arXiv subjects

Fengchun Zhang

Publications and source records attributed to Fengchun Zhang.

14 recordsLinked to original sources

arXiv2026

Embodied-BenchClaw: An Autonomous Multi-Agent System for Embodied Spatial Intelligence Benchmark Construction

Benchmarks are essential for evaluating embodied spatial intelligence, yet their construction is labor-intensive, hard to reuse, and difficult to maintain. Existing embodied benchmarks are often static and may quickly become saturated as models improve, limiting their ability to distinguish new capabilities. We propose Embodied-BenchClaw, an autonomous agentic system for constructing embodied spatial intelligence benchmarks. Given a user-specified evaluation intent, Embodied-BenchClaw automatically produces a complete and continually updatable benchmark package through a five-stage pipeline: intent blueprinting, data collection, structuring and cleaning, benchmark synthesis, and evaluation reporting. The pipeline is coordinated by three agents for planning, construction, and evaluation. To improve reusability and reliability, Embodied-BenchClaw introduces an extensible Skill Library and process quality control, enabling benchmark construction to be composable, verifiable, and repairable. We instantiate multiple benchmarks covering indoor spatial reasoning, outdoor spatial reasoning, robotic manipulation, quadruped robot navigation, UAV/aerial-view understanding, and static benchmark enhancement. These benchmarks span diverse embodied carriers, data sources, and spatial capabilities. Experiments with human evaluation, judge-based assessment, consistency checks, cost analysis, and ablations show that Embodied-BenchClaw can construct verifiable, executable, maintainable, and diagnostically useful embodied spatial benchmarks with reduced manual effort.

cs.AI↗

arXiv2026

Intelligent Automation for Embodied Benchmark Construction: Pipelines, Embodiments, Simulators, and Trends

Embodied intelligence now spans navigation, household assistance, manipulation, autonomous driving, aerial agents, and multimodal large-model control. This expansion has made benchmark construction a central bottleneck for reliable evaluation. Unlike static datasets, embodied benchmarks combine task specifications, environments, robot data, demonstrations, annotations, metrics, evaluation scripts, and release policies into a single evaluation system. This survey reviews the literature through a five-stage construction pipeline: requirement and task construction, data acquisition, data cleaning and annotation, benchmark suite generation and metric definition, and evaluation execution with diagnostic feedback. For each stage, the survey analyzes the transition from manual curation to traditional automation, foundation-model assistance, and agentic closed-loop workflows. It also compares qualitative construction costs across human labor, data and asset acquisition, compute and simulation, validation and debugging, governance and maintenance, and rework risk. The main conclusion is that automation does not simply reduce benchmark cost. Instead, it often shifts cost toward validation, auditability, version control, and long-term governance. Progress in embodied evaluation will therefore depend not only on larger benchmark suites, but also on construction pipelines that are diagnosable, auditable, and responsibly refreshable.

cs.RO↗

arXiv2026

CO-EVO: Co-evolving Semantic Anchoring and Style Diversification for Federated DG-ReID

Federated domain generalization for person re-identification (FedDG-ReID) aims to collaboratively train a pedestrian retrieval model across multiple decentralized source domains such that it can generalize to unseen target environments without compromising raw data privacy. However, this task is significantly challenged by the inherent stylistic gaps across decentralized clients. Without global supervision, models easily succumb to shortcut learning where representations overfit to domain specific camera biases rather than universal identity features. We propose CO-EVO, a novel federated framework that resolves this semantic-style conflict through a co-evolutionary mechanism. On the semantic side, Camera-Invariant Semantic Anchoring (CSA) learns identity prompts with cross-camera consistency to establish purified and domain-agnostic anchors that filter out local imaging noise. On the visual side, Global Style Diversification (GSD), powered by a Global Camera-Style Bank (GCSB), synthesizes realistic perturbations to expand the visual boundaries of training data. The core of CO-EVO is its co-evolutionary loop where purified anchors act as gravitational centers to guide the image encoder toward robust anatomical attributes amidst diverse style variations. Extensive experiments demonstrate that CO-EVO achieves state-of-the-art (SOTA) performance, proving that the synergy between semantic purification and style expansion is essential for robust cross-domain generalization. Our code is available at: https://github.com/NanYiyuzurn/ACL-LGPS-2026.

cs.CV↗

arXiv2026

Co-Channel Interference Mitigation Using Deep Learning for Drone-Based Large-Scale Antenna Measurements

Unmanned aerial vehicles (UAVs) enable efficient in-situ radiation characterization of large-aperture antennas directly in their deployment environments. In such measurements, a continuous-wave (CW) probe tone is commonly transmitted to characterize the antenna response. However, active co-channel emissions from neighboring antennas often introduce severe in-band interference, where classical FFT-based estimators fail to accurately estimate the CW tone amplitude when the signal-to-interference ratios (SIR) falls below -10 dB. This paper proposes a lightweight deep convolutional neural network (DC-CNN) that estimates the amplitude of the CW tone. The model is trained and evaluated on real 5~GHz measurement bursts spanning an effective SIR range of --33.3 dB to +46.7 dB. Despite its compact size (<20k parameters), the proposed DC-CNN achieves a mean absolute error (MAE) of 7% over the full range, with <1 dB error for SIR >= -30 dB. This robustness and efficiency make DC-CNN suitable for deployment on embedded UAV platforms for interference-resilient antenna pattern characterization.

eess.SP↗

arXiv2025

FedSSG: Expectation-Gated and History-Aware Drift Alignment for Federated Learning

Non-IID data and partial participation induce client drift and inconsistent local optima in federated learning, causing unstable convergence and accuracy loss. We present FedSSG, a stochastic sampling-guided, history-aware drift alignment method. FedSSG maintains a per-client drift memory that accumulates local model differences as a lightweight sketch of historical gradients; crucially, it gates both the memory update and the local alignment term by a smooth function of the observed/expected participation ratio (a phase-by-expectation signal derived from the server sampler). This statistically grounded gate stays weak and smooth when sampling noise dominates early, then strengthens once participation statistics stabilize, contracting the local-global gap without extra communication. Across CIFAR-10/100 with 100/500 clients and 2-15 percent participation, FedSSG consistently outperforms strong drift-aware baselines and accelerates convergence; on our benchmarks it improves test accuracy by up to a few points (e.g., about +0.9 on CIFAR-10 and about +2.7 on CIFAR-100 on average over the top-2 baseline) and yields about 4.5x faster target-accuracy convergence on average. The method adds only O(d) client memory and a constant-time gate, and degrades gracefully to a mild regularizer under near-IID or uniform sampling. FedSSG shows that sampling statistics can be turned into a principled, history-aware phase control to stabilize and speed up federated training.

cs.LG↗

arXiv2025

Mid-band Propagation Measurements in Industrial Environments

6G radio access architecture is envisioned to contain a network of short-range in-X subnetworks with enhanced capabilities to provide efficient and reliable wireless connectivity. Short-range communications in industrial environments are actively researched at the so-called mid-bands or FR3, e.g., in the EU SNS JU 6G-SHINE project. In this paper, we analyze omni-directional radio channel measurements at 10--12 GHz frequency band to estimate large-scale channel characteristics including power-delay profile, delay spread, K-factor, and pathloss for 254 radio links measured in the Industrial Production Lab at Aalborg University, Denmark. Moreover, we perform a comparison of estimated parameters with those of the 3GPP Indoor Factory channel model.

eess.SP↗

arXiv2024

Multiple-Frequency-Bands Channel Characterization for In-vehicle Wireless Networks

In-vehicle wireless networks are crucial for advancing smart transportation systems and enhancing interaction among vehicles and their occupants. However, there are limited studies in the current state of the art that investigate the in-vehicle channel characteristics in multiple frequency bands. In this paper, we present measurement campaigns conducted in a van and a car across below 7 GHz, millimeter-wave (mmWave), and sub-Terahertz (Sub-THz) bands. These campaigns aim to compare the channel characteristics for in-vehicle scenarios across various frequency bands. Channel impulse responses (CIRs) were measured at various locations distributed across the engine compartment of both the van and car. The CIR results reveal a high similarity in the delay properties between frequency bands below 7GHz and mmWave bands for the measurements in the engine bay. Sparse channels can be observed at Sub-THz bands in the engine bay scenarios. Channel spatial profiles in the passenger cabin of both the van and car are obtained by the directional scan sounding scheme for three bands. We compare the power angle delay profiles (PADPs) measured at different frequency bands in two line of sight (LOS) scenarios and one non-LOS (NLOS) scenario. Some major \added{multipath components (MPCs)} can be identified in all frequency bands and their trajectories are traced based on the geometry of the vehicles. The angular spread of arrival is also calculated for three scenarios. The analysis of channel characteristics in this paper can enhance our understanding of in-vehicle channels and foster the evolution of in-vehicle wireless networks.

eess.SP↗

arXiv2024

Near-Field Channel Characterization for Mid-band ELAA Systems: Sounding, Parameter Estimation, and Modeling

6G communication will greatly benefit from using extremely large-scale antenna arrays (ELAAs) and new mid-band spectrums (7-24 GHz). These techniques require a thorough exploration of the challenges and potentials of the associated near-field (NF) phenomena. It is crucial to develop accurate NF channel models that include spherical wave propagation and spatial non-stationarity (SnS). However, channel measurement campaigns for mid-band ELAA systems have rarely been reported in the state-of-the-art. To this end, this work develops a channel sounder dedicated to mid-band ELAA systems based on a distributed modular vector network analyzer incorporating radio-over-fiber (RoF), phase compensation, and virtual antenna array schemes. This novel channel-sounding testbed based on off-the-shelf VNA has the potential to enable large-scale experimentation due to its generic and easy-accessible nature. The main challenges and solutions for developing NF channel models for mid-band ELAA systems are discussed, including channel sounders, multipath parameter estimation algorithms, and channel modeling frameworks. Besides, the study reports a measurement campaign in an indoor scenario using a 720-element virtual uniform circular array ELAA operating at {16-20} GHz, highlighting the presence of spherical wavefronts and spatial non-stationary effects. The effectiveness of the proposed near-field channel parameter estimator and channel modeling framework is also demonstrated using the measurement data.

eess.SP↗

arXiv2024

Experimental Study of Spatial Statistics for Ultra-Reliable Communications

This paper presents an experimental validation for prediction of rare fading events using channel distribution information (CDI) maps that predict channel statistics from measurements acquired at surrounding locations using spatial interpolation. Using experimental channel measurements from 127 locations, we demonstrate the use case of providing statistical guarantees for rate selection in ultra-reliable low-latency communication (URLLC) using CDI maps. By using only the user location and the estimated map, we are able to meet the desired outage probability with a probability between 93.6-95.6% targeting 95%. On the other hand, a model-based baseline scheme that assumes Rayleigh fading meets the target outage requirement with a probability of 77.2%. The results demonstrate the practical relevance of CDI maps for resource allocation in URLLC.

eess.SP↗

arXiv2022

Ultra-compact Silicon Multimode Waveguide Bends Based on Special Curves for Dual Polarizations

The multimode waveguide bends (MWBs) with very compact sizes are the key building blocks in the applications of different mode-division multiplexing (MDM) systems. To further increase the transmission capacity, the silicon multimode waveguide bends for dual polarizations are of particular interest considering the very distinct mode behaviors under different polarizations in the silicon waveguides. Seldom silicon MWBs suitable for both polarizations have been studied. In this paper we analyze several dual-polarization-MWBs based on different bending curve functions. These special curve-based silicon MWBs have the advantages of easy fabrication and low loss compared with other structures based on the subwavelength structures such as gratings. A comparison is made between the free-form curve, Bezier curve, and Euler curve, which are used in the bending region instead of a conventional arc. The transmission spectra of the first three TE and TM modes in the silicon multimode waveguide with a core thickness of 340 nm are investigated. The simulation results indicate that in the premise of the same effective radius which is only 10 in this paper, the 6-mode MWB based on the free-form curve has the optimal performances, including an extremely low loss below 0.052dB and low crosstalk below -25.97dB for all six modes in the wide band of 1500-1600 nm. The MWBs based on the Bezier and Euler curve have degraded performances in terms of the loss and crosstalk. The results of this paper provide an efficient design method of the polarization insensitive silicon MWBs, which may leverage the researches for establishing complicated optical transmission systems incorporating both the MDM and polarization-division multiplexing (PDM) technology.

physics.optics↗

arXiv2022

Omni-directional Pathloss Measurement Based on Virtual Antenna Array with Directional Antennas

Omni-directional pathloss, which refers to the pathloss when omni-directional antennas are used at the link ends, are essential for system design and evaluation. In the millimeter-wave (mm-Wave) and beyond bands, high gain directional antennas are widely used for channel measurements due to the significant signal attenuation. Conventional methods for omni-directional pathloss estimation are based on directional scanning sounding (DSS) system, i.e., a single directional antenna placed at the center of a rotator capturing signals from different rotation angles. The omni-directional pathloss is obtained by either summing up all the powers above the noise level or just summing up the powers of detected propagation paths. However, both methods are problematic with relatively wide main beams and high side-lobes provided by the directional antennas. In this letter, directional antenna based virtual antenna array (VAA) system is implemented for omni-directional pathloss estimation. The VAA scheme uses the same measurement system as the DSS, yet it offers high angular resolution (i.e. narrow main beam) and low side-lobes, which is essential for achieving accurate multipath detection in the power angular delay profiles (PADPs) and thereby obtaining accurate omni-directional pathloss. A measurement campaign was designed and conducted in an indoor corridor at 28-30 GHz to verify the effectiveness of the proposed method.

eess.SP↗

arXiv2019

Near-field Ultra-wideband mmWave Channel Characterization Using Successive Cancellation Beamspace UCA Algorithm

Of the wide palette of 5G features, ultra-wide bandwidth and large-scale antenna configuration are regarded as the essential enabling technology components at millimeter wave (mmWave) communication. Accurate knowledge of delay and angle information of multipath components is essential for many applications in mmWave systems. There is a strong need for a low computation-cost channel estimation algorithm for such systems, where typically adopted far-field and narrowband assumptions might be violated. In this work, a generic yet novel beamspace uniform circular array (UCA) beamforming algorithm with successive cancellation scheme is proposed to jointly detect the impinging angle and delay of the multipath components. The proposed algorithm is computationally cheap and it works for ultra-wideband (UWB) systems in the near-field conditions. Both numerical simulations and experimental validation results are provided to demonstrate the effectiveness and robustness of the proposed algorithm, compared to the state-of-art works.

eess.SP↗

arXiv2017

Diodelike asymmetric transmission in hybrid plasmonic waveguides via breaking polarization symmetry

The ability to control the asymmetric propagation of light in nanophotonic waveguides is of fundamental importance for optical communications and on-chip signal processing. However, in most studies so far, the design of such structures has been based on asymmetric mode conversion where multi-mode waveguides are involved. Here we propose a hybrid plasmonic structure that performs optical diode behavior via breaking polarization symmetry in single mode waveguides. The exploited physical mechanism is based on the combination of polarization rotation and polarization selection. The whole device is ultra-compact with a footprint of 2.95*14.18 μm2, whose dimension is much smaller than the device previously proposed for the similar function. The extinction ratio is greater than 11.8 dB for both forward and backward propagation at λ = 1550 nm (19.43 dB for forward propagation and 11.8 dB for the backward one). The operation bandwidth of the device is as great as 70 nm (form 1510 to 1580 nm) for extinction > 10 dB. These results may find important applications in the integrated devices where polarization handling or unidirectional propagation is required.

physics.optics↗

arXiv2016

Optical gears in a nanophotonic directional coupler

Gears are rotating machines, meshing with each other by teeth to transmit torque. Interestingly, the rotating directions of two meshing gears are opposite, clockwise and counterclockwise. Although this opposite handedness motion has been widely investigated in machinery science, the analogue behavior of photons remains undiscovered. Here, we present a simple nanophotonic directional coupler structure which can generate two meshing gears of angular momentum (AM) of light, optical gears. Due to the abrupt phase shift effect and birefringence effect, the AM states of photons vary with the propagation distance in two adjacent waveguides of the coupler. Thus, by the choice of coupling length, it is able to obtain two light beams with opposite handedness of AM, confirming the appearance of optical gears. The full control in the handedness of output beams is achieved via tuning the relative phase between two orthogonal modes at the input ports. Optical gears thus offer the possibility of exploring light-matter interactions in nanoscale, opening up new avenues in fields of integrated quantum computing and nanoscale bio-sensing of chiral molecules.

physics.optics↗