This paper tackles the challenge of anomaly image synthesis and segmentation to generate various anomaly images and their segmentation labels to mitigate the issue of data scarcity. Existing approaches employ the precise mask to guide the generation, relying on additional mask generators, leading to increased computational costs and limited anomaly diversity. Although a few works use coarse masks as the guidance to expand diversity, they lack effective generation of labels for synthetic images, thereby reducing their practicality. Therefore, our proposed method simultaneously generates anomaly images and their corresponding masks by utilizing coarse masks and anomaly categories. The framework utilizes attention maps from synthesis process as mask labels and employs two optimization modules to tackle drift challenges, which are mismatches between synthetic results and real situations. Our evaluation demonstrates that our method improves pixel-level AP by 1.3% and F1-MAX by 1.8% in anomaly detection tasks on the MVTec dataset. Additionally, its successful application in practical scenarios highlights its effectiveness, improving IoU by 37.2% and F-measure by 25.1% with the Floor Dirt dataset. The code is available at https://github.com/JJessicaYao/DriftRemover.

This paper presents a novel active force-controlled end-effector with passive structural compliance and intrinsic contact sensing capabilities. Slender elastic beams are introduced to provide the end-effector with structural compliance to accommodate inevitable fluctuations through deformation during operation. Meanwhile, flexible strain gauges are embedded into the slender elastic beams to endow the end-effector with intrinsic sensing capability. A kinetostatic model is established in closed-form to map the local deflections of strain gauges to the contact force with the environment. On this basis, model-based feedback control can be readily implemented to actively adjust the contact force between the end-effector and the workpiece. A prototype is developed, on which a variety of experiments are conducted to validate the effectiveness of the proposed end-effector. The results demonstrate that the end-effector can control the contact force accurately, with a maximum error of around 0.65N. Furthermore, a demonstration of robotic grinding using the developed prototype showcases its potential for practical applications.

The scarcity of data in various scenarios, such as medical, industry and autonomous driving, leads to model overfitting and dataset imbalance, thus hindering effective detection and segmentation performance. Existing studies employ the generative models to synthesize more training samples to mitigate data scarcity. However, these synthetic samples are repetitive or simplistic and fail to provide "crucial information" that targets the downstream model's weaknesses. Additionally, these methods typically require separate training for different objects, leading to computational inefficiencies. To address these issues, we propose Crucial-Diff, a domain-agnostic framework designed to synthesize crucial samples. Our method integrates two key modules. The Scene Agnostic Feature Extractor (SAFE) utilizes a unified feature extractor to capture target information. The Weakness Aware Sample Miner (WASM) generates hard-to-detect samples using feedback from the detection results of downstream model, which is then fused with the output of SAFE module. Together, our Crucial-Diff framework generates diverse, high-quality training data, achieving a pixel-level AP of 83.63% and an F1-MAX of 78.12% on MVTec. On polyp dataset, Crucial-Diff reaches an mIoU of 81.64% and an mDice of 87.69%. Code is publicly available at https://github.com/JJessicaYao/Crucial-diff.

Recently, digital humans for interpersonal interaction in virtual environments have gained significant attention. In this paper, we introduce a novel multi-dancer synthesis task called partner dancer generation, which involves synthesizing virtual human dancers capable of performing dance with users. The task aims to control the pose diversity between the lead dancer and the partner dancer. The core of this task is to ensure the controllable diversity of the generated partner dancer while maintaining temporal coordination with the lead dancer. This scenario varies from earlier research in generating dance motions driven by music, as our emphasis is on automatically designing partner dancer postures according to pre-defined diversity, the pose of lead dancer, as well as the accompanying tunes. To achieve this objective, we propose a three-stage framework called Dance-with-You (DanY). Initially, we employ a 3D Pose Collection stage to collect a wide range of basic dance poses as references for motion generation. Then, we introduce a hyper-parameter that coordinates the similarity between dancers by masking poses to prevent the generation of sequences that are over-diverse or consistent. To avoid the rigidity of movements, we design a Dance Pre-generated stage to pre-generate these masked poses instead of filling them with zeros. After that, a Dance Motion Transfer stage is adopted with leader sequences and music, in which a multi-conditional sampling formula is rewritten to transfer the pre-generated poses into a sequence with a partner style. In practice, to address the lack of multi-person datasets, we introduce AIST-M, a new dataset for partner dancer generation, which is publicly availiable at https://github.com/JJessicaYao/AIST-M-Dataset. Comprehensive evaluations on our AIST-M dataset demonstrate that the proposed DanY can synthesize satisfactory partner dancer results with controllable diversity.