arXiv subjects

Guodong Guo

Publications and source records attributed to Guodong Guo.

At least 19 recordsLinked to original sources

arXiv2026

LDFE: Laplacian Decoupled Feature Enhancement Block for Dual-Stream CNN-based RGB-IR Object Detection

The complementary information between RGB and IR images can significantly enhance object detection performance under extreme conditions. Existing methods prefer dual-stream CNN backbones built upon YOLO for feature extraction and focus on the design of feature fusion. In this paper, we introduce the Laplacian Decoupled Feature Enhancement block (LDFE) to fuse features from different stages of the dual-stream CNN backbone. By design, LDFE simultaneously considers the characteristics of modalities and structures for feature fusion by employing global-local decomposition, denoising, fusion, and reconstruction, sequentially. The LDFE first separates features into global and local components based on Laplacian Pyramid, and then performs denoising and fusion based on Global State Space Enhancement module (GS2E) and Local Convolutional Correlation Enhancement module (LC2E) separately. Specifically, the GS2E conducts a two-branch architecture for the main and auxiliary modalities. It dynamically suppresses noise in the main modality through cross-modal attention derived from the auxiliary modality, while employing a State Space Model to capture long-range dependencies within the global feature representations of the main modality. To obtain bidirectional interaction, the two modalities systematically alternate their main/auxiliary roles. Moreover, the LC2E suppresses noise in local features and leverages spatial and channel dimension along with triple convolution to extract fine-grained details for fusion. These innovative designs achieve a significant performance improvement, with mAP surpassing the SOTA methods 6.2%, 3.7%, 4.7%, 2.3%, 4.1% and 2.0% on M3FD, DroneVehicle, LLVIP, FLIR-Aligned, KAIST and VEDAI datasets,respectively.

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arXiv2026

FAIR-Calib: Frontier-Aware Instability-Reweighted Calibration for Post-Training Quantization of Diffusion Large Language Models

Diffusion Large Language Models (dLLMs) refine tokens iteratively but commit them irreversibly, leading to a "stability lag" where early decisions remain fragile even after being written. We reveal that Post-Training Quantization (PTQ) error easily flips these borderline decisions at the write frontier, which are then permanently locked in and amplified. To address this, we propose Frontier-Aware Instability-Reweighted Calibration (FAIR-Calib), a two-stage PTQ framework for dLLMs. Stage I probes a full-precision teacher to estimate a position prior that combines frontier hits and masked-stage reliability. Stage II performs off-policy, layer-wise calibration by minimizing a reweighted hidden-state MSE, effectively prioritizing the protection of fragile frontier states without requiring expensive end-to-end diffusion rollouts. We further theoretically justify our weighted objective as a surrogate for output KL divergence. Empirically, FAIR-Calib consistently outperforms state-of-the-art baselines on LLaDA and Dream (W4A4), significantly reducing frontier decision flips and suppressing post-commit mismatches across diverse benchmarks.

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arXiv2026

Circuit-Inspired High-Order Neural Networks with Unified Neural Dynamics Modeling for PDE Solving and Visual Perception

Deep networks often rely on architectural heuristics to shape representation evolution, limiting their ability to model data governed by intrinsic dynamics. We present the Circuit-inspired High-Order Neural Network (CHONN), a modular framework that treats representation evolution as a latent potential process and increases its effective order through Kirchhoff-inspired cascade composition. A single Kirchhoff Neural Cell implements a stable first-order update, while serially composed cells form higher-order dynamical operators within one block. This construction is interpretable, numerically stable and compatible with common neural backbones. Theoretical analysis shows that cascaded cells induce end-to-end high-order operators, and controlled experiments demonstrate that intra-block high-order construction differs from generic depth stacking, especially on derivative-sensitive measures. Across steady-state operator learning, long-horizon physical forecasting and ImageNet-1K recognition, CHONN improves structural fidelity, rollout stability and visual representation learning. These results identify high-order circuit composition as a general principle for neural dynamics modeling.

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arXiv2026

Think Proprioceptively: State-Grounded Visual Token Selection for VLA Policies

Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, preventing robot state from grounding instruction understanding or directing visual attention. We introduce ThinkProprio, which discretizes proprioception into VLM-vocabulary tokens and uses them jointly with the instruction to gate visual patches before VLM computation, steering the model toward action-relevant evidence while discarding redundant tokens early. We find that proprioception added as a passive conditioning signal leaves performance essentially unchanged; its value emerges when token-form state acts as an active query that, with the instruction, selects which visual patches the VLM processes. Systematic ablations show that VLM-vocabulary tokens outperform learned projectors as the state encoding, and that retaining only about \SI{12}{\percent} of the visual tokens surpasses on CALVIN ABC$\to$D. Across CALVIN, LIBERO, and real-world manipulation, ThinkProprio reduces end-to-end inference latency while improving the matched full-token baseline.

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arXiv2025

DiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Driving

Unlike discriminative approaches in autonomous driving that predict a fixed set of candidate trajectories of the ego vehicle, generative methods, such as diffusion models, learn the underlying distribution of future motion, enabling more flexible trajectory prediction. However, since these methods typically rely on denoising human-crafted trajectory anchors or random noise, there remains significant room for improvement. In this paper, we propose DiffRefiner, a novel two-stage trajectory prediction framework. The first stage uses a transformer-based Proposal Decoder to generate coarse trajectory predictions by regressing from sensor inputs using predefined trajectory anchors. The second stage applies a Diffusion Refiner that iteratively denoises and refines these initial predictions. In this way, we enhance the performance of diffusion-based planning by incorporating a discriminative trajectory proposal module, which provides strong guidance for the generative refinement process. Furthermore, we design a fine-grained denoising decoder to enhance scene compliance, enabling more accurate trajectory prediction through enhanced alignment with the surrounding environment. Experimental results demonstrate that DiffRefiner achieves state-of-the-art performance, attaining 87.4 EPDMS on NAVSIM v2, and 87.1 DS along with 71.4 SR on Bench2Drive, thereby setting new records on both public benchmarks. The effectiveness of each component is validated via ablation studies as well.

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arXiv2025

Phy-Tac: Toward Human-Like Grasping via Physics-Conditioned Tactile Goals

Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-inspired physics-conditioned tactile method (Phy-Tac) for force-optimal stable grasping (FOSG) that unifies pose selection, tactile prediction, and force regulation. A physics-based pose selector first identifies feasible contact regions with optimal force distribution based on surface geometry. Then, a physics-conditioned latent diffusion model (Phy-LDM) predicts the tactile imprint under FOSG target. Last, a latent-space LQR controller drives the gripper toward this tactile imprint with minimal actuation, preventing unnecessary compression. Trained on a physics-conditioned tactile dataset covering diverse objects and contact conditions, the proposed Phy-LDM achieves superior tactile prediction accuracy, while the Phy-Tac outperforms fixed-force and GraspNet-based baselines in grasp stability and force efficiency. Experiments on classical robotic platforms demonstrate force-efficient and adaptive manipulation that bridges the gap between robotic and human grasping.

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arXiv2025

HuBE: Cross-Embodiment Human-like Behavior Execution for Humanoid Robots

Achieving both behavioral similarity and appropriateness in human-like motion generation for humanoid robot remains an open challenge, further compounded by the lack of cross-embodiment adaptability. To address this problem, we propose HuBE, a bi-level closed-loop framework that integrates robot state, goal poses, and contextual situations to generate human-like behaviors, ensuring both behavioral similarity and appropriateness, and eliminating structural mismatches between motion generation and execution. To support this framework, we construct HPose, a context-enriched dataset featuring fine-grained situational annotations. Furthermore, we introduce a bone scaling-based data augmentation strategy that ensures millimeter-level compatibility across heterogeneous humanoid robots. Comprehensive evaluations on multiple commercial platforms demonstrate that HuBE significantly improves motion similarity, behavioral appropriateness, and computational efficiency over state-of-the-art baselines, establishing a solid foundation for transferable and human-like behavior execution across diverse humanoid robots.

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arXiv2025

Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation

Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language models (LLMs), there has been a notable increase in the development of LLM-based planners. These approaches either utilize human-provided textual representations of the real world or heavily depend on prompt engineering to extract such representations, lacking the capability to quantitatively understand the environment, such as determining the feasibility of manipulating objects. To address these limitations, we present the Instruction-Augmented Long-Horizon Planning (IALP) system, a novel framework that employs LLMs to generate feasible and optimal actions based on real-time sensor feedback, including grounded knowledge of the environment, in a closed-loop interaction. Distinct from prior works, our approach augments user instructions into PDDL problems by leveraging both the abstract reasoning capabilities of LLMs and grounding mechanisms. By conducting various real-world long-horizon tasks, each consisting of seven distinct manipulatory skills, our results demonstrate that the IALP system can efficiently solve these tasks with an average success rate exceeding 80%. Our proposed method can operate as a high-level planner, equipping robots with substantial autonomy in unstructured environments through the utilization of multi-modal sensor inputs.

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arXiv2025

REF-VLM: Triplet-Based Referring Paradigm for Unified Visual Decoding

Multimodal Large Language Models (MLLMs) demonstrate robust zero-shot capabilities across diverse vision-language tasks after training on mega-scale datasets. However, dense prediction tasks, such as semantic segmentation and keypoint detection, pose significant challenges for MLLMs when represented solely as text outputs. Simultaneously, current MLLMs utilizing latent embeddings for visual task decoding generally demonstrate limited adaptability to both multi-task learning and multi-granularity scenarios. In this work, we present \textbf{REF-VLM}, an end-to-end framework for unified training of various visual decoding tasks. To address complex visual decoding scenarios, we introduce the \textbf{Triplet-Based Referring Paradigm (TRP)}, which explicitly decouples three critical dimensions in visual decoding tasks through a triplet structure: concepts, decoding types, and targets. TRP employs symbolic delimiters to enforce structured representation learning, enhancing the parsability and interpretability of model outputs. Additionally, we construct \textbf{Visual-Task Instruction Following Dataset (VT-Instruct)}, a large-scale multi-task dataset containing over 100 million multimodal dialogue samples across 25 task types. Beyond text inputs and outputs, VT-Instruct incorporates various visual prompts such as point, box, scribble, and mask, and generates outputs composed of text and visual units like box, keypoint, depth and mask. The combination of different visual prompts and visual units generates a wide variety of task types, expanding the applicability of REF-VLM significantly. Both qualitative and quantitative experiments demonstrate that our REF-VLM outperforms other MLLMs across a variety of standard benchmarks. The code, dataset, and demo will be publicly available.

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arXiv2024

Graph Structure Refinement with Energy-based Contrastive Learning

Graph Neural Networks (GNNs) have recently gained widespread attention as a successful tool for analyzing graph-structured data. However, imperfect graph structure with noisy links lacks enough robustness and may damage graph representations, therefore limiting the GNNs' performance in practical tasks. Moreover, existing generative architectures fail to fit discriminative graph-related tasks. To tackle these issues, we introduce an unsupervised method based on a joint of generative training and discriminative training to learn graph structure and representation, aiming to improve the discriminative performance of generative models. We propose an Energy-based Contrastive Learning (ECL) guided Graph Structure Refinement (GSR) framework, denoted as ECL-GSR. To our knowledge, this is the first work to combine energy-based models with contrastive learning for GSR. Specifically, we leverage ECL to approximate the joint distribution of sample pairs, which increases the similarity between representations of positive pairs while reducing the similarity between negative ones. Refined structure is produced by augmenting and removing edges according to the similarity metrics among node representations. Extensive experiments demonstrate that ECL-GSR outperforms the state-of-the-art on eight benchmark datasets in node classification. ECL-GSR achieves faster training with fewer samples and memories against the leading baseline, highlighting its simplicity and efficiency in downstream tasks.

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arXiv2024

Achieving Stable High-Speed Locomotion for Humanoid Robots with Deep Reinforcement Learning

Humanoid robots offer significant versatility for performing a wide range of tasks, yet their basic ability to walk and run, especially at high velocities, remains a challenge. This letter presents a novel method that combines deep reinforcement learning with kinodynamic priors to achieve stable locomotion control (KSLC). KSLC promotes coordinated arm movements to counteract destabilizing forces, enhancing overall stability. Compared to the baseline method, KSLC provides more accurate tracking of commanded velocities and better generalization in velocity control. In simulation tests, the KSLC-enabled humanoid robot successfully tracked a target velocity of 3.5 m/s with reduced fluctuations. Sim-to-sim validation in a high-fidelity environment further confirmed its robust performance, highlighting its potential for real-world applications.

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arXiv2024

NCL++: Nested Collaborative Learning for Long-Tailed Visual Recognition

Long-tailed visual recognition has received increasing attention in recent years. Due to the extremely imbalanced data distribution in long-tailed learning, the learning process shows great uncertainties. For example, the predictions of different experts on the same image vary remarkably despite the same training settings. To alleviate the uncertainty, we propose a Nested Collaborative Learning (NCL++) which tackles the long-tailed learning problem by a collaborative learning. To be specific, the collaborative learning consists of two folds, namely inter-expert collaborative learning (InterCL) and intra-expert collaborative learning (IntraCL). In-terCL learns multiple experts collaboratively and concurrently, aiming to transfer the knowledge among different experts. IntraCL is similar to InterCL, but it aims to conduct the collaborative learning on multiple augmented copies of the same image within the single expert. To achieve the collaborative learning in long-tailed learning, the balanced online distillation is proposed to force the consistent predictions among different experts and augmented copies, which reduces the learning uncertainties. Moreover, in order to improve the meticulous distinguishing ability on the confusing categories, we further propose a Hard Category Mining (HCM), which selects the negative categories with high predicted scores as the hard categories. Then, the collaborative learning is formulated in a nested way, in which the learning is conducted on not just all categories from a full perspective but some hard categories from a partial perspective. Extensive experiments manifest the superiority of our method with outperforming the state-of-the-art whether with using a single model or an ensemble. The code will be publicly released.

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arXiv2024

Explicit-Implicit Subgoal Planning for Long-Horizon Tasks with Sparse Reward

The challenges inherent in long-horizon tasks in robotics persist due to the typical inefficient exploration and sparse rewards in traditional reinforcement learning approaches. To address these challenges, we have developed a novel algorithm, termed Explicit-Implicit Subgoal Planning (EISP), designed to tackle long-horizon tasks through a divide-and-conquer approach. We utilize two primary criteria, feasibility and optimality, to ensure the quality of the generated subgoals. EISP consists of three components: a hybrid subgoal generator, a hindsight sampler, and a value selector. The hybrid subgoal generator uses an explicit model to infer subgoals and an implicit model to predict the final goal, inspired by way of human thinking that infers subgoals by using the current state and final goal as well as reason about the final goal conditioned on the current state and given subgoals. Additionally, the hindsight sampler selects valid subgoals from an offline dataset to enhance the feasibility of the generated subgoals. While the value selector utilizes the value function in reinforcement learning to filter the optimal subgoals from subgoal candidates. To validate our method, we conduct four long-horizon tasks in both simulation and the real world. The obtained quantitative and qualitative data indicate that our approach achieves promising performance compared to other baseline methods. These experimental results can be seen on the website \url{https://sites.google.com/view/vaesi}.

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arXiv2024

Fusion-Mamba for Cross-modality Object Detection

Cross-modality fusing complementary information from different modalities effectively improves object detection performance, making it more useful and robust for a wider range of applications. Existing fusion strategies combine different types of images or merge different backbone features through elaborated neural network modules. However, these methods neglect that modality disparities affect cross-modality fusion performance, as different modalities with different camera focal lengths, placements, and angles are hardly fused. In this paper, we investigate cross-modality fusion by associating cross-modal features in a hidden state space based on an improved Mamba with a gating mechanism. We design a Fusion-Mamba block (FMB) to map cross-modal features into a hidden state space for interaction, thereby reducing disparities between cross-modal features and enhancing the representation consistency of fused features. FMB contains two modules: the State Space Channel Swapping (SSCS) module facilitates shallow feature fusion, and the Dual State Space Fusion (DSSF) enables deep fusion in a hidden state space. Through extensive experiments on public datasets, our proposed approach outperforms the state-of-the-art methods on $m$AP with 5.9% on $M^3FD$ and 4.9% on FLIR-Aligned datasets, demonstrating superior object detection performance. To the best of our knowledge, this is the first work to explore the potential of Mamba for cross-modal fusion and establish a new baseline for cross-modality object detection.

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arXiv2023

Adaptive Sparse ViT: Towards Learnable Adaptive Token Pruning by Fully Exploiting Self-Attention

Vision transformer has emerged as a new paradigm in computer vision, showing excellent performance while accompanied by expensive computational cost. Image token pruning is one of the main approaches for ViT compression, due to the facts that the complexity is quadratic with respect to the token number, and many tokens containing only background regions do not truly contribute to the final prediction. Existing works either rely on additional modules to score the importance of individual tokens, or implement a fixed ratio pruning strategy for different input instances. In this work, we propose an adaptive sparse token pruning framework with a minimal cost. Specifically, we firstly propose an inexpensive attention head importance weighted class attention scoring mechanism. Then, learnable parameters are inserted as thresholds to distinguish informative tokens from unimportant ones. By comparing token attention scores and thresholds, we can discard useless tokens hierarchically and thus accelerate inference. The learnable thresholds are optimized in budget-aware training to balance accuracy and complexity, performing the corresponding pruning configurations for different input instances. Extensive experiments demonstrate the effectiveness of our approach. Our method improves the throughput of DeiT-S by 50% and brings only 0.2% drop in top-1 accuracy, which achieves a better trade-off between accuracy and latency than the previous methods.

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arXiv2023

DCP-NAS: Discrepant Child-Parent Neural Architecture Search for 1-bit CNNs

Neural architecture search (NAS) proves to be among the effective approaches for many tasks by generating an application-adaptive neural architecture, which is still challenged by high computational cost and memory consumption. At the same time, 1-bit convolutional neural networks (CNNs) with binary weights and activations show their potential for resource-limited embedded devices. One natural approach is to use 1-bit CNNs to reduce the computation and memory cost of NAS by taking advantage of the strengths of each in a unified framework, while searching the 1-bit CNNs is more challenging due to the more complicated processes involved. In this paper, we introduce Discrepant Child-Parent Neural Architecture Search (DCP-NAS) to efficiently search 1-bit CNNs, based on a new framework of searching the 1-bit model (Child) under the supervision of a real-valued model (Parent). Particularly, we first utilize a Parent model to calculate a tangent direction, based on which the tangent propagation method is introduced to search the optimized 1-bit Child. We further observe a coupling relationship between the weights and architecture parameters existing in such differentiable frameworks. To address the issue, we propose a decoupled optimization method to search an optimized architecture. Extensive experiments demonstrate that our DCP-NAS achieves much better results than prior arts on both CIFAR-10 and ImageNet datasets. In particular, the backbones achieved by our DCP-NAS achieve strong generalization performance on person re-identification and object detection.

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arXiv2023

FM-ViT: Flexible Modal Vision Transformers for Face Anti-Spoofing

The availability of handy multi-modal (i.e., RGB-D) sensors has brought about a surge of face anti-spoofing research. However, the current multi-modal face presentation attack detection (PAD) has two defects: (1) The framework based on multi-modal fusion requires providing modalities consistent with the training input, which seriously limits the deployment scenario. (2) The performance of ConvNet-based model on high fidelity datasets is increasingly limited. In this work, we present a pure transformer-based framework, dubbed the Flexible Modal Vision Transformer (FM-ViT), for face anti-spoofing to flexibly target any single-modal (i.e., RGB) attack scenarios with the help of available multi-modal data. Specifically, FM-ViT retains a specific branch for each modality to capture different modal information and introduces the Cross-Modal Transformer Block (CMTB), which consists of two cascaded attentions named Multi-headed Mutual-Attention (MMA) and Fusion-Attention (MFA) to guide each modal branch to mine potential features from informative patch tokens, and to learn modality-agnostic liveness features by enriching the modal information of own CLS token, respectively. Experiments demonstrate that the single model trained based on FM-ViT can not only flexibly evaluate different modal samples, but also outperforms existing single-modal frameworks by a large margin, and approaches the multi-modal frameworks introduced with smaller FLOPs and model parameters.

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arXiv2023

Q-DETR: An Efficient Low-Bit Quantized Detection Transformer

The recent detection transformer (DETR) has advanced object detection, but its application on resource-constrained devices requires massive computation and memory resources. Quantization stands out as a solution by representing the network in low-bit parameters and operations. However, there is a significant performance drop when performing low-bit quantized DETR (Q-DETR) with existing quantization methods. We find that the bottlenecks of Q-DETR come from the query information distortion through our empirical analyses. This paper addresses this problem based on a distribution rectification distillation (DRD). We formulate our DRD as a bi-level optimization problem, which can be derived by generalizing the information bottleneck (IB) principle to the learning of Q-DETR. At the inner level, we conduct a distribution alignment for the queries to maximize the self-information entropy. At the upper level, we introduce a new foreground-aware query matching scheme to effectively transfer the teacher information to distillation-desired features to minimize the conditional information entropy. Extensive experimental results show that our method performs much better than prior arts. For example, the 4-bit Q-DETR can theoretically accelerate DETR with ResNet-50 backbone by 6.6x and achieve 39.4% AP, with only 2.6% performance gaps than its real-valued counterpart on the COCO dataset.

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