arXiv subjects

Chaoyue Ding

Publications and source records attributed to Chaoyue Ding.

3 recordsLinked to original sources

arXiv2026

Disentangling Visuo-Tactile Foresight: Oracle-Guided Interface Discovery for World Action Models

Contact-rich manipulation remains challenging because successful control depends on physical interaction cues that are often weakly observable from vision alone. Recent tactile world action models jointly model future visual observations and tactile signals to guide action generation, but how such futures should be structured for effective use by the action expert remains underexplored. Directly studying this question with learned world action models is difficult because end-to-end behavior entangles physically invalid visual futures, unreliable predictions, inaccurate or cross-modally inconsistent tactile forecasts, and an unreadable future-to-action interface. To make this interface independently studyable, we introduce Oracle Visuo-Tactile Foresight (OVTF), a controlled framework that supplies paired RGB and tactile futures from successful trajectories verified in simulation. By fixing the future provider, OVTF isolates the interface and asks a cleaner question: if the future is successful and physically executable, what representation allows the action expert to absorb its benefit? Within OVTF, we propose Asymmetric Phase-Local Future Memory (AFM), in which visual memory reads future vision, each tactile memory jointly attends to its own tactile stream and phase-aligned future vision, and cross-tactile access is blocked. We compare AFM with Modality-Isolated Future Memory (IFM), which removes visual-to-tactile access and processes each future modality independently. Across seven tasks on the UniVTAC simulation benchmark, AFM achieves 32.0% average success, compared with 23.7% for IFM and 14.9% for UniVTAC-ACT. This controlled comparison shows that selective phase-aligned visual-tactile routing provides a more actionable future-to-action bridge than complete modality isolation.

cs.RO↗

arXiv2025

Mediator-Guided Multi-Agent Collaboration among Open-Source Models for Medical Decision-Making

Complex medical decision-making involves cooperative workflows operated by different clinicians. Designing AI multi-agent systems can expedite and augment human-level clinical decision-making. Existing multi-agent researches primarily focus on language-only tasks, yet their extension to multimodal scenarios remains challenging. A blind combination of diverse vision-language models (VLMs) can amplify an erroneous outcome interpretation. VLMs in general are less capable in instruction following and importantly self-reflection, compared to large language models (LLMs) of comparable sizes. This disparity largely constrains VLMs' ability in cooperative workflows. In this study, we propose MedOrch, a mediator-guided multi-agent collaboration framework for medical multimodal decision-making. MedOrch employs an LLM-based mediator agent that enables multiple VLM-based expert agents to exchange and reflect on their outputs towards collaboration. We utilize multiple open-source general-purpose and domain-specific VLMs instead of costly GPT-series models, revealing the strength of heterogeneous models. We show that the collaboration within distinct VLM-based agents can surpass the capabilities of any individual agent. We validate our approach on five medical vision question answering benchmarks, demonstrating superior collaboration performance without model training. Our findings underscore the value of mediator-guided multi-agent collaboration in advancing medical multimodal intelligence.

cs.AI↗

arXiv2023

MST-GAT: A Multimodal Spatial-Temporal Graph Attention Network for Time Series Anomaly Detection

Multimodal time series (MTS) anomaly detection is crucial for maintaining the safety and stability of working devices (e.g., water treatment system and spacecraft), whose data are characterized by multivariate time series with diverse modalities. Although recent deep learning methods show great potential in anomaly detection, they do not explicitly capture spatial-temporal relationships between univariate time series of different modalities, resulting in more false negatives and false positives. In this paper, we propose a multimodal spatial-temporal graph attention network (MST-GAT) to tackle this problem. MST-GAT first employs a multimodal graph attention network (M-GAT) and a temporal convolution network to capture the spatial-temporal correlation in multimodal time series. Specifically, M-GAT uses a multi-head attention module and two relational attention modules (i.e., intra- and inter-modal attention) to model modal correlations explicitly. Furthermore, MST-GAT optimizes the reconstruction and prediction modules simultaneously. Experimental results on four multimodal benchmarks demonstrate that MST-GAT outperforms the state-of-the-art baselines. Further analysis indicates that MST-GAT strengthens the interpretability of detected anomalies by locating the most anomalous univariate time series.

cs.LG↗