arXiv subjects

Guanghui Liu

Publications and source records attributed to Guanghui Liu.

16 recordsLinked to original sources

arXiv2026

Chirp Parameter Optimization and Distributed Detection for Cooperative RSMA-AFDM Systems

Affine frequency division multiplexing (AFDM) exhibits excellent Doppler robustness and the ability to characterize doubly selective channels. However, its signal dispersion characteristics make it challenging to directly adopt traditional time-frequency multiple access schemes. To address this issue, we introduce cooperative rate splitting multiple access (RSMA) for AFDM systems. The flexible configuration of AFDM chirp parameters can reduce the correlation between users' equivalent channels, which decreases the interference from RSMA private streams. We conduct a theoretical analysis of the cooperative RSMA-AFDM system and demonstrate that minimizing the overlap in the channel column spaces among users can effectively enhance the system performance. Guided by this analysis, we design a chirp parameter optimization scheme that reduces multi-user interference and maximizes diversity gain. To fully exploit the diversity gain brought by the proposed chirp parameter optimization, two expectation propagation (EP)-based distributed cooperative detection schemes are proposed. First, a decision-fusion-based method is developed, where local information and cooperative information are fused by maximum ratio combining, achieving a globally consistent estimate of the common stream. Second, we develop a belief-consensus EP-based detection scheme. In each iteration, user nodes exchange and fuse the first- and second-order statistics of the common stream, and the resulting beliefs gradually converge to a consistent global decision, which significantly improves the overall reliability.

eess.SP↗

arXiv2026

Analysis and Compensation of Tx and Rx IQ Imbalances in AFDM System

Affine frequency division multiplexing (AFDM) is a recently proposed multicarrier waveform whose bit error rate (BER) performance in doubly selective channels is comparable to that of orthogonal time-frequency space (OTFS) and superior to that of orthogonal frequency division multiplexing (OFDM). In this paper, the impacts of joint transmitter (Tx) and receiver (Rx) in-phase and quadrature imbalance (IQI) on AFDM signals are investigated, where we show that AFDM suffers more severe IQI than OFDM and OTFS due to the inherent feature of complicated chirp-assisted modulation. We further derive analytical expressions for the pairwise and average bit error probability as a function of the IQI parameters. These indicate that such distortions significantly limit the achievable operating signal-to-noise ratio at the receiver side and data rates. To this end, we propose a cascade compensation scheme to mitigate these effects. Specifically, we first compensate for Rx IQI to convert the improper Gaussian noise into additive white Gaussian noise, and then apply a judicious design to eliminate the Tx IQI. Both analytical and simulation results reveal that joint Tx and Rx IQI introduce an error floor in the BER performance of AFDM systems, whereas the proposed approach effectively compensates such impairments.

eess.SP↗

arXiv2026

Efficient Hybrid SE(3)-Equivariant Visuomotor Flow Policy via Spherical Harmonics for Robot Manipulation

While existing equivariant methods enhance data efficiency, they suffer from high computational intensity, reliance on single-modality inputs, and instability when combined with fast-sampling methods. In this work, we propose E3Flow, a novel framework that addresses the critical limitations of equivariant diffusion policies. E3Flow overcomes these challenges, successfully unifying efficient rectified flow with stable, multi-modal equivariant learning for the first time. Our framework is built upon spherical harmonic representations to ensure rigorous SO(3) equivariance. We introduce a novel invariant Feature Enhancement Module (FEM) that dynamically fuses hybrid visual modalities (point clouds and images), injecting rich visual cues into the spherical harmonic features. We evaluate E3Flow on 8 manipulation tasks from the MimicGen and further conduct 4 real-world experiments to validate its effectiveness in physical environments. Simulation results show that E3Flow achieves a 3.12% improvement in average success rate over the state-of-the-art Spherical Diffusion Policy (SDP) while simultaneously delivering a 7x inference speedup. E3Flow thus demonstrates a new and highly effective trade-off between performance, efficiency, and data efficiency for robotic policy learning. Code: https://github.com/zql-kk/E3Flow.

cs.RO↗

arXiv2026

Superimposed-Pilot OTFS Under Fractional Doppler: Modular End-to-End Learning

Orthogonal time frequency space (OTFS) modulation has emerged as a promising candidate to overcome the performance degradation of orthogonal frequency division multiplexing (OFDM), which are commonly encountered in high-mobility wireless communication scenarios. However, conventional OTFS transceivers rely on multiple separately designed signal-processing modules, whose isolated optimization often limits global optimal performance. To overcome limitations, this paper proposes a modular deep learning (DL) based end-to-end OTFS transceiver framework that consists of trainable and interchangeable neural network (NN) modules, including constellation mapping/demapping, superimposed pilot placement, inverse Zak (IZak)/Zak transforms, and a U-Net-enhanced NN tailored for joint channel estimation and detection (JCED), while explicitly accounting for the impact of the cyclic prefix. This physics-informed modular architecture provides flexibility for integration with conventional OTFS systems and adaptability to different communication configurations. Simulations demonstrate that the proposed design significantly outperforms baseline methods in terms of both normalized mean squared error (NMSE) and detection reliability, maintaining robustness under integer and fractional Doppler conditions. The results highlight the potential of DL-based end-to-end optimization to enable practical and high-performance OTFS transceivers for next-generation high-mobility networks.

eess.SP↗

arXiv2024

FlowPolicy: Enabling Fast and Robust 3D Flow-based Policy via Consistency Flow Matching for Robot Manipulation

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be effective, particularly in robotic manipulation tasks. However, recursion-based approaches are inference inefficient in working from noise distributions to policy distributions, posing a challenging trade-off between efficiency and quality. This motivates us to propose FlowPolicy, a novel framework for fast policy generation based on consistency flow matching and 3D vision. Our approach refines the flow dynamics by normalizing the self-consistency of the velocity field, enabling the model to derive task execution policies in a single inference step. Specifically, FlowPolicy conditions on the observed 3D point cloud, where consistency flow matching directly defines straight-line flows from different time states to the same action space, while simultaneously constraining their velocity values, that is, we approximate the trajectories from noise to robot actions by normalizing the self-consistency of the velocity field within the action space, thus improving the inference efficiency. We validate the effectiveness of FlowPolicy in Adroit and Metaworld, demonstrating a 7$\times$ increase in inference speed while maintaining competitive average success rates compared to state-of-the-art methods. Code is available at https://github.com/zql-kk/FlowPolicy.

cs.RO↗

arXiv2024

Dataset Awareness is not Enough: Implementing Sample-level Tail Encouragement in Long-tailed Self-supervised Learning

Self-supervised learning (SSL) has shown remarkable data representation capabilities across a wide range of datasets. However, when applied to real-world datasets with long-tailed distributions, performance on multiple downstream tasks degrades significantly. Recently, the community has begun to focus more on self-supervised long-tailed learning. Some works attempt to transfer temperature mechanisms to self-supervised learning or use category-space uniformity constraints to balance the representation of different categories in the embedding space to fight against long-tail distributions. However, most of these approaches focus on the joint optimization of all samples in the dataset or on constraining the category distribution, with little attention given to whether each individual sample is optimally guided during training. To address this issue, we propose Temperature Auxiliary Sample-level Encouragement (TASE). We introduce pseudo-labels into self-supervised long-tailed learning, utilizing pseudo-label information to drive a dynamic temperature and re-weighting strategy. Specifically, We assign an optimal temperature parameter to each sample. Additionally, we analyze the lack of quantity awareness in the temperature parameter and use re-weighting to compensate for this deficiency, thereby achieving optimal training patterns at the sample level. Comprehensive experimental results on six benchmarks across three datasets demonstrate that our method achieves outstanding performance in improving long-tail recognition, while also exhibiting high robustness.

cs.CV↗

arXiv2024

PointRegGPT: Boosting 3D Point Cloud Registration using Generative Point-Cloud Pairs for Training

Data plays a crucial role in training learning-based methods for 3D point cloud registration. However, the real-world dataset is expensive to build, while rendering-based synthetic data suffers from domain gaps. In this work, we present PointRegGPT, boosting 3D point cloud registration using generative point-cloud pairs for training. Given a single depth map, we first apply a random camera motion to re-project it into a target depth map. Converting them to point clouds gives a training pair. To enhance the data realism, we formulate a generative model as a depth inpainting diffusion to process the target depth map with the re-projected source depth map as the condition. Also, we design a depth correction module to alleviate artifacts caused by point penetration during the re-projection. To our knowledge, this is the first generative approach that explores realistic data generation for indoor point cloud registration. When equipped with our approach, several recent algorithms can improve their performance significantly and achieve SOTA consistently on two common benchmarks. The code and dataset will be released on https://github.com/Chen-Suyi/PointRegGPT.

cs.CV↗

arXiv2024

Lumiere: A Space-Time Diffusion Model for Video Generation

We introduce Lumiere -- a text-to-video diffusion model designed for synthesizing videos that portray realistic, diverse and coherent motion -- a pivotal challenge in video synthesis. To this end, we introduce a Space-Time U-Net architecture that generates the entire temporal duration of the video at once, through a single pass in the model. This is in contrast to existing video models which synthesize distant keyframes followed by temporal super-resolution -- an approach that inherently makes global temporal consistency difficult to achieve. By deploying both spatial and (importantly) temporal down- and up-sampling and leveraging a pre-trained text-to-image diffusion model, our model learns to directly generate a full-frame-rate, low-resolution video by processing it in multiple space-time scales. We demonstrate state-of-the-art text-to-video generation results, and show that our design easily facilitates a wide range of content creation tasks and video editing applications, including image-to-video, video inpainting, and stylized generation.

cs.CV↗

arXiv2023

SpectralNeRF: Physically Based Spectral Rendering with Neural Radiance Field

In this paper, we propose SpectralNeRF, an end-to-end Neural Radiance Field (NeRF)-based architecture for high-quality physically based rendering from a novel spectral perspective. We modify the classical spectral rendering into two main steps, 1) the generation of a series of spectrum maps spanning different wavelengths, 2) the combination of these spectrum maps for the RGB output. Our SpectralNeRF follows these two steps through the proposed multi-layer perceptron (MLP)-based architecture (SpectralMLP) and Spectrum Attention UNet (SAUNet). Given the ray origin and the ray direction, the SpectralMLP constructs the spectral radiance field to obtain spectrum maps of novel views, which are then sent to the SAUNet to produce RGB images of white-light illumination. Applying NeRF to build up the spectral rendering is a more physically-based way from the perspective of ray-tracing. Further, the spectral radiance fields decompose difficult scenes and improve the performance of NeRF-based methods. Comprehensive experimental results demonstrate the proposed SpectralNeRF is superior to recent NeRF-based methods when synthesizing new views on synthetic and real datasets. The codes and datasets are available at https://github.com/liru0126/SpectralNeRF.

cs.CV↗

arXiv2023

Exposure Fusion for Hand-held Camera Inputs with Optical Flow and PatchMatch

This paper proposes a hybrid synthesis method for multi-exposure image fusion taken by hand-held cameras. Motions either due to the shaky camera or caused by dynamic scenes should be compensated before any content fusion. Any misalignment can easily cause blurring/ghosting artifacts in the fused result. Our hybrid method can deal with such motions and maintain the exposure information of each input effectively. In particular, the proposed method first applies optical flow for a coarse registration, which performs well with complex non-rigid motion but produces deformations at regions with missing correspondences. The absence of correspondences is due to the occlusions of scene parallax or the moving contents. To correct such error registration, we segment images into superpixels and identify problematic alignments based on each superpixel, which is further aligned by PatchMatch. The method combines the efficiency of optical flow and the accuracy of PatchMatch. After PatchMatch correction, we obtain a fully aligned image stack that facilitates a high-quality fusion that is free from blurring/ghosting artifacts. We compare our method with existing fusion algorithms on various challenging examples, including the static/dynamic, the indoor/outdoor and the daytime/nighttime scenes. Experiment results demonstrate the effectiveness and robustness of our method.

cs.CV↗

arXiv2022

UPHDR-GAN: Generative Adversarial Network for High Dynamic Range Imaging with Unpaired Data

The paper proposes a method to effectively fuse multi-exposure inputs and generate high-quality high dynamic range (HDR) images with unpaired datasets. Deep learning-based HDR image generation methods rely heavily on paired datasets. The ground truth images play a leading role in generating reasonable HDR images. Datasets without ground truth are hard to be applied to train deep neural networks. Recently, Generative Adversarial Networks (GAN) have demonstrated their potentials of translating images from source domain X to target domain Y in the absence of paired examples. In this paper, we propose a GAN-based network for solving such problems while generating enjoyable HDR results, named UPHDR-GAN. The proposed method relaxes the constraint of the paired dataset and learns the mapping from the LDR domain to the HDR domain. Although the pair data are missing, UPHDR-GAN can properly handle the ghosting artifacts caused by moving objects or misalignments with the help of the modified GAN loss, the improved discriminator network and the useful initialization phase. The proposed method preserves the details of important regions and improves the total image perceptual quality. Qualitative and quantitative comparisons against the representative methods demonstrate the superiority of the proposed UPHDR-GAN.

eess.IV↗

arXiv2022

JigsawGAN: Auxiliary Learning for Solving Jigsaw Puzzles with Generative Adversarial Networks

The paper proposes a solution based on Generative Adversarial Network (GAN) for solving jigsaw puzzles. The problem assumes that an image is divided into equal square pieces, and asks to recover the image according to information provided by the pieces. Conventional jigsaw puzzle solvers often determine the relationships based on the boundaries of pieces, which ignore the important semantic information. In this paper, we propose JigsawGAN, a GAN-based auxiliary learning method for solving jigsaw puzzles with unpaired images (with no prior knowledge of the initial images). We design a multi-task pipeline that includes, (1) a classification branch to classify jigsaw permutations, and (2) a GAN branch to recover features to images in correct orders. The classification branch is constrained by the pseudo-labels generated according to the shuffled pieces. The GAN branch concentrates on the image semantic information, where the generator produces the natural images to fool the discriminator, while the discriminator distinguishes whether a given image belongs to the synthesized or the real target domain. These two branches are connected by a flow-based warp module that is applied to warp features to correct the order according to the classification results. The proposed method can solve jigsaw puzzles more efficiently by utilizing both semantic information and boundary information simultaneously. Qualitative and quantitative comparisons against several representative jigsaw puzzle solvers demonstrate the superiority of our method.

cs.CV↗

arXiv2022

FINet: Dual Branches Feature Interaction for Partial-to-Partial Point Cloud Registration

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the reference clouds at the feature extraction stage, such that the registration can be realized without the attentions or explicit mask estimation for the overlapping detection as adopted previously. Specifically, we present FINet, a feature interaction-based structure with the capability to enable and strengthen the information associating between the inputs at multiple stages. To achieve this, we first split the features into two components, one for rotation and one for translation, based on the fact that they belong to different solution spaces, yielding a dual branches structure. Second, we insert several interaction modules at the feature extractor for the data association. Third, we propose a transformation sensitivity loss to obtain rotation-attentive and translation-attentive features. Experiments demonstrate that our method performs higher precision and robustness compared to the state-of-the-art traditional and learning-based methods. Code is available at https://github.com/megvii-research/FINet.

cs.CV↗

arXiv2022

Cross-Block Difference Guided Fast CU Partition for VVC Intra Coding

In this paper, we propose a new fast CU partition algorithm for VVC intra coding based on cross-block difference. This difference is measured by the gradient and the content of sub-blocks obtained from partition and is employed to guide the skipping of unnecessary horizontal and vertical partition modes. With this guidance, a fast determination of block partitions is accordingly achieved. Compared with VVC, our proposed method can save 41.64% (on average) encoding time with only 0.97% (on average) increase of BD-rate.

eess.IV↗

arXiv2021

OMNet: Learning Overlapping Mask for Partial-to-Partial Point Cloud Registration

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse feature matches. However, the accuracy of transformation heavily relies on the quality of extracted features, which are prone to errors with respect to partiality and noise. In addition, they can not utilize the geometric knowledge of all the overlapping regions. On the other hand, previous global feature based approaches can utilize the entire point cloud for the registration, however they ignore the negative effect of non-overlapping points when aggregating global features. In this paper, we present OMNet, a global feature based iterative network for partial-to-partial point cloud registration. We learn overlapping masks to reject non-overlapping regions, which converts the partial-to-partial registration to the registration of the same shape. Moreover, the previously used data is sampled only once from the CAD models for each object, resulting in the same point clouds for the source and reference. We propose a more practical manner of data generation where a CAD model is sampled twice for the source and reference, avoiding the previously prevalent over-fitting issue. Experimental results show that our method achieves state-of-the-art performance compared to traditional and deep learning based methods. Code is available at https://github.com/megvii-research/OMNet.

cs.CV↗

arXiv2020

On the Performance of Splitting Receiver with Joint Coherent and Non-Coherent Processing

In this paper, we revisit a recently proposed receiver design, named the splitting receiver, which jointly uses coherent and non-coherent processing for signal detection. By considering an improved signal model for the splitting receiver as compared to the original study in the literature, we conduct a performance analysis on the achievable data rate under Gaussian signaling and obtain a fundamentally different result on the performance gain of the splitting receiver over traditional receiver designs that use either coherent or non-coherent processing alone. Specifically, the original study ignored the antenna noise and concluded on a 50% gain in achievable data rate in the high signal-to-noise ratio (SNR) regime. In contrast, we include the antenna noise in the signal model and show that the splitting receiver improves the achievable data rate by a constant gap in the high SNR regime. This represents an important correction of the theoretical understanding on the performance of the splitting receiver. In addition, we examine the maximum-likelihood detection and derive a low-complexity detection rule for the splitting receiver for practical modulation schemes. Our numerical results give further insights into the conditions under which the splitting receiver achieves significant gains in terms of either achievable data rate or detection error probability.

cs.IT↗