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Feng Xue

Publications and source records attributed to Feng Xue.

At least 19 recordsLinked to original sources
arXiv2026

PILOT: Privileged Imitation Learning for End-to-End Motion Planning of Autonomous UAVs under Partial Observability

Autonomous navigation in cluttered environments is hampered by partial observability and dynamic constraints. This paper presents PILOT, a constraint-aware privileged imitation learning framework for vision-based end-to-end UAV motion planning under partial observability. The framework distills planning strategies from a computationally intensive optimal control expert into a student policy regularized toward safety and dynamic requirements via a dual-objective loss function. To mitigate partial observability, a spatiotemporal perception fusion module using a Temporal Convolutional Network (TCN) is developed to integrate historical depth images and odometry. This module infers task-relevant latent context from historical observations, enhancing spatial awareness beyond the instantaneous FOV without maintaining persistent map memory. A trajectory parameterization layer mapping network outputs to a structured trajectory, while enabling explicit continuity, dynamic-consistency, and obstacle soft penalties during training, encouraging constraint satisfaction for unseen observations without formal guarantees. Simulations on quadrotor and fixed-wing aircraft demonstrate that PILOT achieves performance comparable to the privileged expert while reducing computational overhead by over 80\%. Successful indoor and outdoor zero-shot deployment confirms the practical feasibility and cross-domain generalization of the planner.

cs.RO↗
arXiv2026

A frugal primal-dual splitting with minimal lifting over arbitrary rooted trees

We develop a frugal primal-dual splitting with minimal lifting for solving structured monotone inclusions, involving cocoercive operators, linear compositions and parallel sums. This is established by defining hierarchical nodes and edges between them over a tree-structured graph, with arbitrary assignments of dual variables and cocoercive elements to primal nodes. This arbitrariness allows a great flexibility in terms of level-synchronous distributed computing, such as centralized or decentralized. The particular instances naturally extend the Douglas--Rachford splitting on various graphs, recover the parallel Chambolle--Pock, and solve a class of structured convex minimization problems. For the pure resolvent convex minimization subclass, we establish an O(1/k) ergodic rate for a restricted primal-dual gap over bounded test sets. Furthermore, we introduce a reformulation technique in a product Hilbert space to facilitate the convergence analysis, specifically to derive the o(1/k)-rate of asymptotic regularity

math.OC↗
arXiv2026

DepthART: Scaling Foundation Monocular Depth to Tiny Models

Recent geometric foundation models (e.g., Metric3D, Depth Anything and UniDepth) have substantially improved monocular depth estimation (MDE) in both cross-scene generalization and metric-scale prediction, yet these gains have not translated to tiny models. We bridge this gap with DepthART (Depth Anything Rethought for Tiny Models), which is a compact MDE model for on-device deployment across diverse scenes. We first identify two capacity-driven bottlenecks in tiny models: (i) overfitting to dataset-specific distribution bias and (ii) unstable metric adaptation under camera shift, where full fine-tuning easily damages transferable geometry. Accordingly, DepthART combines two simple but effective strategies: a bias-resistant data sampling scheme to reduce distribution bias under the same training budget, and a camera-conditioned fine-tuning protocol that freezes the distilled encoder and adjusts metric scale conditioned on intrinsics while better preserving cross-dataset generalization. Across datasets, DepthART consistently surpasses previous tiny baselines in both zero-shot generalization and metric accuracy (e.g., zero-shot $\delta_1$=0.964 for DepthART-S on NYUD v2), and in some cases approaches heavy models. We further provide a scalable model family, with DepthART-S reaching 347/245 FPS (strict FP32) on an RTX A6000 at $224^2/448^2$, 102 FPS (TF32) on a Orin NX 8GB, and over 15 FPS (FP32) on a Jetson Nano 4GB.

cs.CV↗
arXiv2026

Multi-Robot Open Adaptive Teaming Across Unseen Environments, Partners, and Scales

Deploying robot teams in the real world requires simultaneous adaptation to unseen environments, unknown partners, and varying team sizes, yet existing approaches often address these challenges in isolation under the closed-world assumption of fixed teammates. We formalize this as open adaptive multi-robot teaming and propose a hypergraphic-form game formulation that captures team-level cooperative relationships beyond pairwise interactions, providing a principled foundation for coordination structure inference when team composition changes dynamically within episodes. Unlike graph neural network architectures, this is a game-theoretic construct for modeling strategic interactions and payoff structures among agents. Building on this formulation, we develop the Hypergraphic Open-ended Learning Algorithm (HOLA), which progressively expands partner and environment diversity during training rather than optimizing for fixed configurations. Evaluated on cooperative pursuit with multi-drone and multi-quadruped platforms, HOLA outperforms all baselines across all three adaptability dimensions. Learned policies transfer directly to physical hardware without fine-tuning, with successful deployments on Crazyflie and Zsibot L1 platforms confirming robust real-world coordination in novel environments with unseen teammates.

cs.RO↗
arXiv2026

One Scene, Two Depths: Probing Geometric Ambiguity in Monocular Foundation Models

A faithful 3D world representation should account for layered geometry, where a single camera ray may contain multiple visible and geometrically valid surfaces. Monocular depth estimation, however, reduces this structure to one scalar depth per pixel. Transparent scenes make this ambiguity measurable: the same ray can pass through foreground glass and observe the background, turning the supervised target into a convention of annotation, data, and training rather than a scene-intrinsic truth. A learned predictor exposes this convention as its depth-layer preference. We introduce MultiDepth-3k (MD-3k), a sparse two-layer ordinal benchmark for measuring depth-layer preference and multi-layer spatial relationship accuracy (ML-SRA). On MD-3k, leading depth foundation models exhibit diverse layer preferences under standard RGB input, showing that the same layered geometry can be resolved differently across models. We further find that Laplacian Visual Prompting (LVP), a training-free spectral input transformation, can substantially change the reported layer for certain frozen models. The strongest RGB/LVP pair, DAv2-L, reaches 75.5% ML-SRA. These results suggest that depth foundation models may express complementary geometric hypotheses that standard RGB inference leaves unexpressed. We invite the community to rethink depth supervision and evaluation through an ambiguity-aware lens, where multiple valid 3D interpretations are treated as geometric structure to be measured, preserved, and expressed.

cs.CV↗
arXiv2026

SPEC CPU: The Next Generation

The march toward developing relevant and robust CPU benchmarks continues with the introduction of SPEC CPU 2026, the next generation suite for measuring processor performance. This paper details the methodology behind its creation, showcasing a process centered on community collaboration and principled development. The suite is built upon a foundation of modern, open-source applications, selected and hardened through a process that emphasizes workload diversity, portability, and software longevity. A key contribution is Rolling-Round-Robin Rate, a novel and standardized approach to running heterogeneous, multiprogrammed workloads that addresses a long-standing gap in benchmarking practice. Additionally, the suite features an expanded set of multithreaded benchmarks and introduces workloads with distinct microarchitectural profiles, reflecting the demands of contemporary software. By detailing our principled approach to benchmark selection, adaptation, and validation, we demonstrate how the SPEC CPU 2026 suite sets the standard for performance evaluation in the next era of computer architecture research and development.

cs.PF↗
arXiv2026

Dual-LoRA: Parameter-Efficient Adversarial Disentanglement for Cross-Lingual Speaker Verification

Cross-lingual speaker verification suffers from severe language-speaker entanglement. This causes systematic degradation in the hardest scenario: correctly accepting utterances from the same speaker across different languages while rejecting those from different speakers sharing the same language. Standard adversarial disentanglement degrades speaker discriminability; blind discriminators inadvertently penalize speaker-discriminative traits that merely correlate with language. To address this, we propose Dual-LoRA, injecting trainable task-factorized LoRA adapters into a frozen pre-trained backbone. Our core innovation is a Language-Anchored Adversary: by grounding the discriminator with an explicit language branch, adversarial gradients target true linguistic cues rather than arbitrary correlations, preserving essential speaker characteristics. Evaluated on the TidyVoice benchmark, our system achieves a 0.91% validation EER and achieves 3rd place in the official challenge.

eess.AS↗
arXiv2026

Inverse Resistive Force Theory (I-RFT): Learning granular properties through robot-terrain physical interactions

For robots to navigate safely and efficiently on soft, granular terrains, it is crucial to gather information about the terrain's mechanical properties, which directly affect locomotion performance. Recent research has developed robotic legs that can accurately sense ground reaction forces during locomotion. However, existing tests of granular property estimation often rely on specific foot trajectories, such as vertical penetration or horizontal shear, limiting their applicability during natural locomotion. To address this limitation, we introduce a physics-informed machine learning framework, Inverse Resistive Force Theory (I-RFT), which integrates the Granular Resistive Force Theory model with Gaussian Processes to infer terrain properties from proprioceptively measured contact forces under arbitrary gait trajectories. By embedding the granular force model within the learning process, I-RFT preserves physical consistency while enabling generalization across diverse motion primitives. Experimental results demonstrate that I-RFT accurately estimates terrain properties across multiple gait trajectories and toe shapes. Moreover, we show that the quantified uncertainty over the terrain resistance stress map could enable robots to optimize foot design and gait trajectories for efficient information gathering. This approach establishes a new foundation for data-efficient characterization of complex granular environments and opens new avenues for locomotion strategies that actively adapt gait for autonomous terrain exploration.

cs.RO↗
arXiv2026

Geometry OR Tracker: Universal Geometric Operating Room Tracking

In operating rooms (OR), world-scale multi-view 3D tracking supports downstream applications such as surgeon behavior recognition, where physically meaningful quantities such as distances and motion statistics must be measured in meters. However, real clinical deployments rarely satisfy the geometric prerequisites for stable multi-view fusion and tracking: camera calibration and RGB-D registration are always unreliable, leading to cross-view geometric inconsistency that produces "ghosting" during fusion and degrades 3D trajectories in a shared OR coordinate frame. To address this, we introduce Geometry OR Tracker, a two-stage pipeline that first rectifies imprecise calibration into a scaleconsistent and geometrically consistent camera setup with a single global scale via a Multi-view Metric Geometry Rectification module, and then performs Occlusion-Robust 3D Point Tracking directly in the unified OR world frame. On the MM-OR benchmark, improved geometric consistency translates into tracking gains: our rectification front-end reduces cross-view depth disagreement by more than 30$\times$ compared to raw calibration. Ablation studies further demonstrate the relationship between calibration quality and tracking accuracy, showing that improved geometric consistency yields stronger world-frame tracking.

cs.CV↗
arXiv2026

Risk-Aware World Model Predictive Control for Generalizable End-to-End Autonomous Driving

With advances in imitation learning (IL) and large-scale driving datasets, end-to-end autonomous driving (E2E-AD) has made great progress recently. Currently, IL-based methods have become a mainstream paradigm: models rely on standard driving behaviors given by experts, and learn to minimize the discrepancy between their actions and expert actions. However, this objective of "only driving like the expert" suffers from limited generalization: when encountering rare or unseen long-tail scenarios outside the distribution of expert demonstrations, models tend to produce unsafe decisions in the absence of prior experience. This raises a fundamental question: Can an E2E-AD system make reliable decisions without any expert action supervision? Motivated by this, we propose a unified framework named Risk-aware World Model Predictive Control (RaWMPC) to address this generalization dilemma through robust control, without reliance on expert demonstrations. Practically, RaWMPC leverages a world model to predict the consequences of multiple candidate actions and selects low-risk actions through explicit risk evaluation. To endow the world model with the ability to predict the outcomes of risky driving behaviors, we design a risk-aware interaction strategy that systematically exposes the world model to hazardous behaviors, making catastrophic outcomes predictable and thus avoidable. Furthermore, to generate low-risk candidate actions at test time, we introduce a self-evaluation distillation method to distill riskavoidance capabilities from the well-trained world model into a generative action proposal network without any expert demonstration. Extensive experiments show that RaWMPC outperforms state-of-the-art methods in both in-distribution and out-of-distribution scenarios, while providing superior decision interpretability.

cs.CV↗
arXiv2026

HeteroCache: A Dynamic Retrieval Approach to Heterogeneous KV Cache Compression for Long-Context LLM Inference

The linear memory growth of the KV cache poses a significant bottleneck for LLM inference in long-context tasks. Existing static compression methods often fail to preserve globally important information. Although recent dynamic retrieval approaches attempt to address this issue, they typically suffer from coarse-grained caching strategies and incur high I/O overhead. To overcome these limitations, we propose HeteroCache, a training-free dynamic compression framework. Our method is built on two key insights: attention heads exhibit diverse temporal heterogeneity, and there is significant spatial redundancy among heads within the same layer. Guided by these insights, HeteroCache categorizes heads based on stability and similarity, applying a fine-grained weighting strategy that allocates larger cache budgets to heads with rapidly shifting attention to capture context changes. Furthermore, it features a hierarchical storage mechanism where representative heads monitor attention drift to trigger asynchronous, on-demand context retrieval, thereby hiding I/O latency. Experiments demonstrate that HeteroCache achieves state-of-the-art performance on long-context benchmarks and accelerates decoding by up to $3\times$ compared to the original model with a 224K context. Our code is available at https://github.com/ponytaill/HeteroCache.

cs.CL↗
arXiv2025

Detector-Empowered Video Large Language Model for Efficient Spatio-Temporal Grounding

Multimodal large language models (MLLMs) are rapidly expanding from general video understanding to finer-grained understanding such as spatio-temporal video grounding (STVG) and reasoning. In these tasks, an MLLM must localize the user-queried target in time and space and take the results as evidence for reasoning. Existing MLLM methods mainly follow two paradigms: (1) Direct Localization, which outputs STVG results with extra alignment modules or specialized decoders; and (2) Candidate-based Selection, which first constructs tube-level candidates and then selects the relevant one by an MLLM. However, both suffer from a serious efficiency bottleneck: the former incurs linearly growing decoding cost as the queried temporal span increases, while the latter relies on costly candidate construction. To break this bottleneck, we propose DEViL, a detector-empowered Video-LLM with a simple key idea: offloading dense spatial grounding from the MLLM to a fully parallelizable, well-trained detector. Specifically, DEViL distills the query into a detector-compatible reference-semantic token, which replaces the detector's text embedding to enable spatial grounding in a single pass. Then, we design temporal consistency regularization to match objects across frames and enforce their coherence over time. In this way, DEViL avoids long coordinate decoding and heavy candidate pipelines. Extensive experiments show that DEViL achieves strong performance (43.1% m_vIoU on HC-STVG) with superior efficiency (14.33 FPS), while preserving the general reasoning capacity of the MLLM backbone.

cs.CV↗
arXiv2025

AnoRefiner: Anomaly-Aware Group-Wise Refinement for Zero-Shot Industrial Anomaly Detection

Zero-shot industrial anomaly detection (ZSAD) methods typically yield coarse anomaly maps as vision transformers (ViTs) extract patch-level features only. To solve this, recent solutions attempt to predict finer anomalies using features from ZSAD, but they still struggle to recover fine-grained anomalies without missed detections, mainly due to the gap between randomly synthesized training anomalies and real ones. We observe that anomaly score maps exactly provide complementary spatial cues that are largely absent from ZSAD's image features, a fact overlooked before. Inspired by this, we propose an anomaly-aware refiner (AnoRefiner) that can be plugged into most ZSAD models and improve patch-level anomaly maps to the pixel level. First, we design an anomaly refinement decoder (ARD) that progressively enhances image features using anomaly score maps, reducing the reliance on synthetic anomaly data. Second, motivated by the mass production paradigm, we propose a progressive group-wise test-time training (PGT) strategy that trains ARD in each product group for the refinement process in the next group, while staying compatible with any ZSAD method. Experiments on the MVTec AD and VisA datasets show that AnoRefiner boosts various ZSAD models by up to a 5.2\% gain in pixel-AP metrics, which can also be directly observed in many visualizations. The code will be available at https://github.com/HUST-SLOW/AnoRefiner.

cs.CV↗
arXiv2025

MuSc-V2: Zero-Shot Multimodal Industrial Anomaly Classification and Segmentation with Mutual Scoring of Unlabeled Samples

Zero-shot anomaly classification (AC) and segmentation (AS) methods aim to identify and outline defects without using any labeled samples. In this paper, we reveal a key property that is overlooked by existing methods: normal image patches across industrial products typically find many other similar patches, not only in 2D appearance but also in 3D shapes, while anomalies remain diverse and isolated. To explicitly leverage this discriminative property, we propose a Mutual Scoring framework (MuSc-V2) for zero-shot AC/AS, which flexibly supports single 2D/3D or multimodality. Specifically, our method begins by improving 3D representation through Iterative Point Grouping (IPG), which reduces false positives from discontinuous surfaces. Then we use Similarity Neighborhood Aggregation with Multi-Degrees (SNAMD) to fuse 2D/3D neighborhood cues into more discriminative multi-scale patch features for mutual scoring. The core comprises a Mutual Scoring Mechanism (MSM) that lets samples within each modality to assign score to each other, and Cross-modal Anomaly Enhancement (CAE) that fuses 2D and 3D scores to recover modality-specific missing anomalies. Finally, Re-scoring with Constrained Neighborhood (RsCon) suppresses false classification based on similarity to more representative samples. Our framework flexibly works on both the full dataset and smaller subsets with consistently robust performance, ensuring seamless adaptability across diverse product lines. In aid of the novel framework, MuSc-V2 achieves significant performance improvements: a $\textbf{+23.7\%}$ AP gain on the MVTec 3D-AD dataset and a $\textbf{+19.3\%}$ boost on the Eyecandies dataset, surpassing previous zero-shot benchmarks and even outperforming most few-shot methods. The code will be available at The code will be available at \href{https://github.com/HUST-SLOW/MuSc-V2}{https://github.com/HUST-SLOW/MuSc-V2}.

cs.CV↗
arXiv2025

HEAPr: Hessian-based Efficient Atomic Expert Pruning in Output Space

Mixture-of-Experts (MoE) architectures in large language models (LLMs) deliver exceptional performance and reduced inference costs compared to dense LLMs. However, their large parameter counts result in prohibitive memory requirements, limiting practical deployment. While existing pruning methods primarily focus on expert-level pruning, this coarse granularity often leads to substantial accuracy degradation. In this work, we introduce HEAPr, a novel pruning algorithm that decomposes experts into smaller, indivisible atomic experts, enabling more precise and flexible atomic expert pruning. To measure the importance of each atomic expert, we leverage second-order information based on principles similar to the Optimal Brain Surgeon theory. To address the computational and storage challenges posed by second-order information, HEAPr exploits the inherent properties of atomic experts to transform the second-order information from expert parameters into that of atomic expert parameters, and further simplifies it to the second-order information of atomic expert outputs. This approach reduces the space complexity from $O(d^4)$, where $d$ is the model's dimensionality, to $O(d^2)$. HEAPr requires only two forward passes and one backward pass on a small calibration set to compute the importance of atomic experts. Extensive experiments on MoE models, including DeepSeek MoE and Qwen MoE family, demonstrate that HEAPr outperforms existing expert-level pruning methods across a wide range of pruning ratios and benchmarks. Specifically, HEAPr achieves nearly lossless compression at pruning ratios of 20% ~ 25% in most models, while also reducing FLOPs nearly by 20%. The code can be found at [https://github.com/LLIKKE/HEAPr](https://github.com/LLIKKE/HEAPr).

cs.LG↗
arXiv2025

Text2Lip: Progressive Lip-Synced Talking Face Generation from Text via Viseme-Guided Rendering

Generating semantically coherent and visually accurate talking faces requires bridging the gap between linguistic meaning and facial articulation. Although audio-driven methods remain prevalent, their reliance on high-quality paired audio visual data and the inherent ambiguity in mapping acoustics to lip motion pose significant challenges in terms of scalability and robustness. To address these issues, we propose Text2Lip, a viseme-centric framework that constructs an interpretable phonetic-visual bridge by embedding textual input into structured viseme sequences. These mid-level units serve as a linguistically grounded prior for lip motion prediction. Furthermore, we design a progressive viseme-audio replacement strategy based on curriculum learning, enabling the model to gradually transition from real audio to pseudo-audio reconstructed from enhanced viseme features via cross-modal attention. This allows for robust generation in both audio-present and audio-free scenarios. Finally, a landmark-guided renderer synthesizes photorealistic facial videos with accurate lip synchronization. Extensive evaluations show that Text2Lip outperforms existing approaches in semantic fidelity, visual realism, and modality robustness, establishing a new paradigm for controllable and flexible talking face generation. Our project homepage is https://plyon1.github.io/Text2Lip/.

cs.CV↗
arXiv2025

Subspace decomposition in regularized least-squares: solution properties, restricted coercivity and beyond

We investigate the solution properties of the regularized least-squares problem. Using a subspace decomposition technique, we derive expressions for the solution set in terms of the conjugate function, from which various properties, including existence, compactness and uniqueness, can then be easily analyzed. A key distinction of our approach from existing works is the separate treatment of existence and compactness. We unify many existing results based on recession cones and sublevel sets, and link them to our findings by connecting the recession function with the recession cone of the subdifferential of the conjugate function. In particular, the concept of restricted coercivity is developed and discussed in various aspects. The associated linearly constrained counterpart is discussed in a similar manner. Its connections to regularized least-squares are further established via the exactness of infimal postcomposition. Our results are supported by numerous examples, among which the geometric interpretation of the lasso solution deserves further investigations in near future.

math.OC↗
arXiv2025

Learning Speaker-Invariant Visual Features for Lipreading

Lipreading is a challenging cross-modal task that aims to convert visual lip movements into spoken text. Existing lipreading methods often extract visual features that include speaker-specific lip attributes (e.g., shape, color, texture), which introduce spurious correlations between vision and text. These correlations lead to suboptimal lipreading accuracy and restrict model generalization. To address this challenge, we introduce SIFLip, a speaker-invariant visual feature learning framework that disentangles speaker-specific attributes using two complementary disentanglement modules (Implicit Disentanglement and Explicit Disentanglement) to improve generalization. Specifically, since different speakers exhibit semantic consistency between lip movements and phonetic text when pronouncing the same words, our implicit disentanglement module leverages stable text embeddings as supervisory signals to learn common visual representations across speakers, implicitly decoupling speaker-specific features. Additionally, we design a speaker recognition sub-task within the main lipreading pipeline to filter speaker-specific features, then further explicitly disentangle these personalized visual features from the backbone network via gradient reversal. Experimental results demonstrate that SIFLip significantly enhances generalization performance across multiple public datasets. Experimental results demonstrate that SIFLip significantly improves generalization performance across multiple public datasets, outperforming state-of-the-art methods.

cs.CV↗