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Ran Wei

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10 papers
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10

NeurIPS Conference 2025 Conference Paper

scMRDR: A scalable and flexible framework for unpaired single-cell multi-omics data integration

  • Jianle Sun
  • Chaoqi Liang
  • Ran Wei
  • Peng Zheng
  • Lei Bai
  • Wanli Ouyang
  • Hongliang Yan
  • Peng Ye

Advances in single-cell sequencing have enabled high-resolution profiling of diverse molecular modalities, while integrating unpaired multi-omics single-cell data remains challenging. Existing approaches either rely on pair information or prior correspondences, or require computing a global pairwise coupling matrix, limiting their scalability and flexibility. In this paper, we introduce a scalable and flexible generative framework called single-cell Multi-omics Regularized Disentangled Representations (scMRDR) for unpaired multi-omics integration. Specifically, we disentangle each cell’s latent representations into modality-shared and modality-specific components using a well-designed $\beta$-VAE architecture, which are augmented with isometric regularization to preserve intra-omics biological heterogeneity, adversarial objective to encourage cross-modal alignment, and masked reconstruction loss strategy to address the issue of missing features across modalities. Our method achieves excellent performance on benchmark datasets in terms of batch correction, modality alignment, and biological signal preservation. Crucially, it scales effectively to large-scale datasets and supports integration of more than two omics, offering a powerful and flexible solution for large-scale multi-omics data integration and downstream biological discovery.

JBHI Journal 2025 Journal Article

Utilizing Hybrid Mask and Upsampling Attention Gate for Multiple Immunohistochemistry Image Cell Recognition

  • Xinwen Zhou
  • Jingyuan Yang
  • Ke Cheng
  • Qiu Liu
  • Huizi Sha
  • Ran Wei
  • Jingting Jiang

Multi-immunohistochemistry (mIHC) is a crucial technique for simultaneous detection of multiple cellular phenotypes within a single tissue section. Its application in cancer diagnosis and treatment underscores the importance of developing reliable automated cell detection and classification methods for mIHC images. However, existing approaches face significant challenges due to high cell density, heterogeneity, and the laborious nature of annotation. This study presents a novel automated cell detection and classification model specifically designed to address these limitations. The proposed model leverages a simplified point-based annotation approach, significantly reducing annotation effort compared to conventional methods. A hybrid masking strategy combining Gaussian and circular masks is introduced to accurately capture the diverse morphological characteristics of different cell types. To enhance detail detection against complex backgrounds and robustness in highly heterogeneous environments, a novel Upsampling Attention Gate (UAG) is proposed. This module effectively improves feature extraction by focusing on relevant information within the image. Finally, a post-processing module is incorporated to address cell adhesion issues during detection, further enhancing the accuracy of the model. Extensive experiments on the mIHC dataset demonstrate that the proposed method achieves F1 scores of 0. 772 and 0. 747 for cell detection and classification, respectively, outperforming existing methods across various performance metrics. This study offers a promising solution to the challenges of automated cell detection and classification in mIHC images, paving the way for improved diagnosis and treatment in cancer research.

TMLR Journal 2024 Journal Article

A Unified View on Solving Objective Mismatch in Model-Based Reinforcement Learning

  • Ran Wei
  • Nathan Lambert
  • Anthony D McDonald
  • Alfredo Garcia
  • Roberto Calandra

Model-based Reinforcement Learning (MBRL) aims to make agents more sample-efficient, adaptive, and explainable by learning an explicit model of the environment. While the capabilities of MBRL agents have significantly improved in recent years, how to best learn the model is still an unresolved question. The majority of MBRL algorithms aim at training the model to make accurate predictions about the environment and subsequently using the model to determine the most rewarding actions. However, recent research has shown that model predictive accuracy is often not correlated with action quality, tracing the root cause to the objective mismatch between accurate dynamics model learning and policy optimization of rewards. A number of interrelated solution categories to the objective mismatch problem have emerged as MBRL continues to mature as a research area. In this work, we provide an in-depth survey of these solution categories and propose a taxonomy to foster future research.

YNIMG Journal 2010 Journal Article

Voxel-based analysis of postnatal white matter microstructure in mice exposed to immune challenge in early or late pregnancy

  • Qi Li
  • Charlton Cheung
  • Ran Wei
  • Vinci Cheung
  • Edward S. Hui
  • Yuqi You
  • Priscilla Wong
  • Siew E. Chua

Maternal infection during prenatal life is a risk factor for neurodevelopmental disorders, including schizophrenia and autism, in the offspring. We and others have reported white mater microstructure abnormalities in prefrontal–striato-temporal networks in these disorders. In addition we have shown that early rather than late maternal immune challenge in the mouse model precipitates ventricular volume change and impairs sensorimotor gating similar to that found in schizophrenia. However, it is not known whether the timing of maternal infection has a differential impact upon white matter microstructural indices. Therefore this study directly tested the effect of early or late gestation maternal immune activation on post-natal white matter microstructure in the mouse. The viral mimic PolyI: C was administered on day 9 or day 17 of gestation. In-vivo diffusion tensor imaging (DTI) was carried out when the offspring reached adulthood. We describe a novel application of voxel-based analysis to evaluate fractional anisotrophy (FA). In addition we conducted a preliminary immunohistochemical exploration of the oligodendrocyte marker, 2', 3'-cyclic nucleotide 3'-phosphodiesterase (CNPase), to determine whether differences in myelination might contribute to any changes in FA observed. Our results provide experimental evidence that prenatal exposure to inflammation elicits widespread differences in FA throughout fronto-striatal–limbic circuits compared to control saline exposure. Moreover, FA changes were more extensive in the group exposed earliest in gestation.

IROS Conference 2006 Conference Paper

Development of the Chinese Intelligent Space Robotic System

  • X. H. Gao
  • Minghe Jin
  • Zongwu Xie
  • Li Jiang 0001
  • Fenglei Ni
  • Shicai Shi
  • Ran Wei
  • Hegao Cai

This paper gives an overview of the Chinese intelligent space robotic system. The system consists of a 6 DOF robot arm, a large-error tolerated gripper with two stereo cameras and onboard computer. The robot arm is composed of six identical modular joints, a big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Joint torque sensor, joint position sensor and temperature sensors etc. ., were integrated into the fully modular multi-sensory joint, which made the joint more intelligent. Also, a large-error tolerated gripper with two stereo cameras has been also designed to capture a microtarget satellite (MTS). A fault-tolerant onboard computer (OBC) with dual processing modules has been developed for the robot control. A zero gravity experimental system was developed to verify the functions of the robot arm under zero gravity environment

IROS Conference 2006 Conference Paper

High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network

  • Ran Wei
  • Minghe Jin
  • J. J. Xia
  • Zongwu Xie
  • J. X. Shi
  • Hong Liu 0002

The cost and risks associated with the execution of robotics tasks in space require that all procedures be verified on Earth prior to their execution. The DLR-HIT Joint Robotics Lab is responsible for the verification of all the tasks of space manipulator of the Chinese free-flight robot space satellite system. We are currently developing the free-flight robot task verification facility (FTVF) through a hardware-in-the-loop way. It consists of a series of simulation and analysis tools to be used for verifying the kinematics (clearance, interface reach, degrees of freedom), dynamics (computed torque, flexibility), visual accessibility (ability to see the work site) and computation power (control period). This paper presents both theoretical and experimental study on the control of a free-flying robot manipulator for space application. The goal of the study is to develop a new control method and hardware-in-the-loop simulation system for target capturing with vision sensor in micro-gravity space environment, considering the dynamical interaction between the space robot and its mobile satellite base. Finally experimental results demonstrate the effect of the simulation system

IROS Conference 2005 Conference Paper

FPGA based hardware architecture for HIT/DLR hand

  • Ran Wei
  • X. H. Gao
  • Minghe Jin
  • Yiwei Liu 0001
  • Hong Liu 0002
  • Nikolaus Seitz
  • Robin Gruber
  • Gerhard Hirzinger

In this paper, FPGA (field programmable gate array) based hardware architecture for the HIT/DLR hand has been investigated. With the FPGAs for lower level control and DSP (digital signal processor) for higher level control, the whole hardware is very intelligent. By using the high capacity of FPGAs, the additional hardware such as communication controller and PWM generators, can be implemented in a single chip and the hardware system is more flexible and compact. In each finger there is an FPGA for data collection, brushless DC motors control and communication with palm's FPGA by point-to-point serial communication (PPSeCo). The kernel of the hardware system is a PCI-based high speed floating-point DSP for data processing, and FPGA for high-speed (up to 25Mbps) real-time serial communication with the palm's FPGA. There needs only 4 cables for the data transmission and the sampling cycle for each sensor is only 200 /spl mu/s. This paper presents the basic ideas behind the HIT/DLR hand's hard- and software architecture adapted to new needs in data processing.

ICRA Conference 2004 Conference Paper

High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand

  • P. He
  • Minghe Jin
  • L. Yang
  • Ran Wei
  • Yiwei Liu 0001
  • Hegao Cai
  • Hong Liu 0002
  • Nikolaus Seitz

The paper presents hardware and software architectures of the HIT/DLR Hand. The hand has four identical fingers and an extra degree of freedom (d. o. f) for the palm. In each finger, there is a re-configurable Field Programmable Gate Array (FPGA) for data acquisition, Brushless DC (BLDC) motor control and communication with the palm's FPGA by Point-to-Point Serial Communication (PPSeCo). The kernel of the hardware system is a PCI-based high speed floating-point Digital Signal Processor (DSP) for data processing, and an FPGA for high speed (up to 25 Mbps) real-time serial communication with the palm's FPGA. In order to achieve high modularity and reliability of the hand, a fully mechatronic integration and analog signals in-situ digitalization philosophy are implemented to minimize the dimension, number of the cables (5 cables including power supply) and protect data communication from outside disturbances. Furthermore, according to the hardware architecture of the hand, a hierarchical software architecture has been established to perform all data processing and control of the hand. The software structure provides basic Application Programming Interface (API) functions and skills to access all hardware resources for data acquisition, computation and teleoperation.

IROS Conference 2003 Conference Paper

A bearing-only control law for stable docking of unicycles

  • Ran Wei
  • Robert E. Mahony
  • David Austin

This paper proposes a new control method for stabilising control design for docking unicycle-like vehicles based on bearing-only information. An omni-directional panoramic camera is used to detect visual targets around the docking station and provides bearing (or heading) data for each observed landmark. The convergence of the controlled system is fully analysed and simulations are provided to demonstrate the ideal behaviour of the system. A robust and computationally cheap blob detection algorithm is proposed and results are provided to demonstrate its performance in extracting targets from cluttered scenes. Experimental results are presented demonstrating the performance of the algorithm on the ANU Nomadic Technologies Nomad XR4000 robot.

ICRA Conference 2003 Conference Paper

The HIT/DLR dexterous hand: work in progress

  • X. H. Gao
  • Minghe Jin
  • Li Jiang 0001
  • Zongwu Xie
  • P. He
  • L. Yang
  • Yiwei Liu 0001
  • Ran Wei

This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 6 lines(4 lines power supply and 2 lines communication interface). The fingertip force can reach 10N.