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Yinlong Zhang

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6 papers
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6

JBHI Journal 2026 Journal Article

HSGO: Harmonized Swarm Learning With Guided Optimization for Multi-Center sMRI Classification of Alzheimer's Disease

  • Fangtao Song
  • Yang Li
  • Mingfeng Jiang
  • Kaicheng Li
  • Jucheng Zhang
  • Yinlong Zhang
  • Zhibo Pang

Developing robust Alzheimer's Disease (AD) classification models necessitates extensive training data, but aggregating multi-center medical data poses privacy risks. Although Federated Learning (FL) and Swarm Learning (SL) allow training generic models without data sharing, their performance is limited by variations in AD pathology features and sample class imbalances across centers. To address this issue, we propose a novel Harmonized Swarm Learning framework with Guided Optimization (HSGO) to enhance multi-center collaboration while preserving data privacy. Our framework employs a class-balanced loss function to train a robust generic model and guides the optimization of personalized models towards the generic model, eliminating extra AD pathology feature extraction steps. Furthermore, we design a dynamic feature similarity storage mechanism to facilitate personalized training. Experiments performed under two different multi-center data partitioning scenarios demonstrate that HSGO achieves competitive performance when compared with five baseline methods. Additionally, Layer-wise Relevance Propagation (LRP) analysis indicates that HSGO may help identify potential key brain regions in AD by integrating local and global features compared to traditional SL.

ICRA Conference 2025 Conference Paper

Controlled Robot Language with Frame Semantics (FrameCRL) for Autonomous Context-Aware High-Level Planning

  • Dang M. Tran
  • Fujian Yan
  • Qiang Zhang 0028
  • Yinlong Zhang
  • Hongsheng He

This paper proposes a configurable and scalable framework based on Controlled Robot Language with Frame Semantics (FrameCRL) for plan generation. Given natural language instructions, FrameCRL constructs an equivalent formal semantic formulation in the form of discourse representation structures (DRS). Imperative verbs are extracted from the semantic structures as keys to anchor relevant semantic frames from FrameNet, and the selected semantic frames are used to construct goal statements in planning language. Non-imperative statements are further analyzed to generate object specifications and the initial state of the planning problem. These generated statements are then merged into a single planning script, which can be solved directly by the integrated planner. The performance of FrameCRL was evaluated on various natural language corpora and compared with large language models (LLM) based methods in plan generation. The results demonstrated the outperformance of FrameCRL in generating high-quality plans and its capability to handle large context scenarios. The FrameCRL was also tested on pick-and-place tasks using a dual-arm robot and it showcased a robust performance in linguistic understanding.

JBHI Journal 2022 Journal Article

An Expectation Maximization Based Adaptive Group Testing Method for Improving Efficiency and Sensitivity of Large-Scale Screening of COVID-19

  • Xiaofang Xia
  • Yang Liu
  • Bo Yang
  • Yingfan Liu
  • Jiangtao Cui
  • Yinlong Zhang

The pathogen of the ongoing coronavirus disease 2019 (COVID-19) pandemic is a newly discovered virus called severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2). Testing individuals for SARS-CoV-2 plays a critical role in containing COVID-19. For saving medical personnel and consumables, many countries are implementing group testing against SARS-CoV-2. However, existing group testing methods have the following limitations: (1) The group size is determined without theoretical analysis, and hence is usually not optimal. This adversely impacts the screening efficiency. (2) These methods neglect the fact that mixing samples together usually leads to substantial dilution of the SARS-CoV-2 virus, which seriously impacts the sensitivity of tests. In this paper, we aim to screen individuals infected with COVID-19 with as few tests as possible, under the premise that the sensitivity of tests is high enough. We propose an eXpectation Maximization based Adaptive Group Testing (XMAGT) method. The basic idea is to adaptively adjust its testing strategy between a group testing strategy and an individual testing strategy such that the expected number of samples identified by a single test is larger. During the screening process, the XMAGT method can estimate the ratio of positive samples. With this ratio, the XMAGT method can determine a group size under which the group testing strategy can achieve a maximal expected number of negative samples and the sensitivity of tests is higher than a user-specified threshold. Experimental results show that the XMAGT method outperforms existing methods in terms of both efficiency and sensitivity.

ICRA Conference 2021 Conference Paper

Learning Task-Oriented Dexterous Grasping from Human Knowledge

  • Hui Li
  • Yinlong Zhang
  • Yanan Li 0001
  • Hongsheng He

Industrial automation requires robot dexterity to automate many processes such as product assembling, packaging, and material handling. The existing robotic systems lack the capability to determining proper grasp strategies in the context of object affordances and task designations. In this paper, a framework of task-oriented dexterous grasping is proposed to learn grasp knowledge from human experience and to deploy the grasp strategies while adapting to grasp context. Grasp topology is defined and grasp strategies are learned from an established dataset for task-oriented dexterous manipulation. To adapt to various grasp context, a reinforcement-learning based grasping policy was implemented to deploy different task-oriented strategies. The performance of the system was evaluated in a simulated grasping environment by using an AR10 anthropomorphic hand installed in a Sawyer robotic arm. The proposed framework achieved a hit rate of 100% for grasp strategies and an overall top-3 match rate of 95. 6%. The success rate of grasping was 85. 6% during 2700 grasping experiments for manipulation tasks given in natural-language instructions.

JBHI Journal 2018 Journal Article

Wearable Heading Estimation for Motion Tracking in Health Care by Adaptive Fusion of Visual–Inertial Measurements

  • Yinlong Zhang
  • Wei Liang
  • Hongsheng He
  • Jindong Tan

The increasing demand for health informatics has become a far-reaching trend in the aging society. The utilization of wearable sensors enables monitoring senior people daily activities in free-living environments, conveniently and effectively. Among the primary health-care sensing categories, the wearable visual–inertial modality for human motion tracking, gradually exerts promising potentials. In this paper, we present a novel wearable heading estimation strategy to track the movements of human limbs. It adaptively fuses inertial measurements with visual features following locality constraints. Body movements are classified into two types: general motion (which consists of both rotation and translation) or degenerate motion (which consists of only rotation). A specific number of feature correspondences between camera frames are adaptively chosen to satisfy both the feature descriptor similarity constraint and the locality constraint. The selected feature correspondences and inertial quaternions are employed to calculate the initial pose, followed by the coarse-to-fine procedure to iteratively remove visual outliers. Eventually, the ultimate heading is optimized using the correct feature matches. The proposed method has been thoroughly evaluated on the straight-line, rotatory, and ambulatory movement scenarios. As the system is lightweight and requires small computational resources, it enables effective and unobtrusive human motion monitoring, especially for the senior citizens in the long-term rehabilitation.

IROS Conference 2017 Conference Paper

Kinematic chain based multi-joint capturing using monocular visual-inertial measurements

  • Yinlong Zhang
  • Wei Liang 0001
  • Hongsheng He
  • Jindong Tan

Combining light-weight visual and inertial modalities for motion capturing has been popular in robotics researches. There exist scale ambiguity, inaccurate pose estimation with little or no baseline, incremental drifts over time in visual-inertial fusion. Thus, in this paper, we propose a robust motion capturing method based on the multi-joint kinematic chain using monocular visual-inertial sensors. Our method is able to recover monocular visual scale through the joint geometry constraint. Additionally, we take inertial pre-integration to assist visual outlier removal using Maximum A Posteriori method. Ultimately, the kinematic chain model is leveraged to constrain the associated multiple visual-inertial estimation drifts during long time tracking. In the experiments, we conduct multi-joint capturing on a robotic arm. The quality of motion reconstruction is evaluated by comparing the estimated results with the measurements from an optical motion tracking system OptiTrack.

v2026.09.13