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Researcher profile

Shenghua Gao

Shenghua Gao contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer Visioneess.IVphysics.opticsArtificial IntelligenceMachine Learningphysics.med-phRobotics

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Published work

20 published item(s)

preprint2026arXiv

DexHoldem: Playing Texas Hold'em with Dexterous Embodied System

Evaluating embodied systems on real dexterous hardware requires more than isolated primitive skills: an agent must perceive a changing tabletop scene, choose a context-appropriate action, execute it with a dexterous hand, and leave the scene usable for later decisions. We introduce DexHoldem, a real-world system-level benchmark built around Texas Hold'em dexterous manipulation with a ShadowHand. DexHoldem provides 1,470 teleoperated demonstrations across 14 Texas Hold'em manipulation primitives, a standardized physical policy benchmark, and an agentic perception benchmark that tests whether agents can recover the structured game state needed for embodied decision making. On primitive execution, $π_{0.5}$ obtains the highest task completion rate ($61.2\%$), while $π_{0.5}$ and $π_0$ tie on scene-preserving success rate ($47.5\%$). On agentic perception, Opus 4.7 obtains the best strict problem-level accuracy ($34.3\%$), while GPT 5.5 obtains the best average field-wise accuracy ($66.8\%$), exposing a gap between isolated visual sub-capabilities and complete routing-relevant state recovery. Finally, we instantiate the full embodied-agent loop in three case studies, where waiting, recovery dispatches, human-help requests, and repeated primitive execution reveal how perception and policy errors accumulate during closed-loop deployment. DexHoldem therefore evaluates dexterous tabletop execution, agentic perception, and embodied decision routing in a shared physical setting. Project page: https://dexholdem.github.io/Dexholdem/.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

FORGE: Fragment-Oriented Ranking and Generation for Context-Aware Molecular Optimization

Molecular optimization seeks to improve a molecule through small structural edits while preserving similarity to the starting compound. Recent language-model approaches typically treat this task as prompt-conditioned sequence generation. However, relying on natural language introduces an inherent data-scaling bottleneck, often leads to chemical hallucinations, and ignores the strong context dependence of fragment effects. We present FORGE, a two-stage framework that reformulates molecular optimization as context-aware local editing. By utilizing automatically mined, verified low-to-high edit pairs instead of expensive human text annotations, Stage 1 ranks candidate fragments by their property contribution under the full molecular context to inject chemical prior, and Stage 2 generates explicit fragment replacements. Built on a compact 0.6B language model, FORGE further adapts to unseen black-box objectives through in-context demonstrations. Across Prompt-MolOpt, PMO-1k and ChemCoTBench, FORGE consistently outperforms prior methods, including substantially larger language models and graph methods. These results highlight the value of explicit fragment-level supervision as a more easily obtainable, scalable, and hallucination-less alternative to natural language training.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

OpenSearch-VL: An Open Recipe for Frontier Multimodal Search Agents

Deep search has become a crucial capability for frontier multimodal agents, enabling models to solve complex questions through active search, evidence verification, and multi-step reasoning. Despite rapid progress, top-tier multimodal search agents remain difficult to reproduce, largely due to the absence of open high-quality training data, transparent trajectory synthesis pipelines, or detailed training recipes. To this end, we introduce OpenSearch-VL, a fully open-source recipe for training frontier multimodal deep search agents with agentic reinforcement learning. First, we curated a dedicated pipeline to construct high-quality training data through Wikipedia path sampling, fuzzy entity rewriting, and source-anchor visual grounding, which jointly reduce shortcuts and one-step retrieval collapse. Based on this pipeline, we curate two training datasets, SearchVL-SFT-36k for SFT and SearchVL-RL-8k for RL. Besides, we design a diverse tool environment that unifies text search, image search, OCR, cropping, sharpening, super-resolution, and perspective correction, enabling agents to combine active perception with external knowledge acquisition. Finally, we propose a multi-turn fatal-aware GRPO training algorithm that handles cascading tool failures by masking post-failure tokens while preserving useful pre-failure reasoning through one-sided advantage clamping. Built on this recipe, OpenSearch-VL delivers substantial performance gains, with over 10-point average improvements across seven benchmarks, and achieves results comparable to proprietary commercial models on several tasks. We will release all data, code, and models to support open research on multimodal deep search agents.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

AS-MLP: An Axial Shifted MLP Architecture for Vision

An Axial Shifted MLP architecture (AS-MLP) is proposed in this paper. Different from MLP-Mixer, where the global spatial feature is encoded for information flow through matrix transposition and one token-mixing MLP, we pay more attention to the local features interaction. By axially shifting channels of the feature map, AS-MLP is able to obtain the information flow from different axial directions, which captures the local dependencies. Such an operation enables us to utilize a pure MLP architecture to achieve the same local receptive field as CNN-like architecture. We can also design the receptive field size and dilation of blocks of AS-MLP, etc, in the same spirit of convolutional neural networks. With the proposed AS-MLP architecture, our model obtains 83.3% Top-1 accuracy with 88M parameters and 15.2 GFLOPs on the ImageNet-1K dataset. Such a simple yet effective architecture outperforms all MLP-based architectures and achieves competitive performance compared to the transformer-based architectures (e.g., Swin Transformer) even with slightly lower FLOPs. In addition, AS-MLP is also the first MLP-based architecture to be applied to the downstream tasks (e.g., object detection and semantic segmentation). The experimental results are also impressive. Our proposed AS-MLP obtains 51.5 mAP on the COCO validation set and 49.5 MS mIoU on the ADE20K dataset, which is competitive compared to the transformer-based architectures. Our AS-MLP establishes a strong baseline of MLP-based architecture. Code is available at https://github.com/svip-lab/AS-MLP.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Cross-domain Trajectory Prediction with CTP-Net

Most pedestrian trajectory prediction methods rely on a huge amount of trajectories annotation, which is time-consuming and expensive. Moreover, a well-trained model may not effectively generalize to a new scenario captured by another camera. Therefore, it is desirable to adapt the model trained on an annotated source domain to the target domain. To achieve domain adaptation for trajectory prediction, we propose a Cross-domain Trajectory Prediction Network (CTP-Net). In this framework, encoders are used in both domains to encode the observed trajectories, then their features are aligned by a cross-domain feature discriminator. Further, considering the consistency between the observed and the predicted trajectories, a target domain offset discriminator is utilized to adversarially regularize the future trajectory predictions to be in line with the observed trajectories. Extensive experiments demonstrate the effectiveness of our method on domain adaptation for pedestrian trajectory prediction.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

DearKD: Data-Efficient Early Knowledge Distillation for Vision Transformers

Transformers are successfully applied to computer vision due to their powerful modeling capacity with self-attention. However, the excellent performance of transformers heavily depends on enormous training images. Thus, a data-efficient transformer solution is urgently needed. In this work, we propose an early knowledge distillation framework, which is termed as DearKD, to improve the data efficiency required by transformers. Our DearKD is a two-stage framework that first distills the inductive biases from the early intermediate layers of a CNN and then gives the transformer full play by training without distillation. Further, our DearKD can be readily applied to the extreme data-free case where no real images are available. In this case, we propose a boundary-preserving intra-divergence loss based on DeepInversion to further close the performance gap against the full-data counterpart. Extensive experiments on ImageNet, partial ImageNet, data-free setting and other downstream tasks prove the superiority of DearKD over its baselines and state-of-the-art methods.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Dual-Space NeRF: Learning Animatable Avatars and Scene Lighting in Separate Spaces

Modeling the human body in a canonical space is a common practice for capturing and animation. But when involving the neural radiance field (NeRF), learning a static NeRF in the canonical space is not enough because the lighting of the body changes when the person moves even though the scene lighting is constant. Previous methods alleviate the inconsistency of lighting by learning a per-frame embedding, but this operation does not generalize to unseen poses. Given that the lighting condition is static in the world space while the human body is consistent in the canonical space, we propose a dual-space NeRF that models the scene lighting and the human body with two MLPs in two separate spaces. To bridge these two spaces, previous methods mostly rely on the linear blend skinning (LBS) algorithm. However, the blending weights for LBS of a dynamic neural field are intractable and thus are usually memorized with another MLP, which does not generalize to novel poses. Although it is possible to borrow the blending weights of a parametric mesh such as SMPL, the interpolation operation introduces more artifacts. In this paper, we propose to use the barycentric mapping, which can directly generalize to unseen poses and surprisingly achieves superior results than LBS with neural blending weights. Quantitative and qualitative results on the Human3.6M and the ZJU-MoCap datasets show the effectiveness of our method.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

SVIP: Sequence VerIfication for Procedures in Videos

In this paper, we propose a novel sequence verification task that aims to distinguish positive video pairs performing the same action sequence from negative ones with step-level transformations but still conducting the same task. Such a challenging task resides in an open-set setting without prior action detection or segmentation that requires event-level or even frame-level annotations. To that end, we carefully reorganize two publicly available action-related datasets with step-procedure-task structure. To fully investigate the effectiveness of any method, we collect a scripted video dataset enumerating all kinds of step-level transformations in chemical experiments. Besides, a novel evaluation metric Weighted Distance Ratio is introduced to ensure equivalence for different step-level transformations during evaluation. In the end, a simple but effective baseline based on the transformer encoder with a novel sequence alignment loss is introduced to better characterize long-term dependency between steps, which outperforms other action recognition methods. Codes and data will be released.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

TransRAC: Encoding Multi-scale Temporal Correlation with Transformers for Repetitive Action Counting

Counting repetitive actions are widely seen in human activities such as physical exercise. Existing methods focus on performing repetitive action counting in short videos, which is tough for dealing with longer videos in more realistic scenarios. In the data-driven era, the degradation of such generalization capability is mainly attributed to the lack of long video datasets. To complement this margin, we introduce a new large-scale repetitive action counting dataset covering a wide variety of video lengths, along with more realistic situations where action interruption or action inconsistencies occur in the video. Besides, we also provide a fine-grained annotation of the action cycles instead of just counting annotation along with a numerical value. Such a dataset contains 1,451 videos with about 20,000 annotations, which is more challenging. For repetitive action counting towards more realistic scenarios, we further propose encoding multi-scale temporal correlation with transformers that can take into account both performance and efficiency. Furthermore, with the help of fine-grained annotation of action cycles, we propose a density map regression-based method to predict the action period, which yields better performance with sufficient interpretability. Our proposed method outperforms state-of-the-art methods on all datasets and also achieves better performance on the unseen dataset without fine-tuning. The dataset and code are available.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

UNIF: United Neural Implicit Functions for Clothed Human Reconstruction and Animation

We propose united implicit functions (UNIF), a part-based method for clothed human reconstruction and animation with raw scans and skeletons as the input. Previous part-based methods for human reconstruction rely on ground-truth part labels from SMPL and thus are limited to minimal-clothed humans. In contrast, our method learns to separate parts from body motions instead of part supervision, thus can be extended to clothed humans and other articulated objects. Our Partition-from-Motion is achieved by a bone-centered initialization, a bone limit loss, and a section normal loss that ensure stable part division even when the training poses are limited. We also present a minimal perimeter loss for SDF to suppress extra surfaces and part overlapping. Another core of our method is an adjacent part seaming algorithm that produces non-rigid deformations to maintain the connection between parts which significantly relieves the part-based artifacts. Under this algorithm, we further propose "Competing Parts", a method that defines blending weights by the relative position of a point to bones instead of the absolute position, avoiding the generalization problem of neural implicit functions with inverse LBS (linear blend skinning). We demonstrate the effectiveness of our method by clothed human body reconstruction and animation on the CAPE and the ClothSeq datasets.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

VertMatch: A Semi-supervised Framework for Vertebral Structure Detection in 3D Ultrasound Volume

Three-dimensional (3D) ultrasound imaging technique has been applied for scoliosis assessment, but current assessment method only uses coronal projection image and cannot illustrate the 3D deformity and vertebra rotation. The vertebra detection is essential to reveal 3D spine information, but the detection task is challenging due to complex data and limited annotations. We propose VertMatch, a two-step framework to detect vertebral structures in 3D ultrasound volume by utilizing unlabeled data in semi-supervised manner. The first step is to detect the possible positions of structures on transverse slice globally, and then the local patches are cropped based on detected positions. The second step is to distinguish whether the patches contain real vertebral structures and screen the predicted positions from the first step. VertMatch develops three novel components for semi-supervised learning: for position detection in the first step, (1) anatomical prior is used to screen pseudo labels generated from confidence threshold method; (2) multi-slice consistency is used to utilize more unlabeled data by inputting multiple adjacent slices; (3) for patch identification in the second step, the categories are rebalanced in each batch to solve imbalance problem. Experimental results demonstrate that VertMatch can detect vertebra accurately in ultrasound volume and outperforms state-of-the-art methods. VertMatch is also validated in clinical application on forty ultrasound scans, and it can be a promising approach for 3D assessment of scoliosis.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Digital resolution enhancement in low transverse sampling optical coherence tomography angiography using deep learning

Optical coherence tomography angiography (OCTA) requires high transverse sampling density for visualizing retinal and choroidal capillaries. Low transverse sampling causes resolution degradation, such as the angiograms in wide-field OCTA. In this paper, we propose to address this problem using deep learning. We conducted extensive experiments on converting the centrally cropped 3 x 3 mm2 field of view (FOV) of the 8 x 8 mm2 foveal OCTA images (a sampling density of 22.9 $μ$m) to the native 3 x 3 mm2 en face OCTA images (a sampling density of 12.2 $μ$m). We employed a cycle-consistent adversarial network architecture in this conversion. The quantitative analysis using the perceptual similarity measures shows the generated OCTA images are closer to the native 3 x 3 mm2 scans. Besides, the results show the proposed method could also enhance signal-to-noise ratio. We further applied our method to enhance diseased cases and calculate vascular biomarkers, which demonstrates its generalization performance and clinical perspective.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Encoding Structure-Texture Relation with P-Net for Anomaly Detection in Retinal Images

Anomaly detection in retinal image refers to the identification of abnormality caused by various retinal diseases/lesions, by only leveraging normal images in training phase. Normal images from healthy subjects often have regular structures (e.g., the structured blood vessels in the fundus image, or structured anatomy in optical coherence tomography image). On the contrary, the diseases and lesions often destroy these structures. Motivated by this, we propose to leverage the relation between the image texture and structure to design a deep neural network for anomaly detection. Specifically, we first extract the structure of the retinal images, then we combine both the structure features and the last layer features extracted from original health image to reconstruct the original input healthy image. The image feature provides the texture information and guarantees the uniqueness of the image recovered from the structure. In the end, we further utilize the reconstructed image to extract the structure and measure the difference between structure extracted from original and the reconstructed image. On the one hand, minimizing the reconstruction difference behaves like a regularizer to guarantee that the image is corrected reconstructed. On the other hand, such structure difference can also be used as a metric for normality measurement. The whole network is termed as P-Net because it has a ``P'' shape. Extensive experiments on RESC dataset and iSee dataset validate the effectiveness of our approach for anomaly detection in retinal images. Further, our method also generalizes well to novel class discovery in retinal images and anomaly detection in real-world images.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Fast-MVSNet: Sparse-to-Dense Multi-View Stereo With Learned Propagation and Gauss-Newton Refinement

Almost all previous deep learning-based multi-view stereo (MVS) approaches focus on improving reconstruction quality. Besides quality, efficiency is also a desirable feature for MVS in real scenarios. Towards this end, this paper presents a Fast-MVSNet, a novel sparse-to-dense coarse-to-fine framework, for fast and accurate depth estimation in MVS. Specifically, in our Fast-MVSNet, we first construct a sparse cost volume for learning a sparse and high-resolution depth map. Then we leverage a small-scale convolutional neural network to encode the depth dependencies for pixels within a local region to densify the sparse high-resolution depth map. At last, a simple but efficient Gauss-Newton layer is proposed to further optimize the depth map. On one hand, the high-resolution depth map, the data-adaptive propagation method and the Gauss-Newton layer jointly guarantee the effectiveness of our method. On the other hand, all modules in our Fast-MVSNet are lightweight and thus guarantee the efficiency of our approach. Besides, our approach is also memory-friendly because of the sparse depth representation. Extensive experimental results show that our method is 5$\times$ and 14$\times$ faster than Point-MVSNet and R-MVSNet, respectively, while achieving comparable or even better results on the challenging Tanks and Temples dataset as well as the DTU dataset. Code is available at https://github.com/svip-lab/FastMVSNet.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

High signal-to-noise ratio reconstruction of low bit-depth optical coherence tomography using deep learning

Reducing the bit-depth is an effective approach to lower the cost of optical coherence tomography (OCT) systems and increase the transmission efficiency in data acquisition and telemedicine. However, a low bit-depth will lead to the degeneration of the detection sensitivity thus reduce the signal-to-noise ratio (SNR) of OCT images. In this paper, we propose to use deep learning for the reconstruction of the high SNR OCT images from the low bit-depth acquisition. Its feasibility was preliminarily evaluated by applying the proposed method to the quantized $3\sim8$-bit data from native 12-bit interference fringes. We employed a pixel-to-pixel generative adversarial network architecture in the low to high bit-depth OCT image transition. Retinal OCT data of a healthy subject from a homemade spectral-domain OCT system was used in the study. Extensively qualitative and quantitative results show this deep-learning-based approach could significantly improve the SNR of the low bit-depth OCT images especially at the choroidal region. Superior similarity and SNR between the reconstructed images and the original 12-bit OCT images could be derived when the bit-depth $\geq 5$. This work demonstrates the proper integration of OCT and deep learning could benefit the development of healthcare in low-resource settings.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Learning to Parse Wireframes in Images of Man-Made Environments

In this paper, we propose a learning-based approach to the task of automatically extracting a "wireframe" representation for images of cluttered man-made environments. The wireframe (see Fig. 1) contains all salient straight lines and their junctions of the scene that encode efficiently and accurately large-scale geometry and object shapes. To this end, we have built a very large new dataset of over 5,000 images with wireframes thoroughly labelled by humans. We have proposed two convolutional neural networks that are suitable for extracting junctions and lines with large spatial support, respectively. The networks trained on our dataset have achieved significantly better performance than state-of-the-art methods for junction detection and line segment detection, respectively. We have conducted extensive experiments to evaluate quantitatively and qualitatively the wireframes obtained by our method, and have convincingly shown that effectively and efficiently parsing wireframes for images of man-made environments is a feasible goal within reach. Such wireframes could benefit many important visual tasks such as feature correspondence, 3D reconstruction, vision-based mapping, localization, and navigation. The data and source code are available at https://github.com/huangkuns/wireframe.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

P$^{2}$Net: Patch-match and Plane-regularization for Unsupervised Indoor Depth Estimation

This paper tackles the unsupervised depth estimation task in indoor environments. The task is extremely challenging because of the vast areas of non-texture regions in these scenes. These areas could overwhelm the optimization process in the commonly used unsupervised depth estimation framework proposed for outdoor environments. However, even when those regions are masked out, the performance is still unsatisfactory. In this paper, we argue that the poor performance suffers from the non-discriminative point-based matching. To this end, we propose P$^2$Net. We first extract points with large local gradients and adopt patches centered at each point as its representation. Multiview consistency loss is then defined over patches. This operation significantly improves the robustness of the network training. Furthermore, because those textureless regions in indoor scenes (e.g., wall, floor, roof, \etc) usually correspond to planar regions, we propose to leverage superpixels as a plane prior. We enforce the predicted depth to be well fitted by a plane within each superpixel. Extensive experiments on NYUv2 and ScanNet show that our P$^2$Net outperforms existing approaches by a large margin. Code is available at \url{https://github.com/svip-lab/Indoor-SfMLearner}.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Sparse-GAN: Sparsity-constrained Generative Adversarial Network for Anomaly Detection in Retinal OCT Image

With the development of convolutional neural network, deep learning has shown its success for retinal disease detection from optical coherence tomography (OCT) images. However, deep learning often relies on large scale labelled data for training, which is oftentimes challenging especially for disease with low occurrence. Moreover, a deep learning system trained from data-set with one or a few diseases is unable to detect other unseen diseases, which limits the practical usage of the system in disease screening. To address the limitation, we propose a novel anomaly detection framework termed Sparsity-constrained Generative Adversarial Network (Sparse-GAN) for disease screening where only healthy data are available in the training set. The contributions of Sparse-GAN are two-folds: 1) The proposed Sparse-GAN predicts the anomalies in latent space rather than image-level; 2) Sparse-GAN is constrained by a novel Sparsity Regularization Net. Furthermore, in light of the role of lesions for disease screening, we present to leverage on an anomaly activation map to show the heatmap of lesions. We evaluate our proposed Sparse-GAN on a publicly available dataset, and the results show that the proposed method outperforms the state-of-the-art methods.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling

Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D scene modeling and understanding. However, the ground truth annotations are often obtained via human labor, which is particularly challenging and inefficient for such tasks due to the large number of 3D structure instances (e.g., line segments) and other factors such as viewpoints and occlusions. In this paper, we present a new synthetic dataset, Structured3D, with the aim of providing large-scale photo-realistic images with rich 3D structure annotations for a wide spectrum of structured 3D modeling tasks. We take advantage of the availability of professional interior designs and automatically extract 3D structures from them. We generate high-quality images with an industry-leading rendering engine. We use our synthetic dataset in combination with real images to train deep networks for room layout estimation and demonstrate improved performance on benchmark datasets.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Assessment of Generative Adversarial Networks Model for Synthetic Optical Coherence Tomography Images of Retinal Disorders

Purpose: To assess whether a generative adversarial network (GAN) could synthesize realistic optical coherence tomography (OCT) images that satisfactorily serve as the educational images for retinal specialists and the training datasets for the classification of various retinal disorders using deep learning (DL). Methods: The GANs architecture was adopted to synthesis high-resolution OCT images training on a publicly available OCT dataset including urgent referrals (choroidal neovascularization and diabetic macular edema) and non-urgent referrals (normal and drusen). 400 real and synthetic OCT images were evaluated by 2 retinal specialists to assess image quality. We further trained 2 DL models on either real or synthetic datasets and compared the performance of urgent vs nonurgent referrals diagnosis tested on a local (1000 images from the public dataset) and clinical validation dataset (278 images from Shanghai Shibei Hospital). Results: The image quality of real vs synthetic OCT images was similar as assessed by 2 retinal specialists. The accuracy of discrimination as real vs synthetic OCT images was 59.50% for retinal specialist 1 and 53.67% for retinal specialist 2. For the local dataset, the DL model trained on real (DL_Model_R) and synthetic OCT images (DL_Model_S) had an area under the curve (AUC) of 0.99, and 0.98 respectively. For the clinical dataset, the AUC was 0.94 for DL_Model_R, 0.90 for DL_Model_S. Conclusions: The GAN-synthetic OCT images can be used by clinicians for educational purposes and developing DL algorithms. Translational Relevance: The medical image synthesis based on GANs is promising in human and machine to fulfill clinical tasks.

0 citations0 reviewsNo code linkedOpen access