7 papers
Articulat3D: Reconstructing Articulated Digital Twins From Monocular Videos with Geometric and Motion Constraints
Lijun Guo, Haoyu Zhao, Xingyue Zhao +5
Building high-fidelity digital twins of articulated objects from visual data remains a central challenge. Existing approaches depend on multi-view captures of the object in discret…
Shift-Dependent Asymmetry: Orthogonal Inverse Low-Rank Adaptation for Federated Medical Segmentation
Xingyue Zhao, Wenke Huang, Linghao Zhuang +7
Low-Rank Adaptation (LoRA) enables efficient federated fine-tuning of segmentation foundation models for medical imaging. However, most federated LoRA methods adopt a uniform aggre…
Divide, Conquer and Unite: Hierarchical Style-Recalibrated Prototype Alignment for Federated Medical Segmentation
Xingyue Zhao, Wenke Huang, Xingguang Wang +5
Federated learning enables multiple medical institutions to train a global model without sharing data, yet feature heterogeneity from diverse scanners or protocols remains a major…
Towards Affordance-Aware Robotic Dexterous Grasping with Human-like Priors
Haoyu Zhao, Linghao Zhuang, Xingyue Zhao +10
A dexterous hand capable of generalizable grasping objects is fundamental for the development of general-purpose embodied AI. However, previous methods focus narrowly on low-level…
High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting
Haoyu Zhao, Cheng Zeng, Linghao Zhuang +11
The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternativ…
pFedSAM: Personalized Federated Learning of Segment Anything Model for Medical Image Segmentation
Tong Wang, Xingyue Zhao, Linghao Zhuang +5
Medical image segmentation is crucial for computer-aided diagnosis, yet privacy constraints hinder data sharing across institutions. Federated learning addresses this limitation, b…