We introduce an approach for establishing dense correspondences between partial scans of human models and a complete template model. Our approach's key novelty lies in formulating dense correspondence computation as initializing and synchronizing local transformations between the scan and the template model. We introduce an optimization formulation for synchronizing transformations among a graph of the input scan, which automatically enforces smoothness of correspondences and recovers the underlying articulated deformations. We then show how to convert the iterative optimization procedure among a graph of the input scan into an end-to-end trainable network. The network design utilizes additional trainable parameters to break the barrier of the original optimization formulation's exact and robust recovery conditions. Experimental results on benchmark datasets demonstrate that our approach considerably outperforms baseline approaches in accuracy and robustness.

Most existing methods of 3D clothed human reconstruction from a single image treat the clothed human as a single object without distinguishing between cloth and human body. In this regard, we present DeClotH, which separately reconstructs 3D cloth and human body from a single image. This task remains largely unexplored due to the extreme occlusion between cloth and the human body, making it challenging to infer accurate geometries and textures. Moreover, while recent 3D human reconstruction methods have achieved impressive results using text-to-image diffusion models, directly applying such an approach to this problem often leads to incorrect guidance, particularly in reconstructing 3D cloth. To address these challenges, we propose two core designs in our framework. First, to alleviate the occlusion issue, we leverage 3D template models of cloth and human body as regularizations, which provide strong geometric priors to prevent erroneous reconstruction by the occlusion. Second, we introduce a cloth diffusion model specifically designed to provide contextual information about cloth appearance, thereby enhancing the reconstruction of 3D cloth. Qualitative and quantitative experiments demonstrate that our proposed approach is highly effective in reconstructing both 3D cloth and the human body. More qualitative results are provided at https://hygenie1228.github.io/DeClotH/.

Descriptions of the Galactic Center using Fermi gamma-ray data have so far modeled the Galactic Center Excess (GCE) as a template with fixed spatial morphology or as a linear combination of such templates. Although these templates are informed by various physical expectations, the morphology of the excess is a priori unknown. For the first time, we describe the GCE using a flexible, non-parametric machine learning model -- the Gaussian process (GP). We assess our model's performance on synthetic data, demonstrating that the model can recover the templates used to generate the data. We then fit the \Fermi data with our model in a single energy bin from 2-20 GeV (leaving a spectral GP analysis of the GCE for future work) using a variety of template models of diffuse gamma-ray emission to quantify our fits' systematic uncertainties associated with diffuse emission modeling. We interpret our best-fit GP in terms of GCE templates consisting of an NFW squared template and a bulge component to determine which bulge models can best describe the fitted GP and to what extent the best-fit GP is described better by an NFW squared template versus a bulge template. The best-fit GP contains morphological features that are typically not associated with traditional GCE studies. These include a localized bright source at around $(\ell,b) = (20^{\circ}, 0^{\circ})$ and a diagonal arm extending Northwest from the Galactic Center. In spite of these novel features, the fitted GP is explained best by a template-based model consisting of the bulge presented in Coleman et al. (2020) and a squared NFW component. Our results suggest that the physical interpretation of the GCE in terms of stellar bulge and NFW-like components is highly sensitive to the assumed morphologies, background models, and the region of the sky used for inference.

We introduce an approach for establishing dense correspondences between partial scans of human models and a complete template model. Our approach's key novelty lies in formulating dense correspondence computation as initializing and synchronizing local transformations between the scan and the template model. We introduce an optimization formulation for synchronizing transformations among a graph of the input scan, which automatically enforces smoothness of correspondences and recovers the underlying articulated deformations. We then show how to convert the iterative optimization procedure among a graph of the input scan into an end-to-end trainable network. The network design utilizes additional trainable parameters to break the barrier of the original optimization formulation's exact and robust recovery conditions.

Fine-grained recognition refers to a subordinate level of recognition, such as recognizing different species of animals and plants. It differs from recognition of basic categories, such as humans, tables, and computers, in that there are global similarities in shape and structure shared cross different categories, and the differences are in the details of object parts. We suggest that the key to identifying the fine-grained differences lies in finding the right alignment of image regions that contain the same object parts. We propose a template model for the purpose, which captures common shape patterns of object parts, as well as the cooccurrence relation of the shape patterns. Once the image regions are aligned, extracted features are used for classification. Learning of the template model is efficient, and the recognition results we achieve significantly outperform the stateof-the-art algorithms.

While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phase. In this paper, we develop a new compact dynamic model as a first step toward a fully unified locomotion template model (ULT-model) of an upright-trunk forward hopping system, which will also require a unified control law in the next step. We demonstrate that all locomotion subfunctions are enabled by adding just a point foot mass and a parallel leg actuator to the well-known trunk SLIP model and that a stable limit cycle can be achieved. This brings us closer toward the ultimate goal of enabling closed-loop dynamics for anchor matching and thus achieving simple, efficient, robust and stable upright-trunk gait control, as observed in biological systems.

Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-efficient control. A grand challenge in locomotion is trunk stabilization when the hip is offset from the center of mass (CoM). The swing phase plays a major role in this process due to the moment of inertia of the leg; however, many template models ignore the leg mass. In this work, the authors consider a robot hopper model (RHM) with a rigid trunk and leg plus a hip that is displaced from the CoM. It has been previously shown that no passive limit cycle exists for such a model given a linear hip spring. In this work, we show that passive limit cycles can be found when a nonlinear hip spring is used instead. To the authors' knowledge, this is the first time that a passive limit cycle has been found for this type of system.

This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL) controller to track the desired task space trajectories. Different from traditional end-to-end learning approaches, our HL policy takes insights from the angular momentum-based linear inverted pendulum (ALIP) to carefully design the observation and action spaces of the Markov Decision Process (MDP). This simple yet effective design creates an insightful mapping between a low-dimensional state that effectively captures the complex dynamics of bipedal locomotion and a set of task space outputs that shape the walking gait of the robot. The HL policy is agnostic to the task space LL controller, which increases the flexibility of the design and generalization of the framework to other bipedal robots. This hierarchical design results in a learning-based framework with improved performance, data efficiency, and robustness compared with the ALIP model-based approach and state-of-the-art learning-based frameworks for bipedal locomotion. The proposed hierarchical controller is tested in three different robots, Rabbit, a five-link underactuated planar biped; Walker2D, a seven-link fully-actuated planar biped; and Digit, a 3D humanoid robot with 20 actuated joints. The trained policy naturally learns human-like locomotion behaviors and is able to effectively track a wide range of walking speeds while preserving the robustness and stability of the walking gait even under adversarial conditions.

Fine-grained recognition refers to a subordinate level of recognition, such are recognizing different species of birds, animals or plants. It differs from recognition of basic categories, such as humans, tables, and computers, in that there are global similarities in shape or structure shared within a category, and the differences are in the details of the object parts. We suggest that the key to identifying the fine-grained differences lies in finding the right alignment of image regions that contain the same object parts. We propose a template model for the purpose, which captures common shape patterns of object parts, as well as the co-occurence relation of the shape patterns. Once the image regions are aligned, extracted features are used for classification. Learning of the template model is efficient, and the recognition results we achieve significantly outperform the state-of-the-art algorithms.

Multi-contrast magnetic resonance imaging (MRI)-based automatic auxiliary glioma diagnosis plays an important role in the clinic. Contrast-enhanced MRI sequences (e.g., contrast-enhanced T1-weighted imaging) were utilized in most of the existing relevant studies, in which remarkable diagnosis results have been reported. Nevertheless, acquiring contrast-enhanced MRI data is sometimes not feasible due to the patients physiological limitations. Furthermore, it is more time-consuming and costly to collect contrast-enhanced MRI data in the clinic. In this paper, we propose an adaptive PromptNet to address these issues. Specifically, a PromptNet for glioma grading utilizing only non-enhanced MRI data has been constructed. PromptNet receives constraints from features of contrast-enhanced MR data during training through a designed prompt loss. To further boost the performance, an adaptive strategy is designed to dynamically weight the prompt loss in a sample-based manner. As a result, PromptNet is capable of dealing with more difficult samples. The effectiveness of our method is evaluated on a widely-used BraTS2020 dataset, and competitive glioma grading performance on NE-MRI data is achieved.