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Researcher profile

Ge Yang

Ge Yang contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Machine LearningComputer VisionRoboticsArtificial IntelligenceComputation and Languagecond-mat.mes-hallcond-mat.mtrl-sciphysics.app-phquant-phQuantitative Methods

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Published work

10 published item(s)

preprint2026arXiv

Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation

We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly on the XR headset, enabling internet-scale access to immersive, latency-free virtual interactions without requiring specialized equipment. The complete system integrates on-device physics simulation with human-to-robot pose retargeting. Data collected is further amplified by a physics-guided video generation pipeline steerable via natural language specifications. We demonstrate zero-shot transfer of robot visual policies to unseen, cluttered, and badly lit evaluation environments, after training entirely on Lucid-XR's synthetic data. We include examples across dexterous manipulation tasks that involve soft materials, loosely bound particles, and rigid body contact. Project website: https://lucidxr.github.io

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation

Self-supervised and language-supervised image models contain rich knowledge of the world that is important for generalization. Many robotic tasks, however, require a detailed understanding of 3D geometry, which is often lacking in 2D image features. This work bridges this 2D-to-3D gap for robotic manipulation by leveraging distilled feature fields to combine accurate 3D geometry with rich semantics from 2D foundation models. We present a few-shot learning method for 6-DOF grasping and placing that harnesses these strong spatial and semantic priors to achieve in-the-wild generalization to unseen objects. Using features distilled from a vision-language model, CLIP, we present a way to designate novel objects for manipulation via free-text natural language, and demonstrate its ability to generalize to unseen expressions and novel categories of objects.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Deep Neural Networks Learn Meta-Structures from Noisy Labels in Semantic Segmentation

How deep neural networks (DNNs) learn from noisy labels has been studied extensively in image classification but much less in image segmentation. So far, our understanding of the learning behavior of DNNs trained by noisy segmentation labels remains limited. In this study, we address this deficiency in both binary segmentation of biological microscopy images and multi-class segmentation of natural images. We generate extremely noisy labels by randomly sampling a small fraction (e.g., 10%) or flipping a large fraction (e.g., 90%) of the ground truth labels. When trained with these noisy labels, DNNs provide largely the same segmentation performance as trained by the original ground truth. This indicates that DNNs learn structures hidden in labels rather than pixel-level labels per se in their supervised training for semantic segmentation. We refer to these hidden structures in labels as meta-structures. When DNNs are trained by labels with different perturbations to the meta-structure, we find consistent degradation in their segmentation performance. In contrast, incorporation of meta-structure information substantially improves performance of an unsupervised segmentation model developed for binary semantic segmentation. We define meta-structures mathematically as spatial density distributions and show both theoretically and experimentally how this formulation explains key observed learning behavior of DNNs.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Invariance Through Latent Alignment

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to extend the support of the training distribution to better cover what the agent might experience at test time. In many cases, however, it is impossible to know test-time distribution-shift a priori, making these schemes infeasible. In this paper, we introduce a general approach, called Invariance Through Latent Alignment (ILA), that improves the test-time performance of a visuomotor control policy in deployment environments with unknown perceptual variations. ILA performs unsupervised adaptation at deployment-time by matching the distribution of latent features on the target domain to the agent's prior experience, without relying on paired data. Although simple, we show that this idea leads to surprising improvements on a variety of challenging adaptation scenarios, including changes in lighting conditions, the content in the scene, and camera poses. We present results on calibrated control benchmarks in simulation -- the distractor control suite -- and a physical robot under a sim-to-real setup.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Overcoming the Spectral Bias of Neural Value Approximation

Value approximation using deep neural networks is at the heart of off-policy deep reinforcement learning, and is often the primary module that provides learning signals to the rest of the algorithm. While multi-layer perceptron networks are universal function approximators, recent works in neural kernel regression suggest the presence of a spectral bias, where fitting high-frequency components of the value function requires exponentially more gradient update steps than the low-frequency ones. In this work, we re-examine off-policy reinforcement learning through the lens of kernel regression and propose to overcome such bias via a composite neural tangent kernel. With just a single line-change, our approach, the Fourier feature networks (FFN) produce state-of-the-art performance on challenging continuous control domains with only a fraction of the compute. Faster convergence and better off-policy stability also make it possible to remove the target network without suffering catastrophic divergences, which further reduces TD}(0)'s estimation bias on a few tasks.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Rapid Locomotion via Reinforcement Learning

Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots. We present an end-to-end learned controller that achieves record agility for the MIT Mini Cheetah, sustaining speeds up to 3.9 m/s. This system runs and turns fast on natural terrains like grass, ice, and gravel and responds robustly to disturbances. Our controller is a neural network trained in simulation via reinforcement learning and transferred to the real world. The two key components are (i) an adaptive curriculum on velocity commands and (ii) an online system identification strategy for sim-to-real transfer leveraged from prior work. Videos of the robot's behaviors are available at: https://agility.csail.mit.edu/

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Semi-Supervised Segmentation of Mitochondria from Electron Microscopy Images Using Spatial Continuity

Morphology of mitochondria plays critical roles in mediating their physiological functions. Accurate segmentation of mitochondria from 3D electron microscopy (EM) images is essential to quantitative characterization of their morphology at the nanometer scale. Fully supervised deep learning models developed for this task achieve excellent performance but require substantial amounts of annotated data for training. However, manual annotation of EM images is laborious and time-consuming because of their large volumes, limited contrast, and low signal-to-noise ratios (SNRs). To overcome this challenge, we propose a semi-supervised deep learning model that segments mitochondria by leveraging the spatial continuity of their structural, morphological, and contextual information in both labeled and unlabeled images. We use random piecewise affine transformation to synthesize comprehensive and realistic mitochondrial morphology for augmentation of training data. Experiments on the EPFL dataset show that our model achieves performance similar as that of state-of-the-art fully supervised models but requires only ~20% of their annotated training data. Our semi-supervised model is versatile and can also accurately segment other spatially continuous structures from EM images. Data and code of this study are openly accessible at https://github.com/cbmi-group/MPP.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Single electrons on solid neon as a solid-state qubit platform

Progress toward the realization of quantum computers requires persistent advances in their constituent building blocks - qubits. Novel qubit platforms that simultaneously embody long coherence, fast operation, and large scalability offer compelling advantages in the construction of quantum computers and many other quantum information systems. Electrons, ubiquitous elementary particles of nonzero charge, spin, and mass, have commonly been perceived as paradigmatic local quantum information carriers. Despite superior controllability and configurability, their practical performance as qubits via either motional or spin states depends critically on their material environment. Here we report our experimental realization of a new qubit platform based upon isolated single electrons trapped on an ultraclean solid neon surface in vacuum. By integrating an electron trap in a circuit quantum electrodynamics architecture, we achieve strong coupling between the motional states of a single electron and a single microwave photon in an on-chip superconducting resonator. Qubit gate operations and dispersive readout are implemented to measure the energy relaxation time $T_1$ of $15~μ$s and phase coherence time $T_2$ over $200~$ns. These results indicate that the electron-on-solid-neon qubit already performs near the state of the art as a charge qubit.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Few shot domain adaptation for in situ macromolecule structural classification in cryo-electron tomograms

Motivation: Cryo-Electron Tomography (cryo-ET) visualizes structure and spatial organization of macromolecules and their interactions with other subcellular components inside single cells in the close-to-native state at sub-molecular resolution. Such information is critical for the accurate understanding of cellular processes. However, subtomogram classification remains one of the major challenges for the systematic recognition and recovery of the macromolecule structures in cryo-ET because of imaging limits and data quantity. Recently, deep learning has significantly improved the throughput and accuracy of large-scale subtomogram classification. However often it is difficult to get enough high-quality annotated subtomogram data for supervised training due to the enormous expense of labeling. To tackle this problem, it is beneficial to utilize another already annotated dataset to assist the training process. However, due to the discrepancy of image intensity distribution between source domain and target domain, the model trained on subtomograms in source domainmay perform poorly in predicting subtomogram classes in the target domain. Results: In this paper, we adapt a few shot domain adaptation method for deep learning based cross-domain subtomogram classification. The essential idea of our method consists of two parts: 1) take full advantage of the distribution of plentiful unlabeled target domain data, and 2) exploit the correlation between the whole source domain dataset and few labeled target domain data. Experiments conducted on simulated and real datasets show that our method achieves significant improvement on cross domain subtomogram classification compared with baseline methods.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Plan2Vec: Unsupervised Representation Learning by Latent Plans

In this paper we introduce plan2vec, an unsupervised representation learning approach that is inspired by reinforcement learning. Plan2vec constructs a weighted graph on an image dataset using near-neighbor distances, and then extrapolates this local metric to a global embedding by distilling path-integral over planned path. When applied to control, plan2vec offers a way to learn goal-conditioned value estimates that are accurate over long horizons that is both compute and sample efficient. We demonstrate the effectiveness of plan2vec on one simulated and two challenging real-world image datasets. Experimental results show that plan2vec successfully amortizes the planning cost, enabling reactive planning that is linear in memory and computation complexity rather than exhaustive over the entire state space.

0 citations0 reviewsNo code linkedOpen access