Author name cluster

Yudong Mao

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers

2 author rows

AAAI Conference 2026 Conference Paper

Codebook-Empowered Analysis-Friendly Extreme Underwater Image Compression

JianHao Wu
Yudong Mao
Qiuping Jiang

While existing underwater image compression (UIC) methods optimize for human perception or basic redundancies, they neglect inter-image correlations and fail to prioritize machine-friendly features essential for automated analysis. This paper introduces a novel -quantized (VQ) codebook-driven framework for machine-centric UIC. We leverage VQ codebooks -- pre-trained as external priors on diverse underwater data -- to unify three critical stages: (1) Machine-friendly feature extraction via contrastive learning with high/low-quality codebooks, enhancing degradation robustness; (2) Compact compression using variable-size codebooks to map discriminative features to entropy-coded indices, enabling ultra-low bitrates (less than 0.04bpp); and (3) Feature refinement at the decoder, restoring semantic fidelity for downstream tasks. In addition, we contribute the first Underwater Visual Question Answering (UVQA) benchmark to holistically evaluate machine perception across object presence, counting, and localization. Extensive experiments demonstrate that our framework significantly outperforms state-of-the-art codecs in machine vision task performance at ultra-low bitrates. The VQ-codebook effectively harnesses inter-image redundancy, combats joint degradation, and delivers compact, analysis-friendly representations, establishing a new paradigm for machine-centric UIC.

PDF Details DOI

ICRA Conference 2025 Conference Paper

Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-Robot Navigation with Immersive Manipulation

Yudong Mao
Dandan Zhang

Magnetic micro-robots have demonstrated immense potential in biomedical applications, such as in vivo drug delivery, non-invasive diagnostics, and cell-based therapies, owing to their precise maneuverability and small size. However, current micromanipulation techniques often rely solely on a two-dimensional (2D) microscopic view as sensory feedback, while traditional control interfaces do not provide an intuitive manner for operators to manipulate micro-robots. These limitations increase the cognitive load on operators, who must interpret limited feedback and translate it into effective control actions. To address these challenges, we propose a Deep Re-inforcement Learning-Based Semi-Autonomous Control (DRL-SC) framework for magnetic micro-robot navigation in a simulated microvascular system. Our framework integrates Mixed Reality (MR) to facilitate immersive manipulation of micro-robots, thereby enhancing situational awareness and control precision. Simulation and experimental results demonstrate that our approach significantly improves navigation efficiency, reduces control errors, and enhances the overall robustness of the system in simulated microvascular environments.

Details