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Yang Yang 0002

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10 papers

1 author row

IROS Conference 2025 Conference Paper

A Soft Active Surface Gripper for Safe In Hand Manipulation of Fragile Objects

Sheng Xiang
Jiahao Li
Yinqi Zhang
Zhong Wei
Jia Liu
Yang Yang 0002

This paper introduces a soft active surface gripper designed to manipulate fragile objects safely. This gripper consists of two fingers, each equipped with two compliant pneumatic actuators and a soft active surface. The gripper utilizes the elastic belt as its soft active surface, which is driven by a motor, and the opening angle of the elastic band is controlled by pneumatic actuators. The novel design allows for the passive deformation of both the soft active surface and the compliant pneumatic actuator, enabling adaptation to various object shapes and demonstrating superior handling capabilities for delicate items. By synchronizing the opening and closing of the pneumatic fingers with the conveying motion of the active surface, the active surface gripper realizes three degrees of freedom (DOF) for in-plane manipulation, specifically two translational movements and one rotational movement. A prototype gripper has been designed and fabricated for in-plane manipulation experiments with fragile objects, including strawberries, miniature cupcakes, and pears. Experimental results demonstrate that the gripper can execute in-plane in-hand manipulation of fragile objects with varying geometries and dimensions while maintaining secure and robust handling, preventing object slippage and preserving surface integrity without causing damage.

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ICML Conference 2025 Conference Paper

An Effective and Secure Federated Multi-View Clustering Method with Information-Theoretic Perspective

Xinyue Chen 0004
Jinfeng Peng
Yuhao Li
Xiaorong Pu
Yang Yang 0002
Yazhou Ren 0001

Recently, federated multi-view clustering (FedMVC) has gained attention for its ability to mine complementary clustering structures from multiple clients without exposing private data. Existing methods mainly focus on addressing the feature heterogeneity problem brought by views on different clients and mitigating it using shared client information. Although these methods have achieved performance improvements, the information they choose to share, such as model parameters or intermediate outputs, inevitably raises privacy concerns. In this paper, we propose an Effective and Secure Federated Multi-view Clustering method, ESFMC, to alleviate the dilemma between privacy protection and performance improvement. This method leverages the information-theoretic perspective to split the features extracted locally by clients, retaining sensitive information locally and only sharing features that are highly relevant to the task. This can be viewed as a form of privacy-preserving information sharing, reducing privacy risks for clients while ensuring that the server can mine high-quality global clustering structures. Theoretical analysis and extensive experiments demonstrate that the proposed method more effectively mitigates the trade-off between privacy protection and performance improvement compared to state-of-the-art methods.

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ICML Conference 2025 Conference Paper

BSO: Binary Spiking Online Optimization Algorithm

Yu Liang
Yu Yang
Wenjie Wei
Ammar Belatreche
Shuai Wang 0058
Malu Zhang
Yang Yang 0002

Binary Spiking Neural Networks (BSNNs) offer promising efficiency advantages for resource-constrained computing. However, their training algorithms often require substantial memory overhead due to latent weights storage and temporal processing requirements. To address this issue, we propose Binary Spiking Online (BSO) optimization algorithm, a novel online training algorithm that significantly reduces training memory. BSO directly updates weights through flip signals under the online training framework. These signals are triggered when the product of gradient momentum and weights exceeds a threshold, eliminating the need for latent weights during training. To enhance performance, we propose T-BSO, a temporal-aware variant that leverages the inherent temporal dynamics of BSNNs by capturing gradient information across time steps for adaptive threshold adjustment. Theoretical analysis establishes convergence guarantees for both BSO and T-BSO, with formal regret bounds characterizing their convergence rates. Extensive experiments demonstrate that both BSO and T-BSO achieve superior optimization performance compared to existing training methods for BSNNs. The codes are available at https: //github. com/hamingsi/BSO.

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ICLR Conference 2025 Conference Paper

Chain-of-Focus Prompting: Leveraging Sequential Visual Cues to Prompt Large Autoregressive Vision Models

Jiyang Zheng
Jialiang Shen
Yu Yao 0005
Min Wang
Yang Yang 0002
Dadong Wang
Tongliang Liu

In-context learning (ICL) has revolutionized natural language processing by enabling models to adapt to diverse tasks with only a few illustrative examples. However, the exploration of ICL within the field of computer vision remains limited. Inspired by Chain-of-Thought (CoT) prompting in the language domain, we propose Chain-of-Focus (CoF) Prompting, which enhances vision models by enabling step-by-step visual comprehension. CoF Prompting addresses the challenges of absent logical structure in visual data by generating intermediate reasoning steps through visual saliency. Moreover, it provides a solution for creating tailored prompts from visual inputs by selecting contextually informative prompts based on query similarity and target richness. The significance of CoF prompting is demonstrated by the recent introduction of Large Autoregressive Vision Models (LAVMs), which predict downstream targets via in-context learning with pure visual inputs. By integrating intermediate reasoning steps into visual prompts and effectively selecting the informative ones, the LAVMs are capable of generating significantly better inferences. Extensive experiments on downstream visual understanding tasks validate the effectiveness of our proposed method for visual in-context learning.

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ICML Conference 2025 Conference Paper

Multi-View Graph Clustering via Node-Guided Contrastive Encoding

Yazhou Ren 0001
Junlong Ke
Zichen Wen
Tianyi Wu
Yang Yang 0002
Xiaorong Pu
Lifang He 0001

Multi-view clustering has gained significant attention for integrating multi-view information in multimedia applications. With the growing complexity of graph data, multi-view graph clustering (MVGC) has become increasingly important. Existing methods primarily use Graph Neural Networks (GNNs) to encode structural and feature information, but applying GNNs within contrastive learning poses specific challenges, such as integrating graph data with node features and handling both homophilic and heterophilic graphs. To address these challenges, this paper introduces Node-Guided Contrastive Encoding (NGCE), a novel MVGC approach that leverages node features to guide embedding generation. NGCE enhances compatibility with GNN filtering, effectively integrates homophilic and heterophilic information, and strengthens contrastive learning across views. Extensive experiments demonstrate its robust performance on six homophilic and heterophilic multi-view benchmark datasets.

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ICLR Conference 2025 Conference Paper

QP-SNN: Quantized and Pruned Spiking Neural Networks

Wenjie Wei
Malu Zhang
Zijian Zhou 0005
Ammar Belatreche
Yimeng Shan
Yu Liang
Honglin Cao
Jieyuan Zhang

Brain-inspired Spiking Neural Networks (SNNs) leverage sparse spikes to encode information and operate in an asynchronous event-driven manner, offering a highly energy-efficient paradigm for machine intelligence. However, the current SNN community focuses primarily on performance improvement by developing large-scale models, which limits the applicability of SNNs in resource-limited edge devices. In this paper, we propose a hardware-friendly and lightweight SNN, aimed at effectively deploying high-performance SNN in resource-limited scenarios. Specifically, we first develop a baseline model that integrates uniform quantization and structured pruning, called QP-SNN baseline. While this baseline significantly reduces storage demands and computational costs, it suffers from performance decline. To address this, we conduct an in-depth analysis of the challenges in quantization and pruning that lead to performance degradation and propose solutions to enhance the baseline's performance. For weight quantization, we propose a weight rescaling strategy that utilizes bit width more effectively to enhance the model's representation capability. For structured pruning, we propose a novel pruning criterion using the singular value of spatiotemporal spike activities to enable more accurate removal of redundant kernels. Extensive experiments demonstrate that integrating two proposed methods into the baseline allows QP-SNN to achieve state-of-the-art performance and efficiency, underscoring its potential for enhancing SNN deployment in edge intelligence computing.

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ICLR Conference 2025 Conference Paper

Quantized Spike-driven Transformer

Xuerui Qiu
Malu Zhang
Jieyuan Zhang
Wenjie Wei
Honglin Cao
Junsheng Guo
Rui-Jie Zhu 0003
Yimeng Shan

Spiking neural networks (SNNs) are emerging as a promising energy-efficient alternative to traditional artificial neural networks (ANNs) due to their spike-driven paradigm. However, recent research in the SNN domain has mainly focused on enhancing accuracy by designing large-scale Transformer structures, which typically rely on substantial computational resources, limiting their deployment on resource-constrained devices. To overcome this challenge, we propose a quantized spike-driven Transformer baseline (QSD-Transformer), which achieves reduced resource demands by utilizing a low bit-width parameter. Regrettably, the QSD-Transformer often suffers from severe performance degradation. In this paper, we first conduct empirical analysis and find that the bimodal distribution of quantized spike-driven self-attention (Q-SDSA) leads to spike information distortion (SID) during quantization, causing significant performance degradation. To mitigate this issue, we take inspiration from mutual information entropy and propose a bi-level optimization strategy to rectify the information distribution in Q-SDSA. Specifically, at the lower level, we introduce an information-enhanced LIF to rectify the information distribution in Q-SDSA. At the upper level, we propose a fine-grained distillation scheme for the QSD-Transformer to align the distribution in Q-SDSA with that in the counterpart ANN. By integrating the bi-level optimization strategy, the QSD-Transformer can attain enhanced energy efficiency without sacrificing its high-performance advantage. We validate the QSD-Transformer on various visual tasks, and experimental results indicate that our method achieves state-of-the-art results in the SNN domain. For instance, when compared to the prior SNN benchmark on ImageNet, the QSD-Transformer achieves 80.3\% top-1 accuracy, accompanied by significant reductions of 6.0$\times$ and 8.1$\times$ in power consumption and model size, respectively. Code is available at https://github.com/bollossom/QSD-Transformer.

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ICLR Conference 2025 Conference Paper

Spiking Vision Transformer with Saccadic Attention

Shuai Wang 0058
Malu Zhang
Dehao Zhang
Ammar Belatreche
Yichen Xiao
Yu Liang
Yimeng Shan
Qian Sun 0014

The combination of Spiking Neural Networks (SNNs) and Vision Transformers (ViTs) holds potential for achieving both energy efficiency and high performance, particularly suitable for edge vision applications. However, a significant performance gap still exists between SNN-based ViTs and their ANN counterparts. Here, we first analyze why SNN-based ViTs suffer from limited performance and identify a mismatch between the vanilla self-attention mechanism and spatio-temporal spike trains. This mismatch results in degraded spatial relevance and limited temporal interactions. To address these issues, we draw inspiration from biological saccadic attention mechanisms and introduce an innovative Saccadic Spike Self-Attention (SSSA) method. Specifically, in the spatial domain, SSSA employs a novel spike distribution-based method to effectively assess the relevance between Query and Key pairs in SNN-based ViTs. Temporally, SSSA employs a saccadic interaction module that dynamically focuses on selected visual areas at each timestep and significantly enhances whole scene understanding through temporal interactions. Building on the SSSA mechanism, we develop a SNN-based Vision Transformer (SNN-ViT). Extensive experiments across various visual tasks demonstrate that SNN-ViT achieves state-of-the-art performance with linear computational complexity. The effectiveness and efficiency of the SNN-ViT highlight its potential for power-critical edge vision applications.

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ICLR Conference 2024 Conference Paper

Bounding Box Stability against Feature Dropout Reflects Detector Generalization across Environments

Yang Yang 0002
Wenhai Wang
Zhe Chen 0017
Jifeng Dai
Liang Zheng 0001

Bounding boxes uniquely characterize object detection, where a good detector gives accurate bounding boxes of categories of interest. However, in the real-world where test ground truths are not provided, it is non-trivial to find out whether bounding boxes are accurate, thus preventing us from assessing the detector generalization ability. In this work, we find under feature map dropout, good detectors tend to output bounding boxes whose locations do not change much, while bounding boxes of poor detectors will undergo noticeable position changes. We compute the box stability score (BS score) to reflect this stability. Specifically, given an image, we compute a normal set of bounding boxes and a second set after feature map dropout. To obtain BS score, we use bipartite matching to find the corresponding boxes between the two sets and compute the average Intersection over Union (IoU) across the entire test set. We contribute to finding that BS score has a strong, positive correlation with detection accuracy measured by mean average precision (mAP) under various test environments. This relationship allows us to predict the accuracy of detectors on various real-world test sets without accessing test ground truths, verified on canonical detection tasks such as vehicle detection and pedestrian detection.

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ICLR Conference 2024 Conference Paper

CIFAR-10-Warehouse: Broad and More Realistic Testbeds in Model Generalization Analysis

Xiaoxiao Sun 0002
Xingjian Leng
Zijian Wang 0009
Yang Yang 0002
Zi Huang
Liang Zheng 0001

Analyzing model performance in various unseen environments is a critical research problem in the machine learning community. To study this problem, it is important to construct a testbed with out-of-distribution test sets that have broad coverage of environmental discrepancies. However, existing testbeds typically either have a small number of domains or are synthesized by image corruptions, hindering algorithm design that demonstrates real-world effectiveness. In this paper, we introduce CIFAR-10-Warehouse, consisting of 180 datasets collected by prompting image search engines and diffusion models in various ways. Generally sized between 300 and 8,000 images, the datasets contain natural images, cartoons, certain colors, or objects that do not naturally appear. With CIFAR-10-W, we aim to enhance the evaluation and deepen the understanding of two generalization tasks: domain generalization and model accuracy prediction in various out-of-distribution environments. We conduct extensive benchmarking and comparison experiments and show that CIFAR-10-W offers new and interesting insights inherent to these tasks. We also discuss other fields that would benefit from CIFAR-10-W. Data and code are available at https://sites.google.com/view/CIFAR-10-warehouse/.

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