Animating human-scene interactions such as picking and placing a wide range of objects with different geometries is a challenging task, especially in a cluttered environment where interactions with complex articulated containers are involved. The main difficulty lies in the sparsity of the motion data compared to the wide variation of the objects and environments, as well as the poor availability of transition motions between different actions, increasing the complexity of the generalization to arbitrary conditions. To cope with this issue, we develop a system that tackles the interaction synthesis problem as a hierarchical goal-driven task. Firstly, we develop a bimanual scheduler that plans a set of keyframes for simultaneously controlling the two hands to efficiently achieve the pick-and-place task from an abstract goal signal such as the target object selected by the user. Next, we develop a neural implicit planner that generates hand trajectories to guide reaching and leaving motions across diverse object shapes/types and obstacle layouts. Finally, we propose a linear dynamic model for our DeepPhase controller that incorporates a Kalman filter to enable smooth transitions in the frequency domain, resulting in a more realistic and effective multi-objective control of the character. Our system can synthesize a rich variety of natural pick-and-place movements that adapt to different object geometries, container articulations, and scene layouts.

Early detection and identification of malignant thyroid nodules, a vital precursory to the treatment, is a difficult task even for experienced clinicians. Many Computer-Aided Diagnose (CAD) systems have been developed to assist clinicians in performing this task on ultrasonic images. Learning-based CAD systems for thyroid nodules generally accommodate both nodule detection/ segmentation and fine-grained classification for its malignancy, and prior researches often treat aforementioned tasks in separate stages, leading to additional computational costs. In this paper, we utilize an online class activation mapping (CAM) mechanism to guide the network to learn discriminative features for identifying thyroid nodules in ultrasound images, called CAM attention network. It takes nodule masks as localization cues for direct spatial attention of the classification module, thereby avoiding isolated training for classification. Meanwhile, we propose a deformable convolution module to add offsets to the regular grid sampling locations in the standard convolution, guiding the network to capture more discriminative features of nodule areas. Furthermore, we use a generative adversarial network (GAN)to ensure reliable deformations of nodules from the deformable convolution module. Our proposed CAM attention network has already achieved the 2nd place in the classification task of TN-SCUI 2020, a MICCAI 2020 Challenge with the largest set of thyroid nodule ultrasound images according to our knowledge. The further inclusion of our proposed GAN-guided deformable module allows for capturing more fine-grained features between benign and malignant nodules, and further improves the classification accuracy to a new state-of-the-art level.