arXiv subjects

Cheng Pan

Publications and source records attributed to Cheng Pan.

11 recordsLinked to original sources

arXiv2026

WeatherRemover: All-in-one Adverse Weather Removal with Multi-scale Feature Map Compression

Photographs taken in adverse weather conditions often suffer from blurriness, occlusion, and low brightness due to interference from rain, snow, and fog. These issues can significantly hinder the performance of subsequent computer vision tasks, making the removal of weather effects a crucial step in image enhancement. Existing methods primarily target specific weather conditions, with only a few capable of handling multiple weather scenarios. However, mainstream approaches often overlook performance considerations, resulting in large parameter sizes, long inference times, and high memory costs. In this study, we introduce the WeatherRemover model, designed to enhance the restoration of images affected by various weather conditions while balancing performance. Our model adopts a UNet-like structure with a gating mechanism and a multi-scale pyramid vision Transformer. It employs channel-wise attention derived from convolutional neural networks to optimize feature extraction, while linear spatial reduction helps curtail the computational demands of attention. The gating mechanisms, strategically placed within the feed-forward and downsampling phases, refine the processing of information by selectively addressing redundancy and mitigating its influence on learning. This approach facilitates the adaptive selection of essential data, ensuring superior restoration and maximizing efficiency. Additionally, our lightweight model achieves an optimal balance between restoration quality, parameter efficiency, computational overhead, and memory usage, distinguishing it from other multi-weather models, thereby meeting practical application demands effectively. The source code is available at https://github.com/RICKand-MORTY/WeatherRemover.

cs.CV↗

arXiv2026

Balancing Efficiency and Restoration: Lightweight Mamba-Based Model for CT Metal Artifact Reduction

In computed tomography imaging, metal implants frequently generate severe artifacts that compromise image quality and hinder diagnostic accuracy. There are three main challenges in the existing methods: the deterioration of organ and tissue structures, dependence on sinogram data, and an imbalance between resource use and restoration efficiency. Addressing these issues, we introduce MARMamba, which effectively eliminates artifacts caused by metals of different sizes while maintaining the integrity of the original anatomical structures of the image. Furthermore, this model only focuses on CT images affected by metal artifacts, thus negating the requirement for additional input data. The model is a streamlined UNet architecture, which incorporates multi-scale Mamba (MS-Mamba) as its core module. Within MS-Mamba, a flip mamba block captures comprehensive contextual information by analyzing images from multiple orientations. Subsequently, the average maximum feed-forward network integrates critical features with average features to suppress the artifacts. This combination allows MARMamba to reduce artifacts efficiently. The experimental results demonstrate that our model excels in reducing metal artifacts, offering distinct advantages over other models. It also strikes an optimal balance between computational demands, memory usage, and the number of parameters, highlighting its practical utility in the real world. The code of the presented model is available at: https://github.com/RICKand-MORTY/MARMamba.

cs.CV↗

arXiv2025

LAFA: Agentic LLM-Driven Federated Analytics over Decentralized Data Sources

Large Language Models (LLMs) have shown great promise in automating data analytics tasks by interpreting natural language queries and generating multi-operation execution plans. However, existing LLM-agent-based analytics frameworks operate under the assumption of centralized data access, offering little to no privacy protection. In contrast, federated analytics (FA) enables privacy-preserving computation across distributed data sources, but lacks support for natural language input and requires structured, machine-readable queries. In this work, we present LAFA, the first system that integrates LLM-agent-based data analytics with FA. LAFA introduces a hierarchical multi-agent architecture that accepts natural language queries and transforms them into optimized, executable FA workflows. A coarse-grained planner first decomposes complex queries into sub-queries, while a fine-grained planner maps each subquery into a Directed Acyclic Graph of FA operations using prior structural knowledge. To improve execution efficiency, an optimizer agent rewrites and merges multiple DAGs, eliminating redundant operations and minimizing computational and communicational overhead. Our experiments demonstrate that LAFA consistently outperforms baseline prompting strategies by achieving higher execution plan success rates and reducing resource-intensive FA operations by a substantial margin. This work establishes a practical foundation for privacy-preserving, LLM-driven analytics that supports natural language input in the FA setting.

cs.AI↗

arXiv2025

Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation

Teleoperated robotic manipulators enable the collection of demonstration data, which can be used to train control policies through imitation learning. However, such methods can require significant amounts of training data to develop robust policies or adapt them to new and unseen tasks. While expert feedback can significantly enhance policy performance, providing continuous feedback can be cognitively demanding and time-consuming for experts. To address this challenge, we propose to use a cable-driven teleoperation system which can provide spatial corrections with 6 degree of freedom to the trajectories generated by a policy model. Specifically, we propose a correction method termed Decaying Relative Correction (DRC) which is based upon the spatial offset vector provided by the expert and exists temporarily, and which reduces the intervention steps required by an expert. Our results demonstrate that DRC reduces the required expert intervention rate by 30\% compared to a standard absolute corrective method. Furthermore, we show that integrating DRC within an online imitation learning framework rapidly increases the success rate of manipulation tasks such as raspberry harvesting and cloth wiping.

cs.RO↗

arXiv2024

Language Conditioned Multi-Finger Dexterous Manipulation Enabled by Physical Compliance and Switching of Controllers

Human dexterity arises from combining high-level task reasoning with finger-level dexterity control and physical compliance at the muscle and skin layers. In robotics, large Vision-Language-Action (VLA) models demonstrate text-conditioned high-level planning across diverse manipulation tasks, typically using pincher grippers. Smaller imitation-learning policies, conversely, show success in dexterous tasks using higher degree-of-freedom (DoF) grippers, but only for limited-scope tasks. However, few approaches combine high-level reasoning with dexterous, robust low-level control, which requires both intelligent control and compliant robot design. We propose a method inspired by the two-channel hypothesis of human motor control that combines these capabilities using a switching controller integrating high-level VLAs and smaller control models. Coordination between the two channels is managed through an event-driven switching mechanism that monitors subtask progression and completion, requiring minimal demonstration data by fine-tuning the VLA to predict event signals and training lightweight subtask-level dexterous policies. This approach is applied to our custom compliant 13-DoF anthropomorphic robotic hand, where compliance can be modulated to evaluate its impact on dexterity and robustness when combined with an autonomous policy. We show that hardware-level compliance in robotic fingers enables passive adaptation to disturbances and improves contact stability. The methodology is validated across a range of language-conditioned dexterous tasks. To demonstrate modularity, we show that adaptation to additional dexterous skills and different compliant hands can be achieved without retraining the VLA model. This provides an efficient, scalable, cross-embodiment approach to dexterity that leverages compliance while retaining the advantages of large AI models.

cs.RO↗

arXiv2023

BS-Diff: Effective Bone Suppression Using Conditional Diffusion Models from Chest X-Ray Images

Chest X-rays (CXRs) are commonly utilized as a low-dose modality for lung screening. Nonetheless, the efficacy of CXRs is somewhat impeded, given that approximately 75% of the lung area overlaps with bone, which in turn hampers the detection and diagnosis of diseases. As a remedial measure, bone suppression techniques have been introduced. The current dual-energy subtraction imaging technique in the clinic requires costly equipment and subjects being exposed to high radiation. To circumvent these issues, deep learning-based image generation algorithms have been proposed. However, existing methods fall short in terms of producing high-quality images and capturing texture details, particularly with pulmonary vessels. To address these issues, this paper proposes a new bone suppression framework, termed BS-Diff, that comprises a conditional diffusion model equipped with a U-Net architecture and a simple enhancement module to incorporate an autoencoder. Our proposed network cannot only generate soft tissue images with a high bone suppression rate but also possesses the capability to capture fine image details. Additionally, we compiled the largest dataset since 2010, including data from 120 patients with high-definition, high-resolution paired CXRs and soft tissue images collected by our affiliated hospital. Extensive experiments, comparative analyses, ablation studies, and clinical evaluations indicate that the proposed BS-Diff outperforms several bone-suppression models across multiple metrics. Our code can be accessed at https://github.com/Benny0323/BS-Diff.

eess.IV↗

arXiv2019

SRDGAN: learning the noise prior for Super Resolution with Dual Generative Adversarial Networks

Single Image Super Resolution (SISR) is the task of producing a high resolution (HR) image from a given low-resolution (LR) image. It is a well researched problem with extensive commercial applications such as digital camera, video compression, medical imaging and so on. Most super resolution works focus on the features learning architecture, which can recover the texture details as close as possible. However, these works suffer from the following challenges: (1) The low-resolution (LR) training images are artificially synthesized using HR images with bicubic downsampling, which have much richer-information than real demosaic-upscaled mobile images. The mismatch between training and inference mobile data heavily blocks the improvement of practical super resolution algorithms. (2) These methods cannot effectively handle the blind distortions during super resolution in practical applications. In this work, an end-to-end novel framework, including high-to-low network and low-to-high network, is proposed to solve the above problems with dual Generative Adversarial Networks (GAN). First, the above mismatch problems are well explored with the high-to-low network, where clear high-resolution image and the corresponding realistic low-resolution image pairs can be generated. Moreover, a large-scale General Mobile Super Resolution Dataset, GMSR, is proposed, which can be utilized for training or as a fair comparison benchmark for super resolution methods. Second, an effective low-to-high network (super resolution network) is proposed in the framework. Benefiting from the GMSR dataset and novel training strategies, the super resolution model can effectively handle detail recovery and denoising at the same time.

cs.MM↗

arXiv2018

Twist Angle-Dependent Bands and Valley Inversion in 2D Materials/hBN Heterostructures

The use of relative twist angle between adjacent atomic layers in a van der Waals heterostructure, has emerged as a new degree of freedom to tune electronic and optoelectronic properties of devices based on 2D materials. Using ABA-stacked trilayer (TLG) graphene as the model system, we show that, contrary to conventional wisdom, the band structures of 2D materials are systematically tunable depending on their relative alignment angle between hexagonal BN (hBN), even at very large twist angles. Moreover, addition or removal of the hBN substrate results in an inversion of the K and K' valley in TLG's lowest Landau level (LL). Our work illustrates the critical role played by substrates in van der Waals heterostructures and opens the door towards band structure modification and valley control via substrate and twist angle engineering.

cond-mat.mes-hall↗

arXiv2017

A cost-effective rumor-containing strategy

This paper addresses the issue of suppressing a rumor using the truth in a cost-effective way. First, an individual-level dynamical model capturing the rumor-truth mixed spreading processes is proposed. On this basis, the cost-effective rumor-containing problem is modeled as an optimization problem. Extensive experiments show that finding a cost-effective rumor-containing strategy boils down to enhancing the first truth-spreading rate until the cost effectiveness of the rumor-containing strategy reaches the first turning point. This finding greatly reduces the time spent for solving the optimization problem. The influences of different factors on the optimal cost effectiveness of a rumor-containing strategy are examined through computer simulations. We believe our findings help suppress rumors in a cost-effective way. To our knowledge, this is the first time the rumor-containing problem is treated this way.

cs.SI↗

arXiv2016

Tunable plasmonic reflection by bound 1D electron states in a 2D Dirac metal

We show that surface plasmons of a two-dimensional Dirac metal such as graphene can be reflected by line-like perturbations hosting one-dimensional electron states. The reflection originates from a strong enhancement of the local optical conductivity caused by optical transitions involving these bound states. We propose that the bound states can be systematically created, controlled, and liquidated by an ultranarrow electrostatic gate. Using infrared nanoimaging, we obtain experimental evidence for the locally enhanced conductivity of graphene induced by a carbon nanotube gate, which supports this theoretical concept.

cond-mat.mes-hall↗

arXiv2009

Quantum interference induced by multiple Landau-Zener transitions in a strongly driven rf-SQUID qubit

We irradiated an rf-SQUID qubit with large-amplitude and high frequency electromagnetic field. Population transitions between macroscopic distinctive quantum states due to Landau-Zener transitions at energy-level avoided crossings were observed. The qubit population on the excited states as a function of flux detuning and microwave power exhibits interference patterns. Some novel features are found in the interference and a model based on rate equations can well address the features.

quant-ph↗