arXiv EE and SS @arxiv_eess@qoto.org

This paper presents a novel approach for denoising Electron Backscatter Diffraction (EBSD) patterns using diffusion models. We propose a two-stage training process with a UNet-based architecture, incorporating an auxiliary regression head to predict the quality of the experimental pattern and assess the progress of the denoising process. The model uses an adaptive denoising strategy, which integrates quality prediction and feedback-driven iterative denoising process control. This adaptive feedback loop allows the model to adjust its schedule, providing fine control over the denoising process. Furthermore, our model can identify samples where no meaningful signal is present, thereby reducing the risk of hallucinations. We demonstrate the successful application of diffusion models to EBSD pattern denoising using a custom-collected dataset of EBSD patterns, their corresponding master patterns, and quality values.

Tokenized visual representations have shown great promise in image compression, yet their extension to video remains underexplored due to the challenges posed by complex temporal dynamics and stringent bitrate constraints. In this paper, we propose Tokenized Video Compression (TVC), the first token-based dual-stream video compression framework designed to operate effectively at ultra-low bitrates. TVC leverages the powerful Cosmos video tokenizer to extract both discrete and continuous token streams. The discrete tokens (i.e., code maps generated by FSQ) are partially masked using a strategic masking scheme, then compressed losslessly with a discrete checkerboard context model to reduce transmission overhead. The masked tokens are reconstructed by a decoder-only transformer with spatiotemporal token prediction. Meanwhile, the continuous tokens, produced via an autoencoder (AE), are quantized and compressed using a continuous checkerboard context model, providing complementary continuous information at ultra-low bitrate. At the Decoder side, both streams are fused using ControlNet, with multi-scale hierarchical integration to ensure high perceptual quality alongside strong fidelity in reconstruction. This work mitigates the long-standing skepticism about the practicality of tokenized video compression and opens up new avenues for semantics-aware, token-native video compression.

High-resolution medical images can provide more detailed information for better diagnosis. Conventional medical image super-resolution relies on a single task which first performs the extraction of the features and then upscaling based on the features. The features extracted may not be complete for super-resolution. Recent multi-task learning,including reconstruction and super-resolution, is a good solution to obtain additional relevant information. The interaction between the two tasks is often insufficient, which still leads to incomplete and less relevant deep features. To address above limitations, we propose an iterative collaboration network (ICONet) to improve communications between tasks by progressively incorporating reconstruction prior to the super-resolution learning procedure in an iterative collaboration way. It consists of a reconstruction branch, a super-resolution branch, and a SR-Rec fusion module. The reconstruction branch generates the artifact-free image as prior, which is followed by a super-resolution branch for prior knowledge-guided super-resolution. Unlike the widely-used convolutional neural networks for extracting local features and Transformers with quadratic computational complexity for modeling long-range dependencies, we develop a new residual spatial-channel feature learning (RSCFL) module of two branches to efficiently establish feature relationships in spatial and channel dimensions. Moreover, the designed SR-Rec fusion module fuses the reconstruction prior and super-resolution features with each other in an adaptive manner. Our ICONet is built with multi-stage models to iteratively upscale the low-resolution images using steps of 2x and simultaneously interact between two branches in multi-stage supervisions.

Compressed sensing Synthetic Aperture Radar (SAR) image formation, formulated as an inverse problem and solved with traditional iterative optimization methods can be very computationally expensive. We investigate the use of denoising diffusion probabilistic models for compressive SAR image reconstruction, where the diffusion model is guided by a poor initial reconstruction from sub-sampled data obtained via standard imaging methods. We present results on real SAR data and compare our compressively sampled diffusion model reconstruction with standard image reconstruction methods utilizing the full data set, demonstrating the potential performance gains in imaging quality.

Accurate kinetic analysis of [$^{18}$F]FDG distribution in dynamic positron emission tomography (PET) requires anatomically constrained modelling of image-derived input functions (IDIFs). Traditionally, IDIFs are obtained from the aorta, neglecting anatomical variations and complex vascular contributions. This study proposes a multi-organ segmentation-based approach that integrates IDIFs from the aorta, portal vein, pulmonary artery, and ureters. Using high-resolution CT segmentations of the liver, lungs, kidneys, and bladder, we incorporate organ-specific blood supply sources to improve kinetic modelling. Our method was evaluated on dynamic [$^{18}$F]FDG PET data from nine patients, resulting in a mean squared error (MSE) reduction of $13.39\%$ for the liver and $10.42\%$ for the lungs. These initial results highlight the potential of multiple IDIFs in improving anatomical modelling and fully leveraging dynamic PET imaging. This approach could facilitate the integration of tracer kinetic modelling into clinical routine.

This paper studies the synthesis and mitigation of stealthy attacks in nonlinear cyber-physical systems (CPS). To quantify stealthiness, we employ the Kullback-Leibler (KL) divergence, a measure rooted in hypothesis testing and detection theory, which captures the trade-off between an attacker's desire to remain stealthy and her goal of degrading system performance. First, we synthesize the worst-case stealthy attack in nonlinear CPS using the path integral approach. Second, we consider how a controller can mitigate the impact of such stealthy attacks by formulating a minimax KL control problem, yielding a zero-sum game between the attacker and the controller. Again, we leverage a path integral-based solution that computes saddle-point policies for both players through Monte Carlo simulations. We validate our approach using unicycle navigation and cruise control problems, demonstrating how an attacker can covertly drive the system into unsafe regions, and how the controller can adapt her policy to combat the worst-case attacks.

Dynamic positron emission tomography (PET) with [$^{18}$F]FDG enables non-invasive quantification of glucose metabolism through kinetic analysis, often modelled by the two-tissue compartment model (TCKM). However, voxel-wise kinetic parameter estimation using conventional methods is computationally intensive and limited by spatial resolution. Deep neural networks (DNNs) offer an alternative but require large training datasets and significant computational resources. To address these limitations, we propose a physiological neural representation based on implicit neural representations (INRs) for personalized kinetic parameter estimation. INRs, which learn continuous functions, allow for efficient, high-resolution parametric imaging with reduced data requirements. Our method also integrates anatomical priors from a 3D CT foundation model to enhance robustness and precision in kinetic modelling. We evaluate our approach on an [$^{18}$F]FDG dynamic PET/CT dataset and compare it to state-of-the-art DNNs. Results demonstrate superior spatial resolution, lower mean-squared error, and improved anatomical consistency, particularly in tumour and highly vascularized regions. Our findings highlight the potential of INRs for personalized, data-efficient tracer kinetic modelling, enabling applications in tumour characterization, segmentation, and prognostic assessment.

In this paper, we address the problem of a two-player linear quadratic differential game with incomplete information, a scenario commonly encountered in multi-agent control, human-robot interaction (HRI), and approximation methods for solving general-sum differential games. While solutions to such linear differential games are typically obtained through coupled Riccati equations, the complexity increases when agents have incomplete information, particularly when neither is aware of the other's cost function. To tackle this challenge, we propose a model-based Peer-Aware Cost Estimation (PACE) framework for learning the cost parameters of the other agent. In PACE, each agent treats its peer as a learning agent rather than a stationary optimal agent, models their learning dynamics, and leverages this dynamic to infer the cost function parameters of the other agent. This approach enables agents to infer each other's objective function in real time based solely on their previous state observations and dynamically adapt their control policies. Furthermore, we provide a theoretical guarantee for the convergence of parameter estimation and the stability of system states in PACE. Additionally, in our numerical studies, we demonstrate how modeling the learning dynamics of the other agent benefits PACE, compared to approaches that approximate the other agent as having complete information, particularly in terms of stability and convergence speed.

Human-robot interactions can be modeled as incomplete-information general-sum dynamic games since the objective functions of both agents are not explicitly known to each other. However, solving for equilibrium policies for such games presents a major challenge, especially if the games involve nonlinear underlying dynamics. To simplify the problem, existing work often assumes that one agent is an expert with complete information about its peer, which can lead to biased estimates and failures in coordination. To address this challenge, we propose a nonlinear peer-aware cost estimation (N-PACE) algorithm for general-sum dynamic games. In N-PACE, using iterative linear quadratic (LQ) approximation of the nonlinear general-sum game, each agent explicitly models the learning dynamics of its peer agent while inferring their objective functions, leading to unbiased fast learning in inferring the unknown objective function of the peer agent, which is critical for task completion and safety assurance. Additionally, we demonstrate how N-PACE enables \textbf{intent communication} in such multi-agent systems by explicitly modeling the peer's learning dynamics.

Designing controllers that achieve task objectives while ensuring safety is a key challenge in control systems. This work introduces Opt-ODENet, a Neural ODE framework with a differentiable Quadratic Programming (QP) optimization layer to enforce constraints as hard requirements. Eliminating the reliance on nominal controllers or large datasets, our framework solves the optimal control problem directly using Neural ODEs. Stability and convergence are ensured through Control Lyapunov Functions (CLFs) in the loss function, while Control Barrier Functions (CBFs) embedded in the QP layer enforce real-time safety. By integrating the differentiable QP layer with Neural ODEs, we demonstrate compatibility with the adjoint method for gradient computation, enabling the learning of the CBF class-$\mathcal{K}$ function and control network parameters. Experiments validate its effectiveness in balancing safety and performance.

Due to its ability to work in non-line-of-sight and low-light environments, radio frequency (RF) imaging technology is expected to bring new possibilities for embodied intelligence and multimodal sensing. However, widely used RF devices (such as Wi-Fi) often struggle to provide high-precision electromagnetic measurements and large-scale datasets, hindering the application of RF imaging technology. In this paper, we combine the ideas of PINN to design the RINN network, using physical constraints instead of true value comparison constraints and adapting it with the characteristics of ubiquitous RF signals, allowing the RINN network to achieve RF imaging using only one sample without phase and with amplitude noise. Our numerical evaluation results show that compared with 5 classic algorithms based on phase data for imaging results, RINN's imaging results based on phaseless data are good, with indicators such as RRMSE (0.11) performing similarly well. RINN provides new possibilities for the universal development of radio frequency imaging technology.

Diabetic retinopathy (DR) is a leading cause of blindness worldwide, underscoring the importance of early detection for effective treatment. However, automated DR classification remains challenging due to variations in image quality, class imbalance, and pixel-level similarities that hinder model training. To address these issues, we propose a robust preprocessing pipeline incorporating image cropping, Contrast-Limited Adaptive Histogram Equalization (CLAHE), and targeted data augmentation to improve model generalization and resilience. Our approach leverages the Swin Transformer, which utilizes hierarchical token processing and shifted window attention to efficiently capture fine-grained features while maintaining linear computational complexity. We validate our method on the Aptos and IDRiD datasets for multi-class DR classification, achieving accuracy rates of 89.65% and 97.40%, respectively. These results demonstrate the effectiveness of our model, particularly in detecting early-stage DR, highlighting its potential for improving automated retinal screening in clinical settings.

Magnetic resonance imaging (MRI) reconstruction has largely been dominated by deep neural networks (DNN); however, many state-of-the-art architectures use black-box structures, which hinder interpretability and improvement. Here, we propose an interpretable DNN architecture for self-supervised MRI reconstruction and denoising by directly parameterizing and learning the classical primal-dual splitting, dubbed LPDSNet. This splitting algorithm allows us to decouple the observation model from the signal prior. Experimentally, we show other interpretable architectures without this decoupling property exhibit failure in the self-supervised learning regime. We report state-of-the-art self-supervised joint MRI reconstruction and denoising performance and novel noise-level generalization capabilities, where in contrast black-box networks fail to generalize.

This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that penalizes deviations of system states and control inputs from their desired trajectories. For linear systems, the classical Linear Quadratic Regulator (LQR) solution is derived using dynamic programming, resulting in recursive equations for feedback and feedforward terms. For nonlinear dynamics, the Iterative Linear Quadratic Regulator (iLQR) method is employed, which iteratively linearizes the system and solves a sequence of LQR problems to converge to an optimal policy. To implement this approach, a software service was developed and tested on several canonical models, including: Rayleigh oscillator, inverted pendulum on a moving cart, two-link manipulator, and quadcopter. The results confirm that iLQR enables efficient and accurate trajectory tracking in the presence of nonlinearities. To further enhance performance, it can be seamlessly integrated with Model Predictive Control (MPC), enabling online adaptation and improved robustness to constraints and system uncertainties.

In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with parametric uncertainty, which are augmented into the uncertain dynamical model. We employ an adaptive nonlinear control strategy based on a control Lyapunov functions approach to design a stabilizing controller for the augmented system. The developed theory shows that the controller ensures safe control actions for the original system while meeting specified performance objectives. We validate the effectiveness of our approach through simulations on diverse systems, including a planar quadrotor subject to unknown drag forces and an adaptive cruise control system, for which we provide comparisons with existing methodologies.

Underwater optical wireless technologies offer multiple advantages over the acoustic technology. Acoustic signals, for instance, are susceptible to noise from marine sources due to marine life and human activities. This is not the case with optical signals. However, absorption and scattering significantly attenuate optical signals. This limits the communication range and requires higher transmission power or more sensitive receivers to detect transmitted light. Therefore, it is necessary to design underwater optical systems with a higher transmission rate and reduced attenuation. To this end, we introduce a framework for designing optical signaling constellations employing multi-wavelength light sources to account for the transmission distance and achievable rate. In particular, we redefine the color-shift keying (CSK) constraint region to target blue light and adapt to marine environments. We discuss an example of 4-point underwater CSK. The corresponding analytical results demonstrate the trade-offs between the symbol error probability, achievable rate, and transmission range of the proposed scheme.

The State-Dependent Riccati Equation (SDRE) approach has emerged as a systematic and effective means of designing nearly optimal nonlinear controllers. The Barrier States (BaS) embedding methodology was developed recently for safe multi-objective controls in which the safety condition is manifested as a state to be controlled along with other states of the system. The overall system, termed the safety embedded system, is highly nonlinear even if the original system is linear. This paper develops a nonlinear nearly optimal safe feedback control technique by combining the two strategies effectively. First, the BaS is derived in an extended linearization formulation to be subsequently used to form an extended safety embedded system. A new optimal control problem is formed thereafter, which is used to construct a safety embedded State-Dependent Riccati Equation, termed BaS-SDRE, whose solution approximates the solution of the optimal control problem's associated Hamilton-Jacobi-Bellman (HJB) equation. The BaS-SDRE is then solved online to synthesize the nearly optimal safe control. The proposed technique's efficacy is demonstrated on an unstable, constrained linear system that shows how the synthesized control reacts to nonlinearities near the unsafe region, a nonlinear flight control system with limited path angular velocity that exists due to structural and dynamic concerns, and a planar quadrotor system that navigates safely in a crowded environment.

We propose a perceptual chromatic adaptation transform for white balance that makes use of split-quaternions. The novelty of the present work, which is motivated by a recently developed quantum-like model of color perception, consists at stressing the link between the algebraic structures appearing in this model and a certain sub-algebra of the split-quaternions. We show the potentiality of this approach for color image processing applications by proposing a chromatic adaptation transform, implemented via an appropriate use of the split-quaternion multiplication. Moreover, quantitative comparisons with the widely used state-of-the art von Kries chromatic adaptation transform are provided.

Machine learning (ML)-based feedback channel coding has garnered significant research interest in the past few years. However, there has been limited research exploring ML approaches in the so-called "two-way" setting where two users jointly encode messages and feedback for each other over a shared channel. In this work, we present a general architecture for ML-based two-way feedback coding, and show how several popular one-way schemes can be converted to the two-way setting through our framework. We compare such schemes against their one-way counterparts, revealing error-rate benefits of ML-based two-way coding in certain signal-to-noise ratio (SNR) regimes. We then analyze the tradeoffs between error performance and computational overhead for three state-of-the-art neural network coding models instantiated in the two-way paradigm.

As a revolutionary paradigm for intelligently controlling wireless channels, intelligent reflecting surface (IRS) has emerged as a promising technology for future sixth-generation (6G) wireless communications. While IRS-aided communication systems can achieve attractive high channel gains, existing schemes require plenty of IRS elements to mitigate the ``multiplicative fading'' effect in cascaded channels, leading to high complexity for real-time beamforming and high signaling overhead for channel estimation. In this paper, the concept of sustainable intelligent element-grouping IRS (IEG-IRS) is proposed to overcome those fundamental bottlenecks. Specifically, based on the statistical channel state information (S-CSI), the proposed grouping strategy intelligently pre-divide the IEG-IRS elements into multiple groups based on the beam-domain grouping method, with each group sharing the common reflection coefficient and being optimized in real time using the instantaneous channel state information (I-CSI). Then, we further analyze the asymptotic performance of the IEG-IRS to reveal the substantial capacity gain in an extremely large-scale IRS (XL-IRS) aided single-user single-input single-output (SU-SISO) system. In particular, when a line-of-sight (LoS) component exists, it demonstrates that the combined cascaded link can be considered as a ``deterministic virtual LoS'' channel, resulting in a sustainable squared array gain achieved by the IEG-IRS. Finally, we formulate a weighted-sum-rate (WSR) maximization problem for an IEG-IRS-aided multiuser multiple-input single-output (MU-MISO) system and a two-stage algorithm for optimizing the beam-domain grouping strategy and the multi-user active-passive beamforming is proposed.