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arXiv · 2606.23028

Physics-Guided Spatiotemporal State Space Modeling for Lookahead Molten Pool Segmentation in Laser Wire-Feed Welding

Sen Li·Haichao Cui·Changhao Yin·Chendong Shao·Yaqi Wang·Xinhua Tang·Fenggui Lu
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Abstract

Real-time weld-pool perception is critical for closed-loop control in laser wire-feed welding, where sensing, computation, and actuator response introduce unavoidable delay. This paper presents a physics-guided spatiotemporal state space network for lookahead weld-pool segmentation. The model uses historical coaxial grayscale images, welding process parameters, and aligned wire-state electrical signals to predict the future semantic layout of three physically meaningful regions: keyhole, wire, and molten pool. It combines a visual encoder, process- and sensor-conditioned feature normalization, patch-level temporal state space modeling, horizon-conditioned latent prediction, dense future feature prediction, and a motion-aware mask decoder. Auxiliary signed-distance-function supervision, temporal consistency, feature distillation, and fine-grained keyhole losses further constrain the predicted geometry and local motion. Experiments on a 43-sequence laser welding dataset show that the proposed WeldMamba reaches 74.63\% mIoU at a 500 ms lookahead. Ablation studies further show that temporal history, patch-level state space modeling, and keyhole motion awareness are the main contributors to robust future segmentation.

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Sen Li, Haichao Cui, Changhao Yin, Chendong Shao, Yaqi Wang, Xinhua Tang, Fenggui Lu. 2026-06-22. Physics-Guided Spatiotemporal State Space Modeling for Lookahead Molten Pool Segmentation in Laser Wire-Feed Welding. https://arxiv.org/abs/2606.23028

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