arXiv subjects

Haipeng Li

Publications and source records attributed to Haipeng Li.

At least 19 recordsLinked to original sources

arXiv2026

MonoMoE: An Efficient Fused Mega-kernel for Quantized MoE Decoding

Mixture-of-Experts (MoE) layers increase model capacity without proportionally increasing arithmetic, but their sparse expert computation is difficult to execute efficiently during autoregressive decode. Existing grouped and batched GEMMs are token-major: they construct expert-local token tiles and obtain parallelism from the token dimension. When few tokens reach each expert, this organization incurs tile padding and preprocessing, launches short-lived grids that underutilize memory bandwidth, and exposes quantization, activation, and reduction as separate stages. We present \textbf{MonoMoE}, a weight-major persistent megakernel for block-wise quantized MoE decode. MonoMoE places the complete decode-step token tile on the fine-grained tensor-core $N$ dimension and partitions CTAs over expert-weight tiles, eliminating expert-local token materialization and reducing padded arithmetic. A persistent grid fuses routing, top-$k$ selection, quantization, both expert projections, activation, and reduction in one launch; warp specialization and readiness flags overlap auxiliary work with the dominant expert-weight stream. MonoMoE is integrated with vLLM and supports multiple model shapes through generated kernel specializations and offline schedule tuning. On NVIDIA H200 GPUs, MonoMoE accelerates the complete routed-MoE operator by up to $\mathbf{1.54\times}$ over vLLM Triton Grouped GEMM, is $\mathbf{2.20}$--$\mathbf{3.84\times}$ faster than FlashMoE-FP8 adaptation across various models and batch sizes, and reduces end-to-end time per output token by up to $\mathbf{18.7\%}$ across the evaluated FP8 models, while preserving task accuracy. The MonoMoE implementation and supporting artifacts are open source and available in the \href{https://github.com/flashinfer-ai/flashinfer/tree/main/csrc/fused_moe/monomoe}{FlashInfer repository}.

cs.AR↗

arXiv2026

CNS-Edit++: Category-Agnostic 3D Editing with Coupled Neural Shape Representation

This paper presents a latent-space 3D shape editing framework built upon a coupled neural shape (CNS) representation and a neural feature volume optimization. This work extends CNS-Edit, built on Coupled Neural Shape optimization, to CNS-Edit++, by generalizing the category-specific coupled representation to category-agnostic 3D shape editing with foundation models. The Coupled Neural Shape (CNS) representation couples a global latent code that captures high-level shape semantics with a 3D neural feature volume that provides spatial context for local shape manipulation. Then we formulate a coupled neural shape optimization procedure that co-optimizes these two components subject to a given editing operation. Our framework can be instantiated on both the category-specific 3D inversion model and category-agnostic 3D foundation models. We provide various shape editing operators, including copy, resize, delete, mix, point-wise drag, and region-wise drag, each of which is formulated as an objective to guide the CNS optimization. To preserve regions outside the editing area, we further introduce two complementary region-wise control mechanisms, i.e., KV-cache replacement and latent feature regularization. Extensive quantitative and qualitative evaluations across different 3D generative models demonstrate the strong capabilities of our approach over state-of-the-art solutions.

cs.CV↗

arXiv2026

The Symbolic Partition of Chaotic Flows Based on Ordinal Patterns

As a crucial tool in the field of chaotic systems study, Symbolic dynamics prompts extensive research into various methods for symbolic partitioning. The limitations of the majority of these methods are usually heuristic and empirical for partitioning the multivariate chaotic state space. Fortunately, we successfully take KA method and obtain primary coarse symbolic boundary and refine the symbolic boundary via GKA method on chaotic map in our previous studies. However, this method fails when applied to continuous chaotic flows. The trajectories of complex continuous chaotic flows are complex, and while their mechanisms are quite different from those of chaotic maps, they are by no means completely distinct -- after all, both are governed by the same fundamental laws of chaos. In response to the aforementioned challenges, a modified approach should be developed to overcome the failure of the existing method for continuous chaotic flows. In this study, we extend the Koopman-analysis-based symbolic partitioning approach to continuous chaotic flows. For general chaotic flows, Koopman analysis is employed to identify suitable Poincare sections. In this work, we construct different candidate Poincare sections based on ordinal patterns. By combining this ordinal-pattern-based Poincare section construction method with the Koopman-analysis-based return-map approach, we achieve effective symbolic partitioning of continuous chaotic flows. Noise perturbation tests are also conducted, demonstrating the robustness of the proposed method. This ordinal-pattern-based analysis is applied to Rossler system, Lorenz system, Lu system and Chen system. This study, with the aid of ordinal patterns, successfully introduces an effective symbolic partition into continuous systems, achieving a faithful transfer of the method from maps to continuous flows.

nlin.CD↗

arXiv2026

Causal Reward World Models: Zero-shot Reward Design for Automated Skill Generation

Automated Reward Design (ARD) aims to replace manual reward engineering in reinforcement learning with language-driven reward function synthesis. However, existing approaches based on large language models (LLMs) remain inherently correlation-driven, relying on iterative environmental feedback to refine reward hypotheses for each specific task. This paradigm not only results in inefficient reasoning but also makes LLMs susceptible to semantically plausible yet causally spurious reward components, leading to ineffective optimization. To address these limitations, we propose the Causal Reward World Model (CRWM), which explicitly models the causal topological relationships between candidate reward components and task-targeted physical variables through offline pre-training on multi-task interaction data. Based on a coarse-to-fine pre-training strategy, we introduce a joint optimization module that integrates Explicit Mechanism Decoupling with Confidence-Aware Soft Fusion to refine coarse structural priors using micro-level trajectories, thereby constructing a robust and interpretable causal skeleton. During inference, LLMs leverage CRWM as a task-irrelevant causal prior to constrain the reward generation, enabling zero-shot reward function design. Our work opens up a new white-box paradigm for the ARD problem. Extensive experiments on complex continuous control benchmarks demonstrate that CRWM generates executable reward functions without feedback-driven reward refinement, significantly reducing the design latency for acquiring new robotic skills while matching or surpassing state-of-the-art performance, and further exhibits strong generalization capabilities across unseen tasks and diverse robotic embodiments.

cs.RO↗

arXiv2026

CamFlow+: Hybrid Motion Bases for 2D Camera Motion Estimation with Stabilization Applications

Estimating 2D camera motion is fundamental to computer vision and computational photography. Existing homography-based methods work well for planar scenes or pure rotation, but struggle with camera translation, depth variation, and local parallax; local homography and mesh-based models improve flexibility but still rely on piecewise planar assumptions. We introduce CamFlow+, a hybrid-basis framework that represents 2D camera motion directly in dense-flow space. CamFlow+ combines homography-derived physical bases, stochastic bases sampled from homography flows, and depth-translational bases derived from depth and camera intrinsics, relaxing the single-plane constraint while preserving camera-motion regularity. A depth-aware smoothness term further regularizes translation-induced parallax in continuous-depth regions while preserving motion changes near depth boundaries. We evaluate CamFlow+ on GHOF-Cam, a camera-motion benchmark that masks out dynamic objects and ill-posed occlusion regions in an optical-flow benchmark to isolate camera-induced motion. Experiments show that CamFlow+ improves sparse and dense camera-motion estimation. In digital video stabilization, CamFlow+ also improves global and local stability, achieving the best top-1 preference rate in a blind user study. Code and datasets will be available on the project page: https://lhaippp.github.io/CamFlow+.

cs.CV↗

arXiv2026

Derain-Agent: A Plug-and-Play Agent Framework for Rainy Image Restoration

While deep learning has advanced single-image deraining, existing models suffer from a fundamental limitation: they employ a static inference paradigm that fails to adapt to the complex, coupled degradations (e.g., noise artifacts, blur, and color deviation) of real-world rain. Consequently, restored images often exhibit residual artifacts and inconsistent perceptual quality. In this work, we present Derain-Agent, a plug-and-play refinement framework that transitions deraining from static processing to dynamic, agent-based restoration. Derain-Agent equips a base deraining model with two core capabilities: 1) a Planning Network that intelligently schedules an optimal sequence of restoration tools for each instance, and 2) a Strength Modulation mechanism that applies these tools with spatially adaptive intensity. This design enables precise, region-specific correction of residual errors without the prohibitive cost of iterative search. Our method demonstrates strong generalization, consistently boosting the performance of state-of-the-art deraining models on both synthetic and real-world benchmarks.

cs.CV↗

arXiv2026

Action-Geometry Prediction with 3D Geometric Prior for Bimanual Manipulation

Bimanual manipulation requires policies that can reason about 3D geometry, anticipate how it evolves under action, and generate smooth, coordinated motions. However, existing methods typically rely on 2D features with limited spatial awareness, or require explicit point clouds that are difficult to obtain reliably in real-world settings. At the same time, recent 3D geometric foundation models show that accurate and diverse 3D structure can be reconstructed directly from RGB images in a fast and robust manner. We leverage this opportunity and propose a framework that builds bimanual manipulation directly on a pre-trained 3D geometric foundation model. Our policy fuses geometry-aware latents, 2D semantic features, and proprioception into a unified state representation, and uses diffusion model to jointly predict a future action chunk and a future 3D latent that decodes into a dense pointmap. By explicitly predicting how the 3D scene will evolve together with the action sequence, the policy gains strong spatial understanding and predictive capability using only RGB observations. We evaluate our method both in simulation on the RoboTwin benchmark and in real-world robot executions. Our approach consistently outperforms 2D-based and point-cloud-based baselines, achieving state-of-the-art performance in manipulation success, inter-arm coordination, and 3D spatial prediction accuracy. Code is available at https://github.com/Chongyang-99/GAP.git.

cs.CV↗

arXiv2026

LaS-Comp: Zero-shot 3D Completion with Latent-Spatial Consistency

This paper introduces LaS-Comp, a zero-shot and category-agnostic approach that leverages the rich geometric priors of 3D foundation models to enable 3D shape completion across diverse types of partial observations. Our contributions are threefold: First, \ourname{} harnesses these powerful generative priors for completion through a complementary two-stage design: (i) an explicit replacement stage that preserves the partial observation geometry to ensure faithful completion; and (ii) an implicit refinement stage ensures seamless boundaries between the observed and synthesized regions. Second, our framework is training-free and compatible with different 3D foundation models. Third, we introduce Omni-Comp, a comprehensive benchmark combining real-world and synthetic data with diverse and challenging partial patterns, enabling a more thorough and realistic evaluation. Both quantitative and qualitative experiments demonstrate that our approach outperforms previous state-of-the-art approaches. Our code and data will be available at \href{https://github.com/DavidYan2001/LaS-Comp}{LaS-Comp}.

cs.CV↗

arXiv2026

HeRO: Hierarchical 3D Semantic Representation for Pose-aware Object Manipulation

Imitation learning for robotic manipulation has progressed from 2D image policies to 3D representations that explicitly encode geometry. Yet purely geometric policies often lack explicit part-level semantics, which are critical for pose-aware manipulation (e.g., distinguishing a shoe's toe from heel). In this paper, we present HeRO, a diffusion-based policy that couples geometry and semantics via hierarchical semantic fields. HeRO employs dense semantics lifting to fuse discriminative, geometry-sensitive features from DINOv2 with the smooth, globally coherent correspondences from Stable Diffusion, yielding dense features that are both fine-grained and spatially consistent. These features are processed and partitioned to construct a global field and a set of local fields. A hierarchical conditioning module conditions the generative denoiser on global and local fields using permutation-invariant network architecture, thereby avoiding order-sensitive bias and producing a coherent control policy for pose-aware manipulation. In various tests, HeRO establishes a new state-of-the-art, improving success on Place Dual Shoes by 12.3% and averaging 6.5% gains across six challenging pose-aware tasks. Code is available at https://github.com/Chongyang-99/HeRO.

cs.CV↗

arXiv2026

PEGAsus: 3D Personalization of Geometry and Appearance

We present PEGAsus, a new framework capable of generating Personalized 3D shapes by learning shape concepts at both Geometry and Appearance levels. First, we formulate 3D shape personalization as extracting reusable, category-agnostic geometric and appearance attributes from reference shapes, and composing these attributes with text to generate novel shapes. Second, we design a progressive optimization strategy to learn shape concepts at both the geometry and appearance levels, decoupling the shape concept learning process. Third, we extend our approach to region-wise concept learning, enabling flexible concept extraction, with context-aware and context-free losses. Extensive experimental results show that PEGAsus is able to effectively extract attributes from a wide range of reference shapes and then flexibly compose these concepts with text to synthesize new shapes. This enables fine-grained control over shape generation and supports the creation of diverse, personalized results, even in challenging cross-category scenarios. Both quantitative and qualitative experiments demonstrate that our approach outperforms existing state-of-the-art solutions.

cs.CV↗

arXiv2026

Universal Anti-forensics Attack against Image Forgery Detection via Multi-modal Guidance

The rapid advancement of AI-Generated Content (AIGC) technologies poses significant challenges for authenticity assessment. However, existing evaluation protocols largely overlook anti-forensics attack, failing to ensure the comprehensive robustness of state-of-the-art AIGC detectors in real-world applications. To bridge this gap, we propose ForgeryEraser, a framework designed to execute universal anti-forensics attack without access to the target AIGC detectors. We reveal an adversarial vulnerability stemming from the systemic reliance on Vision-Language Models (VLMs) as shared backbones (e.g., CLIP), where downstream AIGC detectors inherit the feature space of these publicly accessible models. Instead of traditional logit-based optimization, we design a multi-modal guidance loss to drive forged image embeddings within the VLM feature space toward text-derived authentic anchors to erase forgery traces, while repelling them from forgery anchors. Extensive experiments demonstrate that ForgeryEraser causes substantial performance degradation to advanced AIGC detectors on both global synthesis and local editing benchmarks. Moreover, ForgeryEraser induces explainable forensic models to generate explanations consistent with authentic images for forged images. Our code will be made publicly available.

cs.CV↗

arXiv2025

Bayesian Full-waveform Monitoring of CO2 Storage with Fluid-flow Priors via Generative Modeling

Quantitative monitoring of subsurface changes is essential for ensuring the safety of geological CO2 sequestration. Full-waveform monitoring (FWM) can resolve these changes at high spatial resolution, but conventional deterministic inversion lacks uncertainty quantification and incorporates only limited prior information. Deterministic approaches can also yield unreliable results with sparse and noisy seismic data. To address these limitations, we develop a Bayesian FWM framework that combines reservoir flow physics with generative prior modeling. Prior CO2 saturation realizations are constructed by performing multiphase flow simulations on prior geological realizations. Seismic velocity is related to saturation through rock physics modeling. A variational autoencoder (VAE) trained on the priors maps high-dimensional CO2 saturation fields onto a low-dimensional, approximately Gaussian latent space, enabling efficient Bayesian inference while retaining the key geometrical structure of the CO2 plume. Hamiltonian Monte Carlo (HMC) is used to infer CO2 saturation changes from time-lapse seismic data and to quantify associated uncertainties. Numerical results show that this approach improves inversion stability and accuracy under extremely sparse and noisy acquisition, whereas deterministic methods become unreliable. Statistical seismic monitoring provides posterior uncertainty estimates that identify where additional measurements would most reduce ambiguity and mitigate errors arising from biased rock physics parameters. The framework combines reservoir physics, generative priors, and Bayesian inference to provide uncertainty quantification for time-lapse monitoring of CO2 storage and other subsurface processes.

physics.geo-ph↗

arXiv2025

Hierarchical Neural Semantic Representation for 3D Semantic Correspondence

This paper presents a new approach to estimate accurate and robust 3D semantic correspondence with the hierarchical neural semantic representation. Our work has three key contributions. First, we design the hierarchical neural semantic representation (HNSR), which consists of a global semantic feature to capture high-level structure and multi-resolution local geometric features to preserve fine details, by carefully harnessing 3D priors from pre-trained 3D generative models. Second, we design a progressive global-to-local matching strategy, which establishes coarse semantic correspondence using the global semantic feature, then iteratively refines it with local geometric features, yielding accurate and semantically-consistent mappings. Third, our framework is training-free and broadly compatible with various pre-trained 3D generative backbones, demonstrating strong generalization across diverse shape categories. Our method also supports various applications, such as shape co-segmentation, keypoint matching, and texture transfer, and generalizes well to structurally diverse shapes, with promising results even in cross-category scenarios. Both qualitative and quantitative evaluations show that our method outperforms previous state-of-the-art techniques.

cs.CV↗

arXiv2025

Blind-Spot Guided Diffusion for Self-supervised Real-World Denoising

In this work, we present Blind-Spot Guided Diffusion, a novel self-supervised framework for real-world image denoising. Our approach addresses two major challenges: the limitations of blind-spot networks (BSNs), which often sacrifice local detail and introduce pixel discontinuities due to spatial independence assumptions, and the difficulty of adapting diffusion models to self-supervised denoising. We propose a dual-branch diffusion framework that combines a BSN-based diffusion branch, generating semi-clean images, with a conventional diffusion branch that captures underlying noise distributions. To enable effective training without paired data, we use the BSN-based branch to guide the sampling process, capturing noise structure while preserving local details. Extensive experiments on the SIDD and DND datasets demonstrate state-of-the-art performance, establishing our method as a highly effective self-supervised solution for real-world denoising. Code and pre-trained models are released at: https://github.com/Sumching/BSGD.

cs.CV↗

arXiv2025

Estimating 2D Camera Motion with Hybrid Motion Basis

Estimating 2D camera motion is a fundamental computer vision task that models the projection of 3D camera movements onto the 2D image plane. Current methods rely on either homography-based approaches, limited to planar scenes, or meshflow techniques that use grid-based local homographies but struggle with complex non-linear transformations. A key insight of our work is that combining flow fields from different homographies creates motion patterns that cannot be represented by any single homography. We introduce CamFlow, a novel framework that represents camera motion using hybrid motion bases: physical bases derived from camera geometry and stochastic bases for complex scenarios. Our approach includes a hybrid probabilistic loss function based on the Laplace distribution that enhances training robustness. For evaluation, we create a new benchmark by masking dynamic objects in existing optical flow datasets to isolate pure camera motion. Experiments show CamFlow outperforms state-of-the-art methods across diverse scenarios, demonstrating superior robustness and generalization in zero-shot settings. Code and datasets are available at our project page: https://lhaippp.github.io/CamFlow/.

cs.CV↗

arXiv2025

RecCoT: Enhancing Recommendation via Chain-of-Thought

In real-world applications, users always interact with items in multiple aspects, such as through implicit binary feedback (e.g., clicks, dislikes, long views) and explicit feedback (e.g., comments, reviews). Modern recommendation systems (RecSys) learn user-item collaborative signals from these implicit feedback signals as a large-scale binary data-streaming, subsequently recommending other highly similar items based on users' personalized historical interactions. However, from this collaborative-connection perspective, the RecSys does not focus on the actual content of the items themselves but instead prioritizes higher-probability signals of behavioral co-occurrence among items. Consequently, under this binary learning paradigm, the RecSys struggles to understand why a user likes or dislikes certain items. To alleviate it, some works attempt to utilize the content-based reviews to capture the semantic knowledge to enhance recommender models. However, most of these methods focus on predicting the ratings of reviews, but do not provide a human-understandable explanation.

cs.IR↗

arXiv2025

The symbolic partition with generalized Koopman analysis

Symbolic dynamics serves as a crucial tool in the study of chaotic systems, prompting extensive research into various methods for symbolic partitioning. The limitations of these methods are heuristic and empirical for the partition the multivariate chaotic state space. Notably, the use of operator theory in partitioning the multivariable chaotic series into precise symbolic cells has been underexplored. In this paper, we propose a novel symbolic partition method, referred to as Koopman Analysis(KA) method, exploiting Koopman operator theory to address the symbolic partition, especially multivariate chaotic time series. We map the chaotic time series into the basis functions to obtain the approximate representation of the Koopman operator.Then we transpose the Koopman approximate matrix and subsequently perform spectral decomposition to obtain the Koopman left eigenfunctions. We apply KA method to one-dimensional unimodal chaotic map to obtain Koopman left eigenfunctions. Then we find some particular eigenfunctions whose eigenvalues are zero, some of which can be used to identify the symbolic boundary of region composed of chaotic series in that the oscillation coincides with the subregion where the theoretical symbolic boundary is located. We refer to the function as the Valid Left Eigenfunction with Zero(VLEZ). Based on the number of oscillations, we further classify VLEZ into two categories. Then, we modify the KA method applicable to chaotic localized subregion and further propose the Generalized Koopman Analysis (GKA) method. The KA method can be also applied to the multimodal maps, multivariate chaotic maps and hyperchaotic maps and their noisy version. The current work can be well further expand to higher dimensional and more complex time series due to its interpretability and availability.

nlin.CD↗

arXiv2025

StableMotion: One-Step Motion Estimation with Diffusion Prior

We present StableMotion, a novel framework that leverages geometric and content priors from pretrained large-scale image diffusion models for motion estimation in single-image rectification tasks such as Stitched Image Rectangling (SIR) and Rolling Shutter Correction (RSC). Specifically, StableMotion takes a text-to-image Stable Diffusion (SD) model as its backbone and repurposes it as an image-to-motion estimator. To mitigate inconsistent outputs produced by diffusion models, we propose Adaptive Ensemble Strategy (AES), which consolidates multiple outputs into a cohesive, high-fidelity result. Additionally, we present Sampling Steps Disaster (SSD), a counterintuitive phenomenon in which increasing the number of sampling steps can lead to poorer outcomes, motivating our one-step inference design. StableMotion is evaluated on two image rectification tasks and delivers state-of-the-art performance on both, while also showing promising transferability through qualitative examples and no-reference evaluations on unseen SIR-OOD and real-captured RSC benchmarks. Supported by SSD, StableMotion achieves efficient one-step inference, offering over 100$\times$ speedup compared to previous diffusion model-based methods even when combined with the optional AES post-processing. Code and weights are available at https://github.com/ivowang/StableMotion.

cs.CV↗