12 papers
UltraStar: Semantic-Aware Star Graph Modeling for Echocardiography Navigation
Teng Wang, Haojun Jiang, Chenxi Li +6
Echocardiography is critical for diagnosing cardiovascular diseases, yet the shortage of skilled sonographers hinders timely patient care, due to high operational difficulties. Con…
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
Zhenguo Sun, Bo-Sheng Huang, Yibo Peng +9
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperati…
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
Xukun Li, Yu Sun, Lei Zhang +10
Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we…
UltraHiT: A Hierarchical Transformer Architecture for Generalizable Internal Carotid Artery Robotic Ultrasonography
Teng Wang, Haojun Jiang, Yuxuan Wang +4
Carotid ultrasound is crucial for the assessment of cerebrovascular health, particularly the internal carotid artery (ICA). While previous research has explored automating carotid…
VA-Adapter: Adapting Ultrasound Foundation Model to Echocardiography Probe Guidance
Teng Wang, Haojun Jiang, Yuxuan Wang +4
Echocardiography is a critical tool for detecting heart diseases, yet its steep operational difficulty causes a shortage of skilled personnel. Probe guidance systems, which assist…
Emulating Human-like Adaptive Vision for Efficient and Flexible Machine Visual Perception
Yulin Wang, Yang Yue, Huanqian Wang +11
Human vision is highly adaptive, efficiently sampling intricate environments by sequentially fixating on task-relevant regions. In contrast, prevailing machine vision models passiv…
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
Zhenguo Sun, Yibo Peng, Yuan Meng +5
Long-horizon, high-dynamic motion tracking on humanoids remains brittle: retargeted reference motions are typically kinematically plausible but dynamically inconsistent with the ro…
EchoWorld: Learning Motion-Aware World Models for Echocardiography Probe Guidance
Yang Yue, Yulin Wang, Haojun Jiang +3
Echocardiography is crucial for cardiovascular disease detection but relies heavily on experienced sonographers. Echocardiography probe guidance systems, which provide real-time mo…
UltraSeP: Sequence-aware Pre-training for Echocardiography Probe Movement Guidance
Haojun Jiang, Teng Wang, Zhenguo Sun +8
Echocardiography is an essential medical technique for diagnosing cardiovascular diseases, but its high operational complexity has led to a shortage of trained professionals. To ad…
Structure-aware World Model for Probe Guidance via Large-scale Self-supervised Pre-train
Haojun Jiang, Meng Li, Zhenguo Sun +5
The complex structure of the heart leads to significant challenges in echocardiography, especially in acquisition cardiac ultrasound images. Successful echocardiography requires a…
Cardiac Copilot: Automatic Probe Guidance for Echocardiography with World Model
Haojun Jiang, Zhenguo Sun, Ning Jia +5
Echocardiography is the only technique capable of real-time imaging of the heart and is vital for diagnosing the majority of cardiac diseases. However, there is a severe shortage o…
LocalGCL: Local-aware Contrastive Learning for Graphs
Haojun Jiang, Jiawei Sun, Jie Li +1
Graph representation learning (GRL) makes considerable progress recently, which encodes graphs with topological structures into low-dimensional embeddings. Meanwhile, the time-cons…