Goal-Oriented Skill Abstraction for Offline Multi-Task Reinforcement Learning

Offline multi-task reinforcement learning aims to learn a unified policy capable of solving multiple tasks using only pre-collected task-mixed datasets, without requiring any online interaction with the environment. However, it faces significant challenges in effectively sharing knowledge across tasks. Inspired by the efficient knowledge abstraction observed in human learning, we propose Goal-Oriented Skill Abstraction (GO-Skill), a novel approach designed to extract and utilize reusable skills to enhance knowledge transfer and task performance. Our approach uncovers reusable skills through a goal-oriented skill extraction process and leverages vector quantization to construct a discrete skill library. To mitigate class imbalances between broadly applicable and task-specific skills, we introduce a skill enhancement phase to refine the extracted skills. Furthermore, we integrate these skills using hierarchical policy learning, enabling the construction of a high-level policy that dynamically orchestrates discrete skills to accomplish specific tasks. Extensive experiments on diverse robotic manipulation tasks within the MetaWorld benchmark demonstrate the effectiveness and versatility of GO-Skill.

Synergizing Reinforcement Learning and Genetic Algorithms for Neural Combinatorial Optimization

Combinatorial optimization problems are notoriously challenging due to their discrete structure and exponentially large solution space. Recent advances in deep reinforcement learning (DRL) have enabled the learning heuristics directly from data. However, DRL methods often suffer from limited exploration and susceptibility to local optima. On the other hand, evolutionary algorithms such as Genetic Algorithms (GAs) exhibit strong global exploration capabilities but are typically sample inefficient and computationally intensive. In this work, we propose the Evolutionary Augmentation Mechanism (EAM), a general and plug-and-play framework that synergizes the learning efficiency of DRL with the global search power of GAs. EAM operates by generating solutions from a learned policy and refining them through domain-specific genetic operations such as crossover and mutation. These evolved solutions are then selectively reinjected into the policy training loop, thereby enhancing exploration and accelerating convergence. We further provide a theoretical analysis that establishes an upper bound on the KL divergence between the evolved solution distribution and the policy distribution, ensuring stable and effective policy updates. EAM is model-agnostic and can be seamlessly integrated with state-of-the-art DRL solvers such as the Attention Model, POMO, and SymNCO. Extensive results on benchmark problems (e.g., TSP, CVRP, PCTSP, and OP) demonstrate that EAM significantly improves both solution quality and training efficiency over competitive baselines.

Reservoir-enhanced Segment Anything Model for Subsurface Diagnosis

Urban roads and infrastructure, vital to city operations, face growing threats from subsurface anomalies like cracks and cavities. Ground Penetrating Radar (GPR) effectively visualizes underground conditions employing electromagnetic (EM) waves; however, accurate anomaly detection via GPR remains challenging due to limited labeled data, varying subsurface conditions, and indistinct target boundaries. Although visually image-like, GPR data fundamentally represent EM waves, with variations within and between waves critical for identifying anomalies. Addressing these, we propose the Reservoir-enhanced Segment Anything Model (Res-SAM), an innovative framework exploiting both visual discernibility and wave-changing properties of GPR data. Res-SAM initially identifies apparent candidate anomaly regions given minimal prompts, and further refines them by analyzing anomaly-induced changing information within and between EM waves in local GPR data, enabling precise and complete anomaly region extraction and category determination. Real-world experiments demonstrate that Res-SAM achieves high detection accuracy (>85%) and outperforms state-of-the-art. Notably, Res-SAM requires only minimal accessible non-target data, avoids intensive training, and incorporates simple human interaction to enhance reliability. Our research provides a scalable, resource-efficient solution for rapid subsurface anomaly detection across diverse environments, improving urban safety monitoring while reducing manual effort and computational cost.

AVP-AP: Self-supervised Automatic View Positioning in 3D cardiac CT via Atlas Prompting

Automatic view positioning is crucial for cardiac computed tomography (CT) examinations, including disease diagnosis and surgical planning. However, it is highly challenging due to individual variability and large 3D search space. Existing work needs labor-intensive and time-consuming manual annotations to train view-specific models, which are limited to predicting only a fixed set of planes. However, in real clinical scenarios, the challenge of positioning semantic 2D slices with any orientation into varying coordinate space in arbitrary 3D volume remains unsolved. We thus introduce a novel framework, AVP-AP, the first to use Atlas Prompting for self-supervised Automatic View Positioning in the 3D CT volume. Specifically, this paper first proposes an atlas prompting method, which generates a 3D canonical atlas and trains a network to map slices into their corresponding positions in the atlas space via a self-supervised manner. Then, guided by atlas prompts corresponding to the given query images in a reference CT, we identify the coarse positions of slices in the target CT volume using rigid transformation between the 3D atlas and target CT volume, effectively reducing the search space. Finally, we refine the coarse positions by maximizing the similarity between the predicted slices and the query images in the feature space of a given foundation model. Our framework is flexible and efficient compared to other methods, outperforming other methods by 19.8% average structural similarity (SSIM) in arbitrary view positioning and achieving 9% SSIM in two-chamber view compared to four radiologists. Meanwhile, experiments on a public dataset validate our framework's generalizability.

Exploring Contextual Attribute Density in Referring Expression Counting

Referring expression counting (REC) algorithms are for more flexible and interactive counting ability across varied fine-grained text expressions. However, the requirement for fine-grained attribute understanding poses challenges for prior arts, as they struggle to accurately align attribute information with correct visual patterns. Given the proven importance of ''visual density'', it is presumed that the limitations of current REC approaches stem from an under-exploration of ''contextual attribute density'' (CAD). In the scope of REC, we define CAD as the measure of the information intensity of one certain fine-grained attribute in visual regions. To model the CAD, we propose a U-shape CAD estimator in which referring expression and multi-scale visual features from GroundingDINO can interact with each other. With additional density supervision, we can effectively encode CAD, which is subsequently decoded via a novel attention procedure with CAD-refined queries. Integrating all these contributions, our framework significantly outperforms state-of-the-art REC methods, achieves $30\%$ error reduction in counting metrics and a $10\%$ improvement in localization accuracy. The surprising results shed light on the significance of contextual attribute density for REC. Code will be at github.com/Xu3XiWang/CAD-GD.

3D Anatomical Structure-guided Deep Learning for Accurate Diffusion Microstructure Imaging

Diffusion magnetic resonance imaging (dMRI) is a crucial non-invasive technique for exploring the microstructure of the living human brain. Traditional hand-crafted and model-based tissue microstructure reconstruction methods often require extensive diffusion gradient sampling, which can be time-consuming and limits the clinical applicability of tissue microstructure information. Recent advances in deep learning have shown promise in microstructure estimation; however, accurately estimating tissue microstructure from clinically feasible dMRI scans remains challenging without appropriate constraints. This paper introduces a novel framework that achieves high-fidelity and rapid diffusion microstructure imaging by simultaneously leveraging anatomical information from macro-level priors and mutual information across parameters. This approach enhances time efficiency while maintaining accuracy in microstructure estimation. Experimental results demonstrate that our method outperforms four state-of-the-art techniques, achieving a peak signal-to-noise ratio (PSNR) of 30.51$\pm$0.58 and a structural similarity index measure (SSIM) of 0.97$\pm$0.004 in estimating parametric maps of multiple diffusion models. Notably, our method achieves a 15$\times$ acceleration compared to the dense sampling approach, which typically utilizes 270 diffusion gradients.

Spatial-Angular Representation Learning for High-Fidelity Continuous Super-Resolution in Diffusion MRI

Diffusion magnetic resonance imaging (dMRI) often suffers from low spatial and angular resolution due to inherent limitations in imaging hardware and system noise, adversely affecting the accurate estimation of microstructural parameters with fine anatomical details. Deep learning-based super-resolution techniques have shown promise in enhancing dMRI resolution without increasing acquisition time. However, most existing methods are confined to either spatial or angular super-resolution, limiting their effectiveness in capturing detailed microstructural features. Furthermore, traditional pixel-wise loss functions struggle to recover intricate image details essential for high-resolution reconstruction. To address these challenges, we propose SARL-dMRI, a novel Spatial-Angular Representation Learning framework for high-fidelity, continuous super-resolution in dMRI. SARL-dMRI explores implicit neural representations and spherical harmonics to model continuous spatial and angular representations, simultaneously enhancing both spatial and angular resolution while improving microstructural parameter estimation accuracy. To further preserve image fidelity, a data-fidelity module and wavelet-based frequency loss are introduced, ensuring the super-resolved images remain consistent with the original input and retain fine details. Extensive experiments demonstrate that, compared to five other state-of-the-art methods, our method significantly enhances dMRI data resolution, improves the accuracy of microstructural parameter estimation, and provides better generalization capabilities. It maintains stable performance even under a 45$\times$ downsampling factor.

HOGSA: Bimanual Hand-Object Interaction Understanding with 3D Gaussian Splatting Based Data Augmentation

Understanding of bimanual hand-object interaction plays an important role in robotics and virtual reality. However, due to significant occlusions between hands and object as well as the high degree-of-freedom motions, it is challenging to collect and annotate a high-quality, large-scale dataset, which prevents further improvement of bimanual hand-object interaction-related baselines. In this work, we propose a new 3D Gaussian Splatting based data augmentation framework for bimanual hand-object interaction, which is capable of augmenting existing dataset to large-scale photorealistic data with various hand-object pose and viewpoints. First, we use mesh-based 3DGS to model objects and hands, and to deal with the rendering blur problem due to multi-resolution input images used, we design a super-resolution module. Second, we extend the single hand grasping pose optimization module for the bimanual hand object to generate various poses of bimanual hand-object interaction, which can significantly expand the pose distribution of the dataset. Third, we conduct an analysis for the impact of different aspects of the proposed data augmentation on the understanding of the bimanual hand-object interaction. We perform our data augmentation on two benchmarks, H2O and Arctic, and verify that our method can improve the performance of the baselines.

Universal Features Guided Zero-Shot Category-Level Object Pose Estimation

Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits both 2D and 3D universal features of input RGB-D image to establish semantic similarity-based correspondences and can be extended to unseen categories without additional model fine-tuning. Our method begins with combining efficient 2D universal features to find sparse correspondences between intra-category objects and gets initial coarse pose. To handle the correspondence degradation of 2D universal features if the pose deviates much from the target pose, we use an iterative strategy to optimize the pose. Subsequently, to resolve pose ambiguities due to shape differences between intra-category objects, the coarse pose is refined by optimizing with dense alignment constraint of 3D universal features. Our method outperforms previous methods on the REAL275 and Wild6D benchmarks for unseen categories.

Diff5T: Benchmarking Human Brain Diffusion MRI with an Extensive 5.0 Tesla K-Space and Spatial Dataset

Diffusion magnetic resonance imaging (dMRI) provides critical insights into the microstructural and connectional organization of the human brain. However, the availability of high-field, open-access datasets that include raw k-space data for advanced research remains limited. To address this gap, we introduce Diff5T, a first comprehensive 5.0 Tesla diffusion MRI dataset focusing on the human brain. This dataset includes raw k-space data and reconstructed diffusion images, acquired using a variety of imaging protocols. Diff5T is designed to support the development and benchmarking of innovative methods in artifact correction, image reconstruction, image preprocessing, diffusion modelling and tractography. The dataset features a wide range of diffusion parameters, including multiple b-values and gradient directions, allowing extensive research applications in studying human brain microstructure and connectivity. With its emphasis on open accessibility and detailed benchmarks, Diff5T serves as a valuable resource for advancing human brain mapping research using diffusion MRI, fostering reproducibility, and enabling collaboration across the neuroscience and medical imaging communities.