Jihua Zhu, Yaochen Li, Zhongyu Li, Huimin Lu

The main idea of this approach is to recover all global motions for map merging from a set of relative motions.

An Effective Approach for Point Clouds Registration Based on the Hard and Soft Assignments

no code implementations1 Jun 2017 Congcong Jin, Jihua Zhu, Yaochen Li, Shaoyi Du, Zhongyu Li, Huimin Lu

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments.

Weighted Motion Averaging for the Registration of Multi-View Range Scans

no code implementations21 Feb 2017 Rui Guo, Jihua Zhu, Yaochen Li, Dapeng Chen, Zhongyu Li, Yongqin Zhang

With the overlapping percentage available, it views the overlapping percentage as the corresponding weight of each scan pair and proposes the weight motion averaging algorithm, which can pay more attention to reliable and accurate relative motions.

3D Reconstruction

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