arXiv subjects

Gongbo Liang

Publications and source records attributed to Gongbo Liang.

At least 19 recordsLinked to original sources

arXiv2026

Diagnosing and Dynamically Filtering Occupancy World Models for Active Mapping

Active mapping requires a robot to select camera viewpoints that efficiently reconstruct an unknown 3D scene. To reason about unobserved regions, recent systems use pretrained occupancy networks as world models that complete missing geometry. The predicted structure contributes to expected coverage gain and constrains feasible robot motion. Consequently, occupancy errors can change both what the robot chooses to explore and where it is able to move. We diagnose these effects by holding the planner fixed and varying only the occupancy representation provided to it. We consider planning without completion, with learned occupancy, with false positives removed by a ground truth oracle, with false negatives restored by an oracle, and with ground truth occupancy. Our experiments show that correcting false positives or false negatives alone does not consistently improve final coverage. This finding reveals a gap between occupancy accuracy and downstream planning performance. Ground truth occupancy provides a much larger improvement in coverage efficiency than in endpoint coverage, suggesting that planning and reachability remain important bottlenecks even when the geometric world model is accurate. Based on these findings, we introduce a dynamic filtering strategy that preserves predictions in unexplored space while suppressing repeatedly unsupported occupancy using online observations. Preliminary examples show that this strategy can redirect viewpoint selection toward reachable surfaces that would otherwise remain unobserved.

cs.RO↗

arXiv2026

Rethinking Learned Occupancy in Autonomous Active Mapping with Observation-Gated Filtering

Autonomous 3D active mapping requires a space robot to choose where to sense while building the geometry needed for navigation. Learned occupancy completion extends spatial context beyond the current field of view, but one predicted map often serves two planning roles: it scores expected surface gain and constrains collision-free motion. Unsupported occupancy can therefore distort both where the robot looks and where it believes it can travel. We study this coupled interface in a controlled closed-loop benchmark by holding the active-mapping system fixed and varying only its planner-facing occupancy across observation-only, learned, oracle-corrected, and ground-truth conditions. Improving occupancy accuracy does not monotonically improve closed-loop coverage: across 25 starts, planning with ground-truth occupancy reaches 70% of the learned baseline's final coverage 12.7 steps earlier on average, while increasing final coverage by only 0.031. Guided by this diagnosis, we introduce an observation-gated filter that retains completion in insufficiently observed regions and suppresses predictions only after repeated frustum exposure without nearby RGB-D support. The filter improves both targeted failure-prone starts without retraining or ground truth. These results motivate online revision of planner-facing geometry during autonomous intervals between communication windows. The current study assumes benchmark RGB-D observations and sufficiently accurate pose estimates; planetary sensing conditions and accumulated localization drift remain to be evaluated.

cs.RO↗

arXiv2026

Contrastive Conditional-Unconditional Alignment for Long-tailed Diffusion Model

Training data for class-conditional image synthesis often exhibit a long-tailed distribution with limited amount of images for tail classes. Such an imbalance causes mode collapse and reduces the diversity of synthesized images for tail classes. For class-conditional diffusion models trained with imbalanced data, we aim to improve the diversity and fidelity of tail class images without compromising the quality of head class images. We propose contrastive conditional-unconditional alignment (CCUA), which comprises two synergistic loss functions. Our first loss is an Alignment Loss (AL) that aligns class-conditional generation with unconditional generation at large timesteps. Alignment loss makes the denoising process insensitive to class conditions for the initial steps, which enriches tail classes through knowledge sharing from head classes. Secondly, we diversify unconditional generation via an Unsupervised Contrastive Loss (UCL) to increase the distance/dissimilarity among synthetic images. We combine the two losses to implicitly diversify conditional generation. Our framework is easy to implement as demonstrated on both U-Net based architecture and Diffusion Transformer. Our method outperforms vanilla denoising diffusion probabilistic models, score-based diffusion model, and alternative contrastive methods for class-imbalanced image generation across various datasets, in particular ImageNet-LT with 256$\times$256 resolution.

cs.CV↗

arXiv2026

MedProbCLIP: Probabilistic Adaptation of Vision-Language Foundation Model for Reliable Radiograph-Report Retrieval

Vision-language foundation models have emerged as powerful general-purpose representation learners with strong potential for multimodal understanding, but their deterministic embeddings often fail to provide the reliability required for high-stakes biomedical applications. This work introduces MedProbCLIP, a probabilistic vision-language learning framework for chest X-ray and radiology report representation learning and bidirectional retrieval. MedProbCLIP models image and text representations as Gaussian embeddings through a probabilistic contrastive objective that explicitly captures uncertainty and many-to-many correspondences between radiographs and clinical narratives. A variational information bottleneck mitigates overconfident predictions, while MedProbCLIP employs multi-view radiograph encoding and multi-section report encoding during training to provide fine-grained supervision for clinically aligned correspondence, yet requires only a single radiograph and a single report at inference. Evaluated on the MIMIC-CXR dataset, MedProbCLIP outperforms deterministic and probabilistic baselines, including CLIP, CXR-CLIP, and PCME++, in both retrieval and zero-shot classification. Beyond accuracy, MedProbCLIP demonstrates superior calibration, risk-coverage behavior, selective retrieval reliability, and robustness to clinically relevant corruptions, underscoring the value of probabilistic vision-language modeling for improving the trustworthiness and safety of radiology image-text retrieval systems.

cs.CV↗

arXiv2025

Beta Distribution Learning for Reliable Roadway Crash Risk Assessment

Roadway traffic accidents represent a global health crisis, responsible for over a million deaths annually and costing many countries up to 3% of their GDP. Traditional traffic safety studies often examine risk factors in isolation, overlooking the spatial complexity and contextual interactions inherent in the built environment. Furthermore, conventional Neural Network-based risk estimators typically generate point estimates without conveying model uncertainty, limiting their utility in critical decision-making. To address these shortcomings, we introduce a novel geospatial deep learning framework that leverages satellite imagery as a comprehensive spatial input. This approach enables the model to capture the nuanced spatial patterns and embedded environmental risk factors that contribute to fatal crash risks. Rather than producing a single deterministic output, our model estimates a full Beta probability distribution over fatal crash risk, yielding accurate and uncertainty-aware predictions--a critical feature for trustworthy AI in safety-critical applications. Our model outperforms baselines by achieving a 17-23% improvement in recall, a key metric for flagging potential dangers, while delivering superior calibration. By providing reliable and interpretable risk assessments from satellite imagery alone, our method enables safer autonomous navigation and offers a highly scalable tool for urban planners and policymakers to enhance roadway safety equitably and cost-effectively.

cs.CV↗

arXiv2025

Benchmarking Robustness of Contrastive Learning Models for Medical Image-Report Retrieval

Medical images and reports offer invaluable insights into patient health. The heterogeneity and complexity of these data hinder effective analysis. To bridge this gap, we investigate contrastive learning models for cross-domain retrieval, which associates medical images with their corresponding clinical reports. This study benchmarks the robustness of four state-of-the-art contrastive learning models: CLIP, CXR-RePaiR, MedCLIP, and CXR-CLIP. We introduce an occlusion retrieval task to evaluate model performance under varying levels of image corruption. Our findings reveal that all evaluated models are highly sensitive to out-of-distribution data, as evidenced by the proportional decrease in performance with increasing occlusion levels. While MedCLIP exhibits slightly more robustness, its overall performance remains significantly behind CXR-CLIP and CXR-RePaiR. CLIP, trained on a general-purpose dataset, struggles with medical image-report retrieval, highlighting the importance of domain-specific training data. The evaluation of this work suggests that more effort needs to be spent on improving the robustness of these models. By addressing these limitations, we can develop more reliable cross-domain retrieval models for medical applications.

cs.CV↗

arXiv2025

Exploring the Potential of Large Language Models in Public Transportation: San Antonio Case Study

The integration of large language models (LLMs) into public transit systems presents a transformative opportunity to enhance urban mobility. This study explores the potential of LLMs to revolutionize public transportation management within the context of San Antonio's transit system. Leveraging the capabilities of LLMs in natural language processing and data analysis, we investigate their capabilities to optimize route planning, reduce wait times, and provide personalized travel assistance. By utilizing the General Transit Feed Specification (GTFS) and other relevant data, this research aims to demonstrate how LLMs can potentially improve resource allocation, elevate passenger satisfaction, and inform data-driven decision-making in transit operations. A comparative analysis of different ChatGPT models was conducted to assess their ability to understand transportation information, retrieve relevant data, and provide comprehensive responses. Findings from this study suggest that while LLMs hold immense promise for public transit, careful engineering and fine-tuning are essential to realizing their full potential. San Antonio serves as a case study to inform the development of LLM-powered transit systems in other urban environments.

cs.LG↗

arXiv2024

Using Large Language Models in Public Transit Systems, San Antonio as a case study

The integration of large language models into public transit systems represents a significant advancement in urban transportation management and passenger experience. This study examines the impact of LLMs within San Antonio's public transit system, leveraging their capabilities in natural language processing, data analysis, and real time communication. By utilizing GTFS and other public transportation information, the research highlights the transformative potential of LLMs in enhancing route planning, reducing wait times, and providing personalized travel assistance. Our case study is the city of San Antonio as part of a project aiming to demonstrate how LLMs can optimize resource allocation, improve passenger satisfaction, and support decision making processes in transit management. We evaluated LLM responses to questions related to both information retrieval and also understanding. Ultimately, we believe that the adoption of LLMs in public transit systems can lead to more efficient, responsive, and user-friendly transportation networks, providing a model for other cities to follow.

cs.CL↗

arXiv2023

Mutation-Based Adversarial Attacks on Neural Text Detectors

Neural text detectors aim to decide the characteristics that distinguish neural (machine-generated) from human texts. To challenge such detectors, adversarial attacks can alter the statistical characteristics of the generated text, making the detection task more and more difficult. Inspired by the advances of mutation analysis in software development and testing, in this paper, we propose character- and word-based mutation operators for generating adversarial samples to attack state-of-the-art natural text detectors. This falls under white-box adversarial attacks. In such attacks, attackers have access to the original text and create mutation instances based on this original text. The ultimate goal is to confuse machine learning models and classifiers and decrease their prediction accuracy.

cs.CR↗

arXiv2022

A Mutation-based Text Generation for Adversarial Machine Learning Applications

Many natural language related applications involve text generation, created by humans or machines. While in many of those applications machines support humans, yet in few others, (e.g. adversarial machine learning, social bots and trolls) machines try to impersonate humans. In this scope, we proposed and evaluated several mutation-based text generation approaches. Unlike machine-based generated text, mutation-based generated text needs human text samples as inputs. We showed examples of mutation operators but this work can be extended in many aspects such as proposing new text-based mutation operators based on the nature of the application.

cs.CL↗

arXiv2022

Estimating Cluster Masses from SDSS Multi-band Images with Transfer Learning

The total masses of galaxy clusters characterize many aspects of astrophysics and the underlying cosmology. It is crucial to obtain reliable and accurate mass estimates for numerous galaxy clusters over a wide range of redshifts and mass scales. We present a transfer-learning approach to estimate cluster masses using the ugriz-band images in the SDSS Data Release 12. The target masses are derived from X-ray or SZ measurements that are only available for a small subset of the clusters. We designed a semi-supervised deep learning model consisting of two convolutional neural networks. In the first network, a feature extractor is trained to classify the SDSS photometric bands. The second network takes the previously trained features as inputs to estimate their total masses. The training and testing processes in this work depend purely on real observational data. Our algorithm reaches a mean absolute error (MAE) of 0.232 dex on average and 0.214 dex for the best fold. The performance is comparable to that given by redMaPPer, 0.192 dex. We have further applied a joint integrated gradient and class activation mapping method to interpret such a two-step neural network. The performance of our algorithm is likely to improve as the size of training dataset increases. This proof-of-concept experiment demonstrates the potential of deep learning in maximizing the scientific return of the current and future large cluster surveys.

astro-ph.IM↗

arXiv2022

Benchmark Assessment for DeepSpeed Optimization Library

Deep Learning (DL) models are widely used in machine learning due to their performance and ability to deal with large datasets while producing high accuracy and performance metrics. The size of such datasets and the complexity of DL models cause such models to be complex, consuming large amount of resources and time to train. Many recent libraries and applications are introduced to deal with DL complexity and efficiency issues. In this paper, we evaluated one example, Microsoft DeepSpeed library through classification tasks. DeepSpeed public sources reported classification performance metrics on the LeNet architecture. We extended this through evaluating the library on several modern neural network architectures, including convolutional neural networks (CNNs) and Vision Transformer (ViT). Results indicated that DeepSpeed, while can make improvements in some of those cases, it has no or negative impact on others.

cs.LG↗

arXiv2021

Dynamic Feature Alignment for Semi-supervised Domain Adaptation

Most research on domain adaptation has focused on the purely unsupervised setting, where no labeled examples in the target domain are available. However, in many real-world scenarios, a small amount of labeled target data is available and can be used to improve adaptation. We address this semi-supervised setting and propose to use dynamic feature alignment to address both inter- and intra-domain discrepancy. Unlike previous approaches, which attempt to align source and target features within a mini-batch, we propose to align the target features to a set of dynamically updated class prototypes, which we use both for minimizing divergence and pseudo-labeling. By updating based on class prototypes, we avoid problems that arise in previous approaches due to class imbalances. Our approach, which doesn't require extensive tuning or adversarial training, significantly improves the state of the art for semi-supervised domain adaptation. We provide a quantitative evaluation on two standard datasets, DomainNet and Office-Home, and performance analysis.

cs.CV↗

arXiv2021

Contrastive Cross-Modal Pre-Training: A General Strategy for Small Sample Medical Imaging

A key challenge in training neural networks for a given medical imaging task is often the difficulty of obtaining a sufficient number of manually labeled examples. In contrast, textual imaging reports, which are often readily available in medical records, contain rich but unstructured interpretations written by experts as part of standard clinical practice. We propose using these textual reports as a form of weak supervision to improve the image interpretation performance of a neural network without requiring additional manually labeled examples. We use an image-text matching task to train a feature extractor and then fine-tune it in a transfer learning setting for a supervised task using a small labeled dataset. The end result is a neural network that automatically interprets imagery without requiring textual reports during inference. This approach can be applied to any task for which text-image pairs are readily available. We evaluate our method on three classification tasks and find consistent performance improvements, reducing the need for labeled data by 67%-98%.

cs.LG↗

arXiv2020

Optical Wavelength Guided Self-Supervised Feature Learning For Galaxy Cluster Richness Estimate

Most galaxies in the nearby Universe are gravitationally bound to a cluster or group of galaxies. Their optical contents, such as optical richness, are crucial for understanding the co-evolution of galaxies and large-scale structures in modern astronomy and cosmology. The determination of optical richness can be challenging. We propose a self-supervised approach for estimating optical richness from multi-band optical images. The method uses the data properties of the multi-band optical images for pre-training, which enables learning feature representations from a large but unlabeled dataset. We apply the proposed method to the Sloan Digital Sky Survey. The result shows our estimate of optical richness lowers the mean absolute error and intrinsic scatter by 11.84% and 20.78%, respectively, while reducing the need for labeled training data by up to 60%. We believe the proposed method will benefit astronomy and cosmology, where a large number of unlabeled multi-band images are available, but acquiring image labels is costly.

cs.CV↗

arXiv2020

Dynamic Image for 3D MRI Image Alzheimer's Disease Classification

We propose to apply a 2D CNN architecture to 3D MRI image Alzheimer's disease classification. Training a 3D convolutional neural network (CNN) is time-consuming and computationally expensive. We make use of approximate rank pooling to transform the 3D MRI image volume into a 2D image to use as input to a 2D CNN. We show our proposed CNN model achieves $9.5\%$ better Alzheimer's disease classification accuracy than the baseline 3D models. We also show that our method allows for efficient training, requiring only 20% of the training time compared to 3D CNN models. The code is available online: https://github.com/UkyVision/alzheimer-project.

cs.CV↗

arXiv2020

Improved Trainable Calibration Method for Neural Networks on Medical Imaging Classification

Recent works have shown that deep neural networks can achieve super-human performance in a wide range of image classification tasks in the medical imaging domain. However, these works have primarily focused on classification accuracy, ignoring the important role of uncertainty quantification. Empirically, neural networks are often miscalibrated and overconfident in their predictions. This miscalibration could be problematic in any automatic decision-making system, but we focus on the medical field in which neural network miscalibration has the potential to lead to significant treatment errors. We propose a novel calibration approach that maintains the overall classification accuracy while significantly improving model calibration. The proposed approach is based on expected calibration error, which is a common metric for quantifying miscalibration. Our approach can be easily integrated into any classification task as an auxiliary loss term, thus not requiring an explicit training round for calibration. We show that our approach reduces calibration error significantly across various architectures and datasets.

cs.CV↗

arXiv2020

Unsupervised Domain Adaptation for Mammogram Image Classification: A Promising Tool for Model Generalization

Generalization is one of the key challenges in the clinical validation and application of deep learning models to medical images. Studies have shown that such models trained on publicly available datasets often do not work well on real-world clinical data due to the differences in patient population and image device configurations. Also, manually annotating clinical images is expensive. In this work, we propose an unsupervised domain adaptation (UDA) method using Cycle-GAN to improve the generalization ability of the model without using any additional manual annotations.

cs.CV↗