Whole-Body Proprioceptive Morphing: A Modular Soft Gripper for Robust Cross-Scale Grasping

Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly constrained by a fixed global morphology, and prior shape-morphing efforts have been largely confined to localized deformations, failing to replicate this biological dexterity. Inspired by this natural exemplar, we introduce the paradigm of collaborative, whole-body proprioceptive morphing, realized in a modular soft gripper architecture. Our design is a distributed network of modular self-sensing pneumatic actuators that enables the gripper to intelligently reconfigure its entire topology, achieving multiple morphing states that are controllable to form diverse polygonal shapes. By integrating rich proprioceptive feedback from embedded sensors, our system can seamlessly transition from a precise pinch to a large envelope grasp. We experimentally demonstrate that this approach expands the grasping envelope and enhances generalization across diverse object geometries (standard and irregular) and scales (up to 10$\times$), while also unlocking novel manipulation modalities such as multi-object and internal hook grasping. This work presents a low-cost, easy-to-fabricate, and scalable framework that fuses distributed actuation with integrated sensing, offering a new pathway toward achieving biological levels of dexterity in robotic manipulation.

Unified Low-rank Compression Framework for Click-through Rate Prediction

Deep Click-Through Rate (CTR) prediction models play an important role in modern industrial recommendation scenarios. However, high memory overhead and computational costs limit their deployment in resource-constrained environments. Low-rank approximation is an effective method for computer vision and natural language processing models, but its application in compressing CTR prediction models has been less explored. Due to the limited memory and computing resources, compression of CTR prediction models often confronts three fundamental challenges, i.e., (1). How to reduce the model sizes to adapt to edge devices? (2). How to speed up CTR prediction model inference? (3). How to retain the capabilities of original models after compression? Previous low-rank compression research mostly uses tensor decomposition, which can achieve a high parameter compression ratio, but brings in AUC degradation and additional computing overhead. To address these challenges, we propose a unified low-rank decomposition framework for compressing CTR prediction models. We find that even with the most classic matrix decomposition SVD method, our framework can achieve better performance than the original model. To further improve the effectiveness of our framework, we locally compress the output features instead of compressing the model weights. Our unified low-rank compression framework can be applied to embedding tables and MLP layers in various CTR prediction models. Extensive experiments on two academic datasets and one real industrial benchmark demonstrate that, with 3-5x model size reduction, our compressed models can achieve both faster inference and higher AUC than the uncompressed original models. Our code is at https://github.com/yuhao318/Atomic_Feature_Mimicking.

Batch Implicit Neural Representation for MRI Parallel Reconstruction

Magnetic resonance imaging (MRI) always suffered from the problem of long acquisition time. MRI reconstruction is one solution to reduce scan time by skipping certain phase-encoding lines and then restoring high-quality images from undersampled measurements. Recently, implicit neural representation (INR) has emerged as a new deep learning method that represents an object as a continuous function of spatial coordinates, and this function is normally parameterized by a multilayer perceptron (MLP). In this paper, we propose a novel MRI reconstruction method based on INR, which represents the fully-sampled images as the function of pixel coordinates and prior feature vectors of undersampled images for overcoming the generalization problem of INR. Specifically, we introduce a scale-embedded encoder to produce scale-independent pixel-specific features from MR images with different undersampled scales and then concatenate with coordinates vectors to recover fully-sampled MR images via an MLP, thus achieving arbitrary scale reconstruction. The performance of the proposed method was assessed by experimenting on publicly available MRI datasets and compared with other reconstruction methods. Our quantitative evaluation demonstrates the superiority of the proposed method over alternative reconstruction methods.

UNAEN: Unsupervised Abnomality Extraction Network for MRI Motion Artifact Reduction

Motion artifact reduction is one of the most concerned problems in magnetic resonance imaging. As a promising solution, deep learning-based methods have been widely investigated for artifact reduction tasks in MRI. As a retrospective processing method, neural network does not cost additional acquisition time or require new acquisition equipment, and seems to work better than traditional artifact reduction methods. In the previous study, training such models require the paired motion-corrupted and motion-free MR images. However, it is extremely tough or even impossible to obtain these images in reality because patients have difficulty in maintaining the same state during two image acquisition, which makes the training in a supervised manner impractical. In this work, we proposed a new unsupervised abnomality extraction network (UNAEN) to alleviate this problem. Our network realizes the transition from artifact domain to motion-free domain by processing the abnormal information introduced by artifact in unpaired MR images. Different from directly generating artifact reduction results from motion-corrupted MR images, we adopted the strategy of abnomality extraction to indirectly correct the impact of artifact in MR images by learning the deep features. Experimental results show that our method is superior to state-of-the-art networks and can potentially be applied in real clinical settings.