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Yingcong Chen

Yingcong Chen contributes to research discovery and scholarly infrastructure.

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Computer Vision eess.SP eess.SY Robotics Systems and Control

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preprint2026arXiv

A Breast Vision Pathology Foundation Model for Real-world Clinical Utility

Pathology foundation models have shown strong retrospective performance, but whether such systems can support clinically relevant use remains unclear. This challenge is particularly important in breast cancer, where pathological assessment serves as the gold standard for diagnosis and guides treatment planning, surgical decision-making and risk stratification across pre-, intra- and post-operative stages. Here we present \textbf{BRAVE}, a breast-adaptive pathology foundation model developed and evaluated using a total resource of 101,638 breast whole-slide images from 32 sources across Asia, Europe and North America. We assessed BRAVE across 34 tasks in 82 cohorts spanning pre-operative biopsy, intra-operative frozen section and post-operative resection, using an evidence chain comprising retrospective benchmarking, clinically challenging scenarios, workflow-oriented clinical impact simulations, prospective observational validation with the thresholds locked in the retrospective cohorts and crossover pathologist-AI interaction studies. Across these settings, BRAVE supported practical roles in the clinical workflow, including safe exclusion of low-risk cases from routine review, AI-assisted second-review rescue of initially missed positives and prioritization of cases for further assessment. In prospective validation across three centres, BRAVE excluded 76.9% of negative biopsy cases (NPV 0.953) and 70.1% of negative frozen-section cases (NPV 0.973), and triaged 78.8% of post-operative subtyping cases as high-confidence clear-cut cases (NPV 1.000). In reader studies, AI assistance improved balanced accuracy from 88.5% to 95.1% (OR 3.14, P<0.001), with better efficiency, confidence and inter-rater agreement. BRAVE-derived scores also independently predicted disease-free survival (adjusted HR 4.79, P<0.001) and overall survival (adjusted HR 8.14, P<0.001).

preprint2026arXiv

Affordance Agent Harness: Verification-Gated Skill Orchestration

Affordance grounding requires identifying where and how an agent should interact in open-world scenes, where actionable regions are often small, occluded, reflective, and visually ambiguous. Recent systems therefore combine multiple skills (e.g., detection, segmentation, interaction-imagination), yet most orchestrate them with fixed pipelines that are poorly matched to per-instance difficulty, offer limited targeted recovery from intermediate errors, and fail to reuse experience from recurring objects. These failures expose a systems problem: test-time grounding must acquire the right evidence, decide whether that evidence is reliable enough to commit, and do so under bounded inference cost without access to labels. We propose Affordance Agent Harness, a closed-loop runtime that unifies heterogeneous skills with an evidence store and cost control, retrieves episodic memories to provide priors for recurring categories, and employs a Router to adaptively select and parameterize skills. An affordance-specific Verifier then gates commitments using self-consistency, cross-scale stability, and evidence sufficiency, triggering targeted retries before a final judge fuses accumulated evidence and trajectories into the prediction. Experiments on multiple affordance benchmarks and difficulty-controlled subsets show a stronger accuracy-cost Pareto frontier than fixed-pipeline baselines, improving grounding quality while reducing average skill calls and latency. Project page: https://tenplusgood.github.io/a-harness-page/.

preprint2023arXiv

Technology Report : Smartphone-Based Pedestrian Dead Reckoning Integrated with Data-Fusion-Adopted Visible Light Positioning

Pedestrian dead-reckoning (PDR) is a potential indoor localization technology that obtains location estimation with the inertial measurement unit (IMU). However, one of its most significant drawbacks is the accumulation of its measurement error. This paper proposes a visible light positioning (VLP)-integrated PDR system, which could achieve real-time and accurate indoor positioning using IMU and the camera sensor of our smartphone. A multi-frame fusion method is proposed in the encoding and decoding process of the system, reaching 98.5% decoding accuracy with a 20-bit-long ID at the height of 2.1 m, which allows the variation in the shutter speeds of cameras and heights of the LED. Meanwhile, absolute locations and step length could be calibrated with the help of a single light-emitting diode (LED), promising average accuracy within 0.5 meters in a 108-meter walk.

preprint2022arXiv

DecoupleNet: Decoupled Network for Domain Adaptive Semantic Segmentation

Unsupervised domain adaptation in semantic segmentation has been raised to alleviate the reliance on expensive pixel-wise annotations. It leverages a labeled source domain dataset as well as unlabeled target domain images to learn a segmentation network. In this paper, we observe two main issues of the existing domain-invariant learning framework. (1) Being distracted by the feature distribution alignment, the network cannot focus on the segmentation task. (2) Fitting source domain data well would compromise the target domain performance. To address these issues, we propose DecoupleNet that alleviates source domain overfitting and enables the final model to focus more on the segmentation task. Furthermore, we put forward Self-Discrimination (SD) and introduce an auxiliary classifier to learn more discriminative target domain features with pseudo labels. Finally, we propose Online Enhanced Self-Training (OEST) to contextually enhance the quality of pseudo labels in an online manner. Experiments show our method outperforms existing state-of-the-art methods, and extensive ablation studies verify the effectiveness of each component. Code is available at https://github.com/dvlab-research/DecoupleNet.

preprint2022arXiv

RC-MVSNet: Unsupervised Multi-View Stereo with Neural Rendering

Finding accurate correspondences among different views is the Achilles' heel of unsupervised Multi-View Stereo (MVS). Existing methods are built upon the assumption that corresponding pixels share similar photometric features. However, multi-view images in real scenarios observe non-Lambertian surfaces and experience occlusions. In this work, we propose a novel approach with neural rendering (RC-MVSNet) to solve such ambiguity issues of correspondences among views. Specifically, we impose a depth rendering consistency loss to constrain the geometry features close to the object surface to alleviate occlusions. Concurrently, we introduce a reference view synthesis loss to generate consistent supervision, even for non-Lambertian surfaces. Extensive experiments on DTU and Tanks\&Temples benchmarks demonstrate that our RC-MVSNet approach achieves state-of-the-art performance over unsupervised MVS frameworks and competitive performance to many supervised methods.The code is released at https://github.com/Boese0601/RC-MVSNet

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