arXiv subjects

Haosen Yang

Publications and source records attributed to Haosen Yang.

At least 19 recordsLinked to original sources

arXiv2026

Video Generative Models as Geometry Learner

Recent generative approaches to geometry estimation adapt pretrained image diffusion models and treat the task as image-conditioned generation. Leveraging off-the-shelf image diffusion models, they either (i) train task-specific geometry models (for depth and surface normal estimation) independently, losing the opportunity of exploring the intrinsic correlation of these geometric targets, or (ii) jointly fine-tune modified image diffusion backbones (e.g., altered self-attention), which typically demands substantial labeled data. To overcome these limitations in a principled fashion, we repurpose pretrained video generative models as a unified and data-efficient framework for geometry estimation, formulated innovatively as a next-frames prediction task. Our method, GeoNeXt, inherits naturally structured knowledge and richer priors from the video model, while further adapting them for joint modeling of images and geometry targets (image <-> geometry), enabling more data efficient and effective learning of geometry. Extensive experiments validate our method for zero-shot monocular depth and surface normal estimation across diverse datasets, outperforming both previous task-specific and unified generative competitors while using substantially less training data. Notably, our method rivals discriminative state-of-the-art approaches trained on over 100x more data and even standouts on several benchmarks.

cs.CV↗

arXiv2026

ShotPlan: Cinematic Video Generation with Learnable Planning Token

Current video generation models achieve impressive results in single-shot generation, yet remain limited in cinematic video generation, where coherent narratives and effective multi-shot composition require explicit shot planning. To address this challenge, we propose ShotPlan, a framework for explicit multi-shot cinematic video generation built upon a video diffusion foundation model. Our method introduces learnable planning tokens that capture shot-level transition cues and can be seamlessly integrated with the original video generation tokens to control transition timestamps. Unlike standard video generation tokens, the proposed planning tokens are equipped with Fractional Temporal Rotary Position Embedding (FRoPE), enabling shot transitions to be modeled at the frame level. Experiments demonstrate that ShotPlan significantly outperforms existing cinematic video generation methods, offering more flexible shot management and stronger inter-shot consistency.

cs.CV↗

arXiv2026

MCR-Bionic Hand: Anatomical Structural Priors for Dexterous Manipulation

Dexterous robotic hands are usually formulated as high dimensional active control systems governed by degrees of freedom, actuation, and algorithms. Human hand dexterity, however, is partly encoded in the physical architecture of bones, ligaments, tendons, aponeuroses, and intrinsic muscles. This work describes that contribution as two linked forms of structural intelligence: structural prior generation, in which wrist to finger tenodesis, FDS/FDP routing, and the dorsal extensor hood transform low dimensional posture inputs into default grasp configurations and PIP to DIP coordination; and muscle mediated modulation, in which extrinsic muscles, lumbricals, and interossei regulate MCP posture, distal stability, fingertip force paths, and contact states around that default state. Based on this framework, MCR-Bionic Hand is developed as a 1:1 musculoskeletal biomimetic hand integrating a two row eight bone wrist, cross wrist tendons, anatomical flexor routing, volar plate and collateral ligament constraints, the dorsal extensor hood, and intrinsic muscle pathways within one body. Functional demonstrations and geometric mechanical models show that wrist posture induces multi joint pre shaping, the extensor hood maps PIP posture to a coupled DIP response, and intrinsic plus pathways modulate distal stability and fingertip action direction after grasp formation. Contact rich tasks, including coin rotation, pen transfer, dorsal coin flipping, and cube manipulation, show that MCR-Bionic links low dimensional state generation with fine post contact modulation. These results suggest that anatomical biomimetics is valuable not for visual similarity, but for identifying human hand structures that perform part of control.

cs.RO↗

arXiv2025

Dynamic Avatar-Scene Rendering from Human-centric Context

Reconstructing dynamic humans interacting with real-world environments from monocular videos is an important and challenging task. Despite considerable progress in 4D neural rendering, existing approaches either model dynamic scenes holistically or model scenes and backgrounds separately aim to introduce parametric human priors. However, these approaches either neglect distinct motion characteristics of various components in scene especially human, leading to incomplete reconstructions, or ignore the information exchange between the separately modeled components, resulting in spatial inconsistencies and visual artifacts at human-scene boundaries. To address this, we propose {\bf Separate-then-Map} (StM) strategy that introduces a dedicated information mapping mechanism to bridge separately defined and optimized models. Our method employs a shared transformation function for each Gaussian attribute to unify separately modeled components, enhancing computational efficiency by avoiding exhaustive pairwise interactions while ensuring spatial and visual coherence between humans and their surroundings. Extensive experiments on monocular video datasets demonstrate that StM significantly outperforms existing state-of-the-art methods in both visual quality and rendering accuracy, particularly at challenging human-scene interaction boundaries.

cs.CV↗

arXiv2025

PathoPainter: Augmenting Histopathology Segmentation via Tumor-aware Inpainting

Tumor segmentation plays a critical role in histopathology, but it requires costly, fine-grained image-mask pairs annotated by pathologists. Thus, synthesizing histopathology data to expand the dataset is highly desirable. Previous works suffer from inaccuracies and limited diversity in image-mask pairs, both of which affect training segmentation, particularly in small-scale datasets and the inherently complex nature of histopathology images. To address this challenge, we propose PathoPainter, which reformulates image-mask pair generation as a tumor inpainting task. Specifically, our approach preserves the background while inpainting the tumor region, ensuring precise alignment between the generated image and its corresponding mask. To enhance dataset diversity while maintaining biological plausibility, we incorporate a sampling mechanism that conditions tumor inpainting on regional embeddings from a different image. Additionally, we introduce a filtering strategy to exclude uncertain synthetic regions, further improving the quality of the generated data. Our comprehensive evaluation spans multiple datasets featuring diverse tumor types and various training data scales. As a result, segmentation improved significantly with our synthetic data, surpassing existing segmentation data synthesis approaches, e.g., 75.69% -> 77.69% on CAMELYON16. The code is available at https://github.com/HongLiuuuuu/PathoPainter.

cs.CV↗

arXiv2025

Adaptive Prototype Learning for Multimodal Cancer Survival Analysis

Leveraging multimodal data, particularly the integration of whole-slide histology images (WSIs) and transcriptomic profiles, holds great promise for improving cancer survival prediction. However, excessive redundancy in multimodal data can degrade model performance. In this paper, we propose Adaptive Prototype Learning (APL), a novel and effective approach for multimodal cancer survival analysis. APL adaptively learns representative prototypes in a data-driven manner, reducing redundancy while preserving critical information. Our method employs two sets of learnable query vectors that serve as a bridge between high-dimensional representations and survival prediction, capturing task-relevant features. Additionally, we introduce a multimodal mixed self-attention mechanism to enable cross-modal interactions, further enhancing information fusion. Extensive experiments on five benchmark cancer datasets demonstrate the superiority of our approach over existing methods. The code is available at https://github.com/HongLiuuuuu/APL.

eess.IV↗

arXiv2024

FAM Diffusion: Frequency and Attention Modulation for High-Resolution Image Generation with Stable Diffusion

Diffusion models are proficient at generating high-quality images. They are however effective only when operating at the resolution used during training. Inference at a scaled resolution leads to repetitive patterns and structural distortions. Retraining at higher resolutions quickly becomes prohibitive. Thus, methods enabling pre-existing diffusion models to operate at flexible test-time resolutions are highly desirable. Previous works suffer from frequent artifacts and often introduce large latency overheads. We propose two simple modules that combine to solve these issues. We introduce a Frequency Modulation (FM) module that leverages the Fourier domain to improve the global structure consistency, and an Attention Modulation (AM) module which improves the consistency of local texture patterns, a problem largely ignored in prior works. Our method, coined Fam diffusion, can seamlessly integrate into any latent diffusion model and requires no additional training. Extensive qualitative results highlight the effectiveness of our method in addressing structural and local artifacts, while quantitative results show state-of-the-art performance. Also, our method avoids redundant inference tricks for improved consistency such as patch-based or progressive generation, leading to negligible latency overheads.

cs.CV↗

arXiv2024

Single Image, Any Face: Generalisable 3D Face Generation

The creation of 3D human face avatars from a single unconstrained image is a fundamental task that underlies numerous real-world vision and graphics applications. Despite the significant progress made in generative models, existing methods are either less suited in design for human faces or fail to generalise from the restrictive training domain to unconstrained facial images. To address these limitations, we propose a novel model, Gen3D-Face, which generates 3D human faces with unconstrained single image input within a multi-view consistent diffusion framework. Given a specific input image, our model first produces multi-view images, followed by neural surface construction. To incorporate face geometry information while preserving generalisation to in-the-wild inputs, we estimate a subject-specific mesh directly from the input image, enabling training and evaluation without ground-truth 3D supervision. Importantly, we introduce a multi-view joint generation scheme to enhance the appearance consistency among different views. To the best of our knowledge, this is the first attempt and benchmark for creating photorealistic 3D human face avatars from single images for generic human subject across domains. Extensive experiments demonstrate the efficacy and superiority of our method over previous alternatives for out-of-domain single image 3D face generation and the top ranking competition for the in-domain setting.

cs.CV↗

arXiv2024

FrozenSeg: Harmonizing Frozen Foundation Models for Open-Vocabulary Segmentation

Open-vocabulary segmentation poses significant challenges, as it requires segmenting and recognizing objects across an open set of categories in unconstrained environments. Building on the success of powerful vision-language (ViL) foundation models, such as CLIP, recent efforts sought to harness their zero-short capabilities to recognize unseen categories. Despite notable performance improvements, these models still encounter the critical issue of generating precise mask proposals for unseen categories and scenarios, resulting in inferior segmentation performance eventually. To address this challenge, we introduce a novel approach, FrozenSeg, designed to integrate spatial knowledge from a localization foundation model (e.g., SAM) and semantic knowledge extracted from a ViL model (e.g., CLIP), in a synergistic framework. Taking the ViL model's visual encoder as the feature backbone, we inject the space-aware feature into the learnable queries and CLIP features within the transformer decoder. In addition, we devise a mask proposal ensemble strategy for further improving the recall rate and mask quality. To fully exploit pre-trained knowledge while minimizing training overhead, we freeze both foundation models, focusing optimization efforts solely on a lightweight transformer decoder for mask proposal generation-the performance bottleneck. Extensive experiments demonstrate that FrozenSeg advances state-of-the-art results across various segmentation benchmarks, trained exclusively on COCO panoptic data, and tested in a zero-shot manner. Code is available at https://github.com/chenxi52/FrozenSeg.

cs.CV↗

arXiv2024

AV-GS: Learning Material and Geometry Aware Priors for Novel View Acoustic Synthesis

Novel view acoustic synthesis (NVAS) aims to render binaural audio at any target viewpoint, given a mono audio emitted by a sound source at a 3D scene. Existing methods have proposed NeRF-based implicit models to exploit visual cues as a condition for synthesizing binaural audio. However, in addition to low efficiency originating from heavy NeRF rendering, these methods all have a limited ability of characterizing the entire scene environment such as room geometry, material properties, and the spatial relation between the listener and sound source. To address these issues, we propose a novel Audio-Visual Gaussian Splatting (AV-GS) model. To obtain a material-aware and geometry-aware condition for audio synthesis, we learn an explicit point-based scene representation with an audio-guidance parameter on locally initialized Gaussian points, taking into account the space relation from the listener and sound source. To make the visual scene model audio adaptive, we propose a point densification and pruning strategy to optimally distribute the Gaussian points, with the per-point contribution in sound propagation (e.g., more points needed for texture-less wall surfaces as they affect sound path diversion). Extensive experiments validate the superiority of our AV-GS over existing alternatives on the real-world RWAS and simulation-based SoundSpaces datasets.

cs.SD↗

arXiv2024

Improving Gaussian Splatting with Localized Points Management

Point management is critical for optimizing 3D Gaussian Splatting models, as point initiation (e.g., via structure from motion) is often distributionally inappropriate. Typically, Adaptive Density Control (ADC) algorithm is adopted, leveraging view-averaged gradient magnitude thresholding for point densification, opacity thresholding for pruning, and regular all-points opacity reset. We reveal that this strategy is limited in tackling intricate/special image regions (e.g., transparent) due to inability of identifying all 3D zones requiring point densification, and lacking an appropriate mechanism to handle ill-conditioned points with negative impacts (e.g., occlusion due to false high opacity). To address these limitations, we propose a Localized Point Management (LPM) strategy, capable of identifying those error-contributing zones in greatest need for both point addition and geometry calibration. Zone identification is achieved by leveraging the underlying multiview geometry constraints, subject to image rendering errors. We apply point densification in the identified zones and then reset the opacity of the points in front of these regions, creating a new opportunity to correct poorly conditioned points. Serving as a versatile plugin, LPM can be seamlessly integrated into existing static 3D and dynamic 4D Gaussian Splatting models with minimal additional cost. Experimental evaluations validate the efficacy of our LPM in boosting a variety of existing 3D/4D models both quantitatively and qualitatively. Notably, LPM improves both static 3DGS and dynamic SpaceTimeGS to achieve state-of-the-art rendering quality while retaining real-time speeds, excelling on challenging datasets such as Tanks & Temples and the Neural 3D Video dataset.

cs.CV↗

arXiv2024

Unsupervised Audio-Visual Segmentation with Modality Alignment

Audio-Visual Segmentation (AVS) aims to identify, at the pixel level, the object in a visual scene that produces a given sound. Current AVS methods rely on costly fine-grained annotations of mask-audio pairs, making them impractical for scalability. To address this, we introduce unsupervised AVS, eliminating the need for such expensive annotation. To tackle this more challenging problem, we propose an unsupervised learning method, named Modality Correspondence Alignment (MoCA), which seamlessly integrates off-the-shelf foundation models like DINO, SAM, and ImageBind. This approach leverages their knowledge complementarity and optimizes their joint usage for multi-modality association. Initially, we estimate positive and negative image pairs in the feature space. For pixel-level association, we introduce an audio-visual adapter and a novel pixel matching aggregation strategy within the image-level contrastive learning framework. This allows for a flexible connection between object appearance and audio signal at the pixel level, with tolerance to imaging variations such as translation and rotation. Extensive experiments on the AVSBench (single and multi-object splits) and AVSS datasets demonstrate that our MoCA outperforms strongly designed baseline methods and approaches supervised counterparts, particularly in complex scenarios with multiple auditory objects. Notably when comparing mIoU, MoCA achieves a substantial improvement over baselines in both the AVSBench (S4: +17.24%; MS3: +67.64%) and AVSS (+19.23%) audio-visual segmentation challenges.

cs.CV↗

arXiv2024

Uncertainty-Aware Pseudo-Label Filtering for Source-Free Unsupervised Domain Adaptation

Source-free unsupervised domain adaptation (SFUDA) aims to enable the utilization of a pre-trained source model in an unlabeled target domain without access to source data. Self-training is a way to solve SFUDA, where confident target samples are iteratively selected as pseudo-labeled samples to guide target model learning. However, prior heuristic noisy pseudo-label filtering methods all involve introducing extra models, which are sensitive to model assumptions and may introduce additional errors or mislabeling. In this work, we propose a method called Uncertainty-aware Pseudo-label-filtering Adaptation (UPA) to efficiently address this issue in a coarse-to-fine manner. Specially, we first introduce a sample selection module named Adaptive Pseudo-label Selection (APS), which is responsible for filtering noisy pseudo labels. The APS utilizes a simple sample uncertainty estimation method by aggregating knowledge from neighboring samples and confident samples are selected as clean pseudo-labeled. Additionally, we incorporate Class-Aware Contrastive Learning (CACL) to mitigate the memorization of pseudo-label noise by learning robust pair-wise representation supervised by pseudo labels. Through extensive experiments conducted on three widely used benchmarks, we demonstrate that our proposed method achieves competitive performance on par with state-of-the-art SFUDA methods. Code is available at https://github.com/chenxi52/UPA.

cs.CV↗

arXiv2024

WSI-SAM: Multi-resolution Segment Anything Model (SAM) for histopathology whole-slide images

The Segment Anything Model (SAM) marks a significant advancement in segmentation models, offering robust zero-shot abilities and dynamic prompting. However, existing medical SAMs are not suitable for the multi-scale nature of whole-slide images (WSIs), restricting their effectiveness. To resolve this drawback, we present WSI-SAM, enhancing SAM with precise object segmentation capabilities for histopathology images using multi-resolution patches, while preserving its efficient, prompt-driven design, and zero-shot abilities. To fully exploit pretrained knowledge while minimizing training overhead, we keep SAM frozen, introducing only minimal extra parameters and computational overhead. In particular, we introduce High-Resolution (HR) token, Low-Resolution (LR) token and dual mask decoder. This decoder integrates the original SAM mask decoder with a lightweight fusion module that integrates features at multiple scales. Instead of predicting a mask independently, we integrate HR and LR token at intermediate layer to jointly learn features of the same object across multiple resolutions. Experiments show that our WSI-SAM outperforms state-of-the-art SAM and its variants. In particular, our model outperforms SAM by 4.1 and 2.5 percent points on a ductal carcinoma in situ (DCIS) segmentation tasks and breast cancer metastasis segmentation task (CAMELYON16 dataset). The code will be available at https://github.com/HongLiuuuuu/WSI-SAM.

cs.CV↗

arXiv2023

Recognize Any Regions

Understanding the semantics of individual regions or patches of unconstrained images, such as open-world object detection, remains a critical yet challenging task in computer vision. Building on the success of powerful image-level vision-language (ViL) foundation models like CLIP, recent efforts have sought to harness their capabilities by either training a contrastive model from scratch with an extensive collection of region-label pairs or aligning the outputs of a detection model with image-level representations of region proposals. Despite notable progress, these approaches are plagued by computationally intensive training requirements, susceptibility to data noise, and deficiency in contextual information. To address these limitations, we explore the synergistic potential of off-the-shelf foundation models, leveraging their respective strengths in localization and semantics. We introduce a novel, generic, and efficient architecture, named RegionSpot, designed to integrate position-aware localization knowledge from a localization foundation model (e.g., SAM) with semantic information from a ViL model (e.g., CLIP). To fully exploit pretrained knowledge while minimizing training overhead, we keep both foundation models frozen, focusing optimization efforts solely on a lightweight attention-based knowledge integration module. Extensive experiments in open-world object recognition show that our RegionSpot achieves significant performance gain over prior alternatives, along with substantial computational savings (e.g., training our model with 3 million data in a single day using 8 V100 GPUs). RegionSpot outperforms GLIP-L by 2.9 in mAP on LVIS val set, with an even larger margin of 13.1 AP for more challenging and rare categories, and a 2.5 AP increase on ODinW. Furthermore, it exceeds GroundingDINO-L by 11.0 AP for rare categories on the LVIS minival set.

cs.CV↗

arXiv2023

Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm

This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots, thereby fostering the evolution of these robotic systems. We introduce two novel compliant actuators, namely the Internal Torsion Spring Compliant Actuator (ICA) and the External Spring Compliant Actuator (ECA), and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator (MISA) through computational and experimental results. These actuators, employing a motor-tendon system, emulate biological muscle-like forms, enhancing artificial muscle technology. A robotic arm application inspired by the skeletal ligament system is presented. Experiments demonstrate satisfactory power in tasks like lifting dumbbells (peak power: 36W), playing table tennis (end-effector speed: 3.2 m/s), and door opening, without compromising biomimetic aesthetics. Compared to other linear stiffness serial elastic actuators (SEAs), ECA and ICA exhibit high power-to-volume (361 x 10^3 W/m) and power-to-mass (111.6 W/kg) ratios respectively, endorsing the biomimetic design's promise in robotic development.

cs.RO↗

arXiv2023

Development and Characteristics of a Highly Biomimetic Robotic Shoulder Through Bionics-Inspired Optimization

This paper critically analyzes conventional and biomimetic robotic arms, underscoring the trade-offs between size, motion range, and load capacity in current biomimetic models. By delving into the human shoulder's mechanical intelligence, particularly the glenohumeral joint's intricate features such as its unique ball-and-socket structure and self-locking mechanism, we pinpoint innovations that bolster both stability and mobility while maintaining compactness. To substantiate these insights, we present a groundbreaking biomimetic robotic glenohumeral joint that authentically mirrors human musculoskeletal elements, from ligaments to tendons, integrating the biological joint's mechanical intelligence. Our exhaustive simulations and tests reveal enhanced flexibility and load capacity for the robotic joint. The advanced robotic arm demonstrates notable capabilities, including a significant range of motions and a 4 kg payload capacity, even exerting over 1.5 Nm torque. This study not only confirms the human shoulder joint's mechanical innovations but also introduces a pioneering design for a next-generation biomimetic robotic arm, setting a new benchmark in robotic technology.

cs.RO↗

arXiv2023

Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization

This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the substantial function of soft tissues, leading to a compromise between compactness, safety, stability, and range of motion. In contrast, this study proposes a holistic replication of biological joints, encompassing bones, cartilage, ligaments, and tendons, culminating in a biomimetic robot. The research underscores the compact and stable structure of the human forearm, attributable to a tri-bone framework and diverse soft tissues. The methodology involves exhaustive examinations of human anatomy, succeeded by a theoretical exploration of the contribution of soft tissues to the stability of the prototype. The evaluation results unveil remarkable parallels between the range of motion of the robotic joints and their human counterparts. The robotic elbow emulates 98.8% of the biological elbow's range of motion, with high torque capacities of 11.25 Nm (extension) and 24 Nm (flexion). Similarly, the robotic forearm achieves 58.6% of the human forearm's rotational range, generating substantial output torques of 14 Nm (pronation) and 7.8 Nm (supination). Moreover, the prototype exhibits significant load-bearing abilities, resisting a 5kg dumbbell load without substantial displacement. It demonstrates a payload capacity exceeding 4kg and rapid action capabilities, such as lifting a 2kg dumbbell at a speed of 0.74Hz and striking a ping-pong ball at an end-effector speed of 3.2 m/s. This research underscores that a detailed anatomical study can address existing robotic design obstacles, optimize performance and anthropomorphic resemblance, and reaffirm traditional anatomical principles.

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