arXiv subjects

Fang Xu

Publications and source records attributed to Fang Xu.

At least 37 records · Page 2Linked to original sources

arXiv2026

TEGA: A Tactile-Enhanced Grasping Assistant for Assistive Robotics via Sensor Fusion and Closed-Loop Haptic Feedback

Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger positioning is essential, it often overlooks the equally critical task of grasp force modulation, vital for handling objects of diverse hardness, texture, and shape. This limitation poses a significant challenge for users, especially individuals with upper limb disabilities who lack natural tactile feedback and rely on indirect cues to infer appropriate force levels. To address this gap, We present the tactile enhanced grasping assistant (TEGA), a closed loop assistive teleoperation framework that fuses EMG based intent2force inference with visuotactile sensing mapped into real time vibrotactile feedback via a wearable haptic vest, enabling intuitive, proportional force adjustment during manipulation. A wearable haptic vest delivers real time tactile feedback, allowing users to dynamically refine grasp force during manipulation. User studies confirm that the system substantially improves grasp stability and task success, underscoring its potential for assistive robotic applications.

cs.RO↗

arXiv2026

New Physics and Symmetry Tests with Polarized Photon Fusion and Dipole Moments

We discuss new-physics searches and symmetry tests with dipole moments, emphasizing the role of polarization observables. As a primary benchmark, we consider polarized photon fusion in the $e^+ e^-$ environment of the Super Tau-Charm Facility (STCF) and study $γγ\to τ^+ τ^-$ in the nearly back-to-back region, where a transverse-momentum-dependent (TMD) description provides a convenient framework for organizing polarization effects. We show that linearly polarized photons induce characteristic azimuthal asymmetries in the $τ^+ τ^-$ kinematics, enabling polarization-based observables that enhance sensitivity to the $τ$ electromagnetic dipole form factors. Moreover, $CP$-even and $CP$-odd dipole interactions can be disentangled through distinct angular structures, offering a systematic path to probe $τ$ dipole moments with improved precision at future lepton colliders. As an illustration, we obtain an improved $2σ$ reach on the anomalous magnetic dipole moment, $-4.6 \times 10^{-3} < \mathrm{Re}(a_τ) < 7.0 \times 10^{-3}$, reaching a precision level close to the Standard Model expectation. To place these prospects in a broader context, we briefly summarize the experimental status of dipole-moment measurements across different fermionic systems and highlight their complementarity in constraining new physics. We illustrate this interplay with supersymmetric scenarios featuring $R$-parity violation, in which loop-induced dipole moments provide correlated probes of $CP$-conserving and $CP$-violating interactions. Taken together, polarized photon fusion and precision dipole measurements constitute a coherent program for testing fundamental symmetries and exploring physics beyond the Standard Model.

hep-ph↗

arXiv2026

Linearly Polarized Photon Fusion as a Precision Probe of the Tau Lepton Dipole Moments at Lepton Colliders

We present a comprehensive investigation into the anomalous magnetic dipole moment ($a_τ$) and electric dipole moment ($d_τ$) of the $τ$ lepton using the $γγ\to τ^+τ^-$ process at future lepton colliders, with the Super Tau-Charm Facility serving as a benchmark. By employing transverse-momentum-dependent factorization, we introduce novel observables derived from $\cos2ϕ$, $\sin2ϕ$, and $\cos4ϕ$ azimuthal asymmetries to precisely probe the $τ$ lepton's electromagnetic structure. Our analysis significantly enhances the precision of $a_τ$ constraints within the photon-photon fusion process, yielding $\mathrm{Re}(a_τ) \in [-4.6, 7.0] \times 10^{-3}$ at the $2σ$ confidence level, which approaches the precision of the Standard Model prediction. These findings highlight the considerable potential of azimuthal asymmetry measurements for high-precision determinations of fundamental particle properties at future lepton colliders.

hep-ph↗

arXiv2026

Unified ROI-based Image Compression Paradigm with Generalized Gaussian Model

Region-of-Interest (ROI)-based image compression allocates bits unevenly according to the semantic importance of different regions. Such differentiated coding typically induces a sharp-peaked and heavy-tailed distribution. This distribution characteristic mathematically necessitates a probability model with adaptable shape parameters for accurate description. However, existing methods commonly use a Gaussian model to fit this distribution, resulting in a loss of coding performance. To systematically analyze the impact of this distribution on ROI coding, we develop a unified rate-distortion optimization theoretical paradigm. Building on this paradigm, we propose a novel Generalized Gaussian Model (GGM) to achieve flexible modeling of the latent variables distribution. To support stable optimization of GGM, we introduce effective differentiable functions and further propose a dynamic lower bound to alleviate train-test mismatch. Moreover, finite differences are introduced to solve the gradient computation after GGM fits the distribution. Experiments on COCO2017 demonstrate that our method achieves state-of-the-art in both ROI reconstruction and downstream tasks (e.g., Segmentation, Object Detection). Furthermore, compared to classical probability models, our GGM provides a more precise fit to feature distributions and achieves superior coding performance. The project page is at https://github.com/hukai-tju/ROIGGM.

eess.IV↗

arXiv2026

Updated Constraints from Electric Dipole Moments in the MSSM with R-Parity Violation

We revisit the electric dipole moments (EDMs) of quarks and leptons in the Minimal Supersymmetric Standard Model (MSSM) with trilinear $R$-parity violation (RPV). In this framework, EDMs are induced at the two-loop level via RPV interactions. We perform a comprehensive recalculation of several classes of Barr-Zee type diagrams in a general $R_ξ$ gauge. While we find general agreement with previous analytic results in the literature, our work provides a valuable independent cross-check of the complicated calculations. We also point out some subtleties in the intermediate steps and in the choice of the flavor basis for the numerical evaluation of the expressions. By confronting the theoretical predictions with the latest experimental limits on EDMs, we derive updated constraints on combinations of RPV couplings. We highlight an approximate, testable correlation between the proton and neutron EDM that emerges within the considered class of RPV models, offering a distinctive signature for future EDM experiments.

hep-ph↗

arXiv2026

An effective interactive brain cytoarchitectonic parcellation framework using pretrained foundation model

Cytoarchitectonic mapping provides anatomically grounded parcellations of brain structure and forms a foundation for integrative, multi-modal neuroscience analyses. These parcellations are defined based on the shape, density, and spatial arrangement of neuronal cell bodies observed in histological imaging. Recent works have demonstrated the potential of using deep learning models toward fully automatic segmentation of cytoarchitectonic areas in large-scale datasets, but performance is mainly constrained by the scarcity of training labels and the variability of staining and imaging conditions. To address these challenges, we propose an interactive cytoarchitectonic parcellation framework that leverages the strong transferability of the DINOv3 vision transformer. Our framework combines (i) multi-layer DINOv3 feature fusion, (ii) a lightweight segmentation decoder, and (iii) real-time user-guided training from sparse scribbles. This design enables rapid human-in-the-loop refinement while maintaining high segmentation accuracy. Compared with training an nnU-Net from scratch, transfer learning with DINOv3 yields markedly improved performance. We also show that features extracted by DINOv3 exhibit clear anatomical correspondence and demonstrate the method's practical utility for brain region segmentation using sparse labels. These results highlight the potential of foundation-model-driven interactive segmentation for scalable and efficient cytoarchitectonic mapping.

eess.IV↗

arXiv2025

MCI: Multi-Channel Imager on the Chinese Space Station Survey Telescope

The Multi-Channel Imager (MCI) is a powerful near-ultraviolet (NUV) and visible imager onboard the Chinese Space Station Survey Telescope (CSST). The MCI provides three imaging channels, which are the NUV channel, the Blue channel and the Red channel, with the wavelength range of 255-430 nm, 430-700 nm, and 700-1000 nm, respectively. MCI's three channels can target the same field simultaneously, which is unique compared to other imagers onboard the Hubble Space Telescope (HST) or the James Webb Space Telescope (JWST). Each channel employs a CCD focal plane of 9216 x 9232 pixels and $\sim$7\arcmin.5 x 7\arcmin.5 field of view (FOV), which are about $\gtrsim 4$ times greater than the FOVs of HST imagers. The MCI's three channels feature unprecedented sensitivities and field of views complement the NUV and visible capabilities of the CSST for high-precision photometry and weak-signal detection, which would help build a new standard-star system and the deepest UV-Optical exposures for CSST. Rich filter sets of MCI would help explore other sciences such as local emission line mapping, high-z Ly$α$ emitters searching, etc. Here we present key design features, results of current ground tests, and suggested observing strategies of the MCI.

astro-ph.IM↗

arXiv2025

EpiPlanAgent: Agentic Automated Epidemic Response Planning

Epidemic response planning is essential yet traditionally reliant on labor-intensive manual methods. This study aimed to design and evaluate EpiPlanAgent, an agent-based system using large language models (LLMs) to automate the generation and validation of digital emergency response plans. The multi-agent framework integrated task decomposition, knowledge grounding, and simulation modules. Public health professionals tested the system using real-world outbreak scenarios in a controlled evaluation. Results demonstrated that EpiPlanAgent significantly improved the completeness and guideline alignment of plans while drastically reducing development time compared to manual workflows. Expert evaluation confirmed high consistency between AI-generated and human-authored content. User feedback indicated strong perceived utility. In conclusion, EpiPlanAgent provides an effective, scalable solution for intelligent epidemic response planning, demonstrating the potential of agentic AI to transform public health preparedness.

cs.AI↗

arXiv2025

Mock Observations for the CSST Mission: Multi-Channel Imager--Instrument Simulation

The Chinese Space Station Survey Telescope (CSST), a two-meter aperture astronomical space telescope under China's manned space program, is equipped with multiple back-end scientific instruments. As an astronomical precision measurement module of the CSST, the Multi-Channel Imager (MCI) can cover a wide wavelength range from ultraviolet to near-infrared with three-color simultaneous high-precision photometry and imaging, which meets the scientific requirements for various fields. The diverse scientific objectives of MCI require not only a robust airborne platform, advanced optical systems, and observing facilities but also comprehensive software support for scientific operations and research. To this end, it is essential to develop realistic observational simulation software to thoroughly evaluate the MCI data stream and provide calibration tools for future scientific investigations. The MCI instrument simulation software will serve as a foundation for the development of the MCI data processing pipeline and will facilitate improvements in both hardware and software, as well as in the observational operation strategy, in alignment with the mission's scientific goals. In conclusion, we present a comprehensive overview of the MCI instrument simulation and some corresponding performances of the MCI data processing pipeline.

astro-ph.IM↗

arXiv2025

Mask Clustering-based Annotation Engine for Large-Scale Submeter Land Cover Mapping

Recent advances in remote sensing technology have made submeter resolution imagery increasingly accessible, offering remarkable detail for fine-grained land cover analysis. However, its full potential remains underutilized - particularly for large-scale land cover mapping - due to the lack of sufficient, high-quality annotated datasets. Existing labels are typically derived from pre-existing products or manual annotation, which are often unreliable or prohibitively expensive, particularly given the rich visual detail and massive data volumes of submeter imagery. Inspired by the spatial autocorrelation principle, which suggests that objects of the same class tend to co-occur with similar visual features in local neighborhoods, we propose the Mask Clustering-based Annotation Engine (MCAE), which treats semantically consistent mask groups as the minimal annotating units to enable efficient, simultaneous annotation of multiple instances. It significantly improves annotation efficiency by one to two orders of magnitude, while preserving label quality, semantic diversity, and spatial representativeness. With MCAE, we build a high-quality annotated dataset of about 14 billion labeled pixels, referred to as HiCity-LC, which supports the generation of city-scale land cover maps across five major Chinese cities with classification accuracies above 85%. It is the first publicly available submeter resolution city-level land cover benchmark, highlighting the scalability and practical utility of MCAE for large-scale, submeter resolution mapping. The dataset is available at https://github.com/chenhaocs/MCAE

cs.CV↗

arXiv2025

Toward a Sustainable Low-Altitude Economy: A Survey of Energy-Efficient RIS-UAV Networks

The integration of RIS into UAV networks presents a transformative solution for achieving energy-efficient and reliable communication, particularly within the rapidly expanding low-altitude economy (LAE). As UAVs facilitate diverse aerial services-spanning logistics to smart surveillance-their limited energy reserves create significant challenges. RIS effectively addresses this issue by dynamically shaping the wireless environment to enhance signal quality, reduce power consumption, and extend UAV operation time, thus enabling sustainable and scalable deployment across various LAE applications. This survey provides a comprehensive review of RIS-assisted UAV networks, focusing on energy-efficient design within LAE applications. We begin by introducing the fundamentals of RIS, covering its operational modes, deployment architectures, and roles in both terrestrial and aerial environments. Next, advanced EE-driven strategies for integrating RIS and UAVs. Techniques such as trajectory optimization, power control, beamforming, and dynamic resource management are examined. Emphasis is placed on collaborative solutions that incorporate UAV-mounted RIS, wireless energy harvesting (EH), and intelligent scheduling frameworks. We further categorize RIS-enabled schemes based on key performance objectives relevant to LAE scenarios. These objectives include sum rate maximization, coverage extension, QoS guarantees, secrecy rate improvement, latency reduction, and age of information (AoI) minimization. The survey also delves into RIS-UAV synergy with emerging technologies like MEC, NOMA, V2X communication, and WPT. These technologies are crucial to the LAE ecosystem. Finally, we outline open research challenges and future directions, emphasizing the critical role of energy-aware, RIS-enhanced UAV networks in shaping scalable, sustainable, and intelligent infrastructures within the LAE.

cs.ET↗

arXiv2025

Frequency-Adaptive Low-Latency Object Detection Using Events and Frames

Fusing Events and RGB images for object detection leverages the robustness of Event cameras in adverse environments and the rich semantic information provided by RGB cameras. However, two critical mismatches: low-latency Events \textit{vs.}~high-latency RGB frames; temporally sparse labels in training \textit{vs.}~continuous flow in inference, significantly hinder the high-frequency fusion-based object detection. To address these challenges, we propose the \textbf{F}requency-\textbf{A}daptive Low-Latency \textbf{O}bject \textbf{D}etector (FAOD). FAOD aligns low-frequency RGB frames with high-frequency Events through an Align Module, which reinforces cross-modal style and spatial proximity to address the Event-RGB Mismatch. We further propose a training strategy, Time Shift, which enforces the module to align the prediction from temporally shifted Event-RGB pairs and their original representation, that is, consistent with Event-aligned annotations. This strategy enables the network to use high-frequency Event data as the primary reference while treating low-frequency RGB images as supplementary information, retaining the low-latency nature of the Event stream toward high-frequency detection. Furthermore, we observe that these corrected Event-RGB pairs demonstrate better generalization from low training frequency to higher inference frequencies compared to using Event data alone. Extensive experiments on the PKU-DAVIS-SOD and DSEC-Detection datasets demonstrate that our FAOD achieves SOTA performance. Specifically, in the PKU-DAVIS-SOD Dataset, FAOD achieves 9.8 points improvement in terms of the mAP in fully paired Event-RGB data with only a quarter of the parameters compared to SODFormer, and even maintains robust performance (only a 3 points drop in mAP) under 80$\times$ Event-RGB frequency mismatch.

cs.CV↗

arXiv2025

LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System

Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with strict payload limitations. Integrating a motorized LiDAR offers a practical solution by significantly expanding the sensor's FoV and enabling adaptive panoramic 3D sensing. However, the high-frequency vibrations of the quadruped robot introduce calibration challenges, causing variations in the LiDAR-motor transformation that degrade sensing accuracy. Existing calibration methods that use artificial targets or dense feature extraction lack feasibility for on-site applications and real-time implementation. To overcome these limitations, we propose LiMo-Calib, an efficient on-site calibration method that eliminates the need for external targets by leveraging geometric features directly from raw LiDAR scans. LiMo-Calib optimizes feature selection based on normal distribution to accelerate convergence while maintaining accuracy and incorporates a reweighting mechanism that evaluates local plane fitting quality to enhance robustness. We integrate and validate the proposed method on a motorized LiDAR system mounted on a quadruped robot, demonstrating significant improvements in calibration efficiency and 3D sensing accuracy, making LiMo-Calib well-suited for real-world robotic applications. We further demonstrate the accuracy improvements of the LIO on the panoramic 3D sensing system using the calibrated parameters. The code will be available at: https://github.com/kafeiyin00/LiMo-Calib.

cs.RO↗

arXiv2025

Mitigating the Impact of Prominent Position Shift in Drone-based RGBT Object Detection

Drone-based RGBT object detection plays a crucial role in many around-the-clock applications. However, real-world drone-viewed RGBT data suffers from the prominent position shift problem, i.e., the position of a tiny object differs greatly in different modalities. For instance, a slight deviation of a tiny object in the thermal modality will induce it to drift from the main body of itself in the RGB modality. Considering RGBT data are usually labeled on one modality (reference), this will cause the unlabeled modality (sensed) to lack accurate supervision signals and prevent the detector from learning a good representation. Moreover, the mismatch of the corresponding feature point between the modalities will make the fused features confusing for the detection head. In this paper, we propose to cast the cross-modality box shift issue as the label noise problem and address it on the fly via a novel Mean Teacher-based Cross-modality Box Correction head ensemble (CBC). In this way, the network can learn more informative representations for both modalities. Furthermore, to alleviate the feature map mismatch problem in RGBT fusion, we devise a Shifted Window-Based Cascaded Alignment (SWCA) module. SWCA mines long-range dependencies between the spatially unaligned features inside shifted windows and cascaded aligns the sensed features with the reference ones. Extensive experiments on two drone-based RGBT object detection datasets demonstrate that the correction results are both visually and quantitatively favorable, thereby improving the detection performance. In particular, our CBC module boosts the precision of the sensed modality ground truth by 25.52 aSim points. Overall, the proposed detector achieves an mAP_50 of 43.55 points on RGBTDronePerson and surpasses a state-of-the-art method by 8.6 mAP50 on a shift subset of DroneVehicle dataset. The code and data will be made publicly available.

cs.CV↗

arXiv2025

Advancements in UAV-based Integrated Sensing and Communication: A Comprehensive Survey

Unmanned aerial vehicle (UAV)-based integrated sensing and communication (ISAC) systems are poised to revolutionize next-generation wireless networks by enabling simultaneous sensing and communication (S\&C). This survey comprehensively reviews UAV-ISAC systems, highlighting foundational concepts, key advancements, and future research directions. We explore recent advancements in UAV-based ISAC systems from various perspectives and objectives, including advanced channel estimation (CE), beam tracking, and system throughput optimization under joint sensing and communication S\&C constraints. Additionally, we examine weighted sum rate (WSR) and sensing trade-offs, delay and age of information (AoI) minimization, energy efficiency (EE), and security enhancement. These applications highlight the potential of UAV-based ISAC systems to improve spectrum utilization, enhance communication reliability, reduce latency, and optimize energy consumption across diverse domains, including smart cities, disaster relief, and defense operations. The survey also features summary tables for comparative analysis of existing methodologies, emphasizing performance, limitations, and effectiveness in addressing various challenges. By synthesizing recent advancements and identifying open research challenges, this survey aims to be a valuable resource for developing efficient, adaptive, and secure UAV-based ISAC systems.

cs.ET↗

arXiv2025

RIS-Driven Resource Allocation Strategies for Diverse Network Environments: A Comprehensive Review

This comprehensive survey examines how Reconfigurable Intelligent Surfaces (RIS) revolutionize resource allocation in various network frameworks. It begins by establishing a theoretical foundation with an overview of RIS technologies, including passive RIS, active RIS, and Simultaneously Transmitting and Reflecting RIS (STAR-RIS). The core of the survey focuses on RIS's role in optimizing resource allocation within Single-Input Multiple-Output (SIMO), Multiple-Input Single-Output (MISO), and Multiple-Input Multiple-Output (MIMO) systems. It further explores RIS integration in complex network environments, such as Heterogeneous Wireless Networks (HetNets) and Non-Orthogonal Multiple Access (NOMA) frameworks. Additionally, the survey investigates RIS applications in advanced communication domains like Terahertz (THz) networks, Vehicular Communication (VC), and Unmanned Aerial Vehicle (UAV) communications, highlighting the synergy between RIS and Artificial Intelligence (AI) for enhanced network efficiency. Summary tables provide comparative insights into various schemes. The survey concludes with lessons learned, future research directions, and challenges, emphasizing critical open issues.

cs.ET↗

arXiv2024

Oriented Tiny Object Detection: A Dataset, Benchmark, and Dynamic Unbiased Learning

Detecting oriented tiny objects, which are limited in appearance information yet prevalent in real-world applications, remains an intricate and under-explored problem. To address this, we systemically introduce a new dataset, benchmark, and a dynamic coarse-to-fine learning scheme in this study. Our proposed dataset, AI-TOD-R, features the smallest object sizes among all oriented object detection datasets. Based on AI-TOD-R, we present a benchmark spanning a broad range of detection paradigms, including both fully-supervised and label-efficient approaches. Through investigation, we identify a learning bias presents across various learning pipelines: confident objects become increasingly confident, while vulnerable oriented tiny objects are further marginalized, hindering their detection performance. To mitigate this issue, we propose a Dynamic Coarse-to-Fine Learning (DCFL) scheme to achieve unbiased learning. DCFL dynamically updates prior positions to better align with the limited areas of oriented tiny objects, and it assigns samples in a way that balances both quantity and quality across different object shapes, thus mitigating biases in prior settings and sample selection. Extensive experiments across eight challenging object detection datasets demonstrate that DCFL achieves state-of-the-art accuracy, high efficiency, and remarkable versatility. The dataset, benchmark, and code are available at https://chasel-tsui.github.io/AI-TOD-R/.

cs.CV↗

arXiv2024

Tiny Object Detection with Single Point Supervision

Tiny objects, with their limited spatial resolution, often resemble point-like distributions. As a result, bounding box prediction using point-level supervision emerges as a natural and cost-effective alternative to traditional box-level supervision. However, the small scale and lack of distinctive features of tiny objects make point annotations prone to noise, posing significant hurdles for model robustness. To tackle these challenges, we propose Point Teacher--the first end-to-end point-supervised method for robust tiny object detection in aerial images. To handle label noise from scale ambiguity and location shifts in point annotations, Point Teacher employs the teacher-student architecture and decouples the learning into a two-phase denoising process. In this framework, the teacher network progressively denoises the pseudo boxes derived from noisy point annotations, guiding the student network's learning. Specifically, in the first phase, random masking of image regions facilitates regression learning, enabling the teacher to transform noisy point annotations into coarse pseudo boxes. In the second phase, these coarse pseudo boxes are refined using dynamic multiple instance learning, which adaptively selects the most reliable instance from dynamically constructed proposal bags around the coarse pseudo boxes. Extensive experiments on three tiny object datasets (i.e., AI-TOD-v2, SODA-A, and TinyPerson) validate the proposed method's effectiveness and robustness against point location shifts. Notably, relying solely on point supervision, our Point Teacher already shows comparable performance with box-supervised learning methods. Codes and models will be made publicly available.

cs.CV↗