This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure, control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design, enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field, while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.

Unsupervised anomaly detection methods can identify surface defects in industrial images by leveraging only normal samples for training. Due to the risk of overfitting when learning from a single class, anomaly synthesis strategies are introduced to enhance detection capability by generating artificial anomalies. However, existing strategies heavily rely on anomalous textures from auxiliary datasets. Moreover, their limitations in the coverage and directionality of anomaly synthesis may result in a failure to capture useful information and lead to significant redundancy. To address these issues, we propose a novel Progressive Boundary-guided Anomaly Synthesis (PBAS) strategy, which can directionally synthesize crucial feature-level anomalies without auxiliary textures. It consists of three core components: Approximate Boundary Learning (ABL), Anomaly Feature Synthesis (AFS), and Refined Boundary Optimization (RBO). To make the distribution of normal samples more compact, ABL first learns an approximate decision boundary by center constraint, which improves the center initialization through feature alignment. AFS then directionally synthesizes anomalies with more flexible scales guided by the hypersphere distribution of normal features. Since the boundary is so loose that it may contain real anomalies, RBO refines the decision boundary through the binary classification of artificial anomalies and normal features. Experimental results show that our method achieves state-of-the-art performance and the fastest detection speed on three widely used industrial datasets, including MVTec AD, VisA, and MPDD. The code will be available at: https://github.com/cqylunlun/PBAS.

In this paper, an anomaly detection method based on background reconstruction is proposed to perform defect inspection on the texture surface of the industrial products. This method consists of two modules: (i) An autoencoder integrated with generative adversarial network is utilized to reconstruct the textured background of the original image as a defect-free reference. Specifically, extra anomalous images are introduced and a mapping method of anomaly is given to improve the stability of reconstruction. (ii) A U-net based inspection network is trained to perform pixel-wise analysis of the differences between the original and the reconstructed defect-free image. During these processes, only artificial synthesized defective images are utilized to train the model without any real defective samples. A series of experiments are conducted on several texture images datasets and the industrial production line. The experimental results reveal the effectiveness and versatility of the proposed method.

Defect generation is a crucial method for solving data problems in industrial defect detection. However, the current defect generation methods suffer from the problems of background information loss, insufficient consideration of complex defects, and lack of accurate annotations, which limits their application in defect segmentation tasks. To tackle these problems, we proposed a mask-guided background-preserving defect generation method, MDGAN (mask-guided defect generation adversarial networks). First, to preserve the normal background and provide accurate annotations for the generated defect samples, we proposed a background replacement module (BRM), to add real background information to the generator and guide the generator to only focus on the generation of defect content in specified regions. Second, to guarantee the quality of the generated complex texture defects, we proposed a double discrimination module (DDM), to assist the discriminator in measuring the realism of the input image and distinguishing whether or not the defects were distributed at specified locations. The experimental results on metal, fabric, and plastic products showed that MDGAN could generate diversified and high-quality defect samples, demonstrating an improvement in detection over the traditional augmented samples. In addition, MDGAN can transfer defects between datasets with similar defect contents, thus achieving zero-shot defect detection.