arXiv subjects

Hao Dong

Publications and source records attributed to Hao Dong.

At least 109 records · Page 6Linked to original sources

arXiv2025

CheckManual: A New Challenge and Benchmark for Manual-based Appliance Manipulation

Correct use of electrical appliances has significantly improved human life quality. Unlike simple tools that can be manipulated with common sense, different parts of electrical appliances have specific functions defined by manufacturers. If we want the robot to heat bread by microwave, we should enable them to review the microwave manual first. From the manual, it can learn about component functions, interaction methods, and representative task steps about appliances. However, previous manual-related works remain limited to question-answering tasks while existing manipulation researchers ignore the manual's important role and fail to comprehend multi-page manuals. In this paper, we propose the first manual-based appliance manipulation benchmark CheckManual. Specifically, we design a large model-assisted human-revised data generation pipeline to create manuals based on CAD appliance models. With these manuals, we establish novel manual-based manipulation challenges, metrics, and simulator environments for model performance evaluation. Furthermore, we propose the first manual-based manipulation planning model ManualPlan to set up a group of baselines for the CheckManual benchmark.

cs.CV↗

arXiv2025

Disentangled Multi-span Evolutionary Network against Temporal Knowledge Graph Reasoning

Temporal Knowledge Graphs (TKGs), as an extension of static Knowledge Graphs (KGs), incorporate the temporal feature to express the transience of knowledge by describing when facts occur. TKG extrapolation aims to infer possible future facts based on known history, which has garnered significant attention in recent years. Some existing methods treat TKG as a sequence of independent subgraphs to model temporal evolution patterns, demonstrating impressive reasoning performance. However, they still have limitations: 1) In modeling subgraph semantic evolution, they usually neglect the internal structural interactions between subgraphs, which are actually crucial for encoding TKGs. 2) They overlook the potential smooth features that do not lead to semantic changes, which should be distinguished from the semantic evolution process. Therefore, we propose a novel Disentangled Multi-span Evolutionary Network (DiMNet) for TKG reasoning. Specifically, we design a multi-span evolution strategy that captures local neighbor features while perceiving historical neighbor semantic information, thus enabling internal interactions between subgraphs during the evolution process. To maximize the capture of semantic change patterns, we design a disentangle component that adaptively separates nodes' active and stable features, used to dynamically control the influence of historical semantics on future evolution. Extensive experiments conducted on four real-world TKG datasets show that DiMNet demonstrates substantial performance in TKG reasoning, and outperforms the state-of-the-art up to 22.7% in MRR.

cs.AI↗

arXiv2025

SCANet: Correcting LEGO Assembly Errors with Self-Correct Assembly Network

Autonomous assembly in robotics and 3D vision presents significant challenges, particularly in ensuring assembly correctness. Presently, predominant methods such as MEPNet focus on assembling components based on manually provided images. However, these approaches often fall short in achieving satisfactory results for tasks requiring long-term planning. Concurrently, we observe that integrating a self-correction module can partially alleviate such issues. Motivated by this concern, we introduce the Single-Step Assembly Error Correction Task, which involves identifying and rectifying misassembled components. To support research in this area, we present the LEGO Error Correction Assembly Dataset (LEGO-ECA), comprising manual images for assembly steps and instances of assembly failures. Additionally, we propose the Self-Correct Assembly Network (SCANet), a novel method to address this task. SCANet treats assembled components as queries, determining their correctness in manual images and providing corrections when necessary. Finally, we utilize SCANet to correct the assembly results of MEPNet. Experimental results demonstrate that SCANet can identify and correct MEPNet's misassembled results, significantly improving the correctness of assembly. Our code and dataset could be found at https://scanet-iros2024.github.io/.

cs.RO↗

arXiv2025

GCAL: Adapting Graph Models to Evolving Domain Shifts

This paper addresses the challenge of graph domain adaptation on evolving, multiple out-of-distribution (OOD) graphs. Conventional graph domain adaptation methods are confined to single-step adaptation, making them ineffective in handling continuous domain shifts and prone to catastrophic forgetting. This paper introduces the Graph Continual Adaptive Learning (GCAL) method, designed to enhance model sustainability and adaptability across various graph domains. GCAL employs a bilevel optimization strategy. The "adapt" phase uses an information maximization approach to fine-tune the model with new graph domains while re-adapting past memories to mitigate forgetting. Concurrently, the "generate memory" phase, guided by a theoretical lower bound derived from information bottleneck theory, involves a variational memory graph generation module to condense original graphs into memories. Extensive experimental evaluations demonstrate that GCAL substantially outperforms existing methods in terms of adaptability and knowledge retention.

cs.LG↗

arXiv2025

Quantum Lattice Kinetic Scheme for Solving Two-dimensional and Three-dimensional Incompressible Flows

Lattice Boltzmann method (LBM) is particularly well-suited for implementation on quantum circuits owing to its simple algebraic operations and natural parallelism. However, most quantum LBMs fix $τ$ = 1 to avoid nonlinear collision, which restricts the simulation to a fixed mesh size for a given Reynolds number. To preserve the simplicity of setting $τ$ = 1 while enhancing flexibility, we propose a quantum lattice kinetic scheme (LKS) by introducing a constant parameter $A$ into the equilibrium distribution function (EDF), enabling independent adjustment of the fluid's viscosity. This modification removes the constraint on mesh size, making it possible to simulate flows with arbitrary Reynolds numbers. The Chapman-Enskog analysis confirms the modified EDF still recovers the Navier-Stokes equations without compromising collision accuracy. We evaluate the method on 2D and 3D Taylor-Green vortex and lid-driven cavity flows, demonstrating that quantum LKS attains the same accuracy and convergence order as classical LKS. The first application of quantum LBM to 3D incompressible flows represents a significant step forward in large-scale fluid dynamics simulation.

quant-ph↗

arXiv2025

Improving Unsupervised Task-driven Models of Ventral Visual Stream via Relative Position Predictivity

Based on the concept that ventral visual stream (VVS) mainly functions for object recognition, current unsupervised task-driven methods model VVS by contrastive learning, and have achieved good brain similarity. However, we believe functions of VVS extend beyond just object recognition. In this paper, we introduce an additional function involving VVS, named relative position (RP) prediction. We first theoretically explain contrastive learning may be unable to yield the model capability of RP prediction. Motivated by this, we subsequently integrate RP learning with contrastive learning, and propose a new unsupervised task-driven method to model VVS, which is more inline with biological reality. We conduct extensive experiments, demonstrating that: (i) our method significantly improves downstream performance of object recognition while enhancing RP predictivity; (ii) RP predictivity generally improves the model brain similarity. Our results provide strong evidence for the involvement of VVS in location perception (especially RP prediction) from a computational perspective.

cs.CE↗

arXiv2025

CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation

In robotic, task goals can be conveyed through various modalities, such as language, goal images, and goal videos. However, natural language can be ambiguous, while images or videos may offer overly detailed specifications. To tackle these challenges, we introduce CrayonRobo that leverages comprehensive multi-modal prompts that explicitly convey both low-level actions and high-level planning in a simple manner. Specifically, for each key-frame in the task sequence, our method allows for manual or automatic generation of simple and expressive 2D visual prompts overlaid on RGB images. These prompts represent the required task goals, such as the end-effector pose and the desired movement direction after contact. We develop a training strategy that enables the model to interpret these visual-language prompts and predict the corresponding contact poses and movement directions in SE(3) space. Furthermore, by sequentially executing all key-frame steps, the model can complete long-horizon tasks. This approach not only helps the model explicitly understand the task objectives but also enhances its robustness on unseen tasks by providing easily interpretable prompts. We evaluate our method in both simulated and real-world environments, demonstrating its robust manipulation capabilities.

cs.RO↗

arXiv2025

3DWG: 3D Weakly Supervised Visual Grounding via Category and Instance-Level Alignment

The 3D weakly-supervised visual grounding task aims to localize oriented 3D boxes in point clouds based on natural language descriptions without requiring annotations to guide model learning. This setting presents two primary challenges: category-level ambiguity and instance-level complexity. Category-level ambiguity arises from representing objects of fine-grained categories in a highly sparse point cloud format, making category distinction challenging. Instance-level complexity stems from multiple instances of the same category coexisting in a scene, leading to distractions during grounding. To address these challenges, we propose a novel weakly-supervised grounding approach that explicitly differentiates between categories and instances. In the category-level branch, we utilize extensive category knowledge from a pre-trained external detector to align object proposal features with sentence-level category features, thereby enhancing category awareness. In the instance-level branch, we utilize spatial relationship descriptions from language queries to refine object proposal features, ensuring clear differentiation among objects. These designs enable our model to accurately identify target-category objects while distinguishing instances within the same category. Compared to previous methods, our approach achieves state-of-the-art performance on three widely used benchmarks: Nr3D, Sr3D, and ScanRef.

cs.CV↗

arXiv2025

CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World

Achieving human-level dexterity in robots is a key objective in the field of robotic manipulation. Recent advancements in 3D-based imitation learning have shown promising results, providing an effective pathway to achieve this goal. However, obtaining high-quality 3D representations presents two key problems: (1) the quality of point clouds captured by a single-view camera is significantly affected by factors such as camera resolution, positioning, and occlusions caused by the dexterous hand; (2) the global point clouds lack crucial contact information and spatial correspondences, which are necessary for fine-grained dexterous manipulation tasks. To eliminate these limitations, we propose CordViP, a novel framework that constructs and learns correspondences by leveraging the robust 6D pose estimation of objects and robot proprioception. Specifically, we first introduce the interaction-aware point clouds, which establish correspondences between the object and the hand. These point clouds are then used for our pre-training policy, where we also incorporate object-centric contact maps and hand-arm coordination information, effectively capturing both spatial and temporal dynamics. Our method demonstrates exceptional dexterous manipulation capabilities, achieving state-of-the-art performance in six real-world tasks, surpassing other baselines by a large margin. Experimental results also highlight the superior generalization and robustness of CordViP to different objects, viewpoints, and scenarios. Code and videos are available on https://aureleopku.github.io/CordViP.

cs.RO↗

arXiv2025

Experimental Multi-Dimensional Side-Channel-Secure Quantum Key Distribution

Quantum key distribution (QKD) theoretically provides unconditional security between remote parties. However, guaranteeing practical security through device characterisation alone is challenging in real-world implementations due to the multi-dimensional spaces in which the devices may be operated. The side-channel-secure (SCS)-QKD protocol, which only requires bounding the upper limits of the intensities for the two states, theoretically provides a rigorous solution to the challenge and achieves measurement-device-independent security in detection and security for whatever multi-dimensional side channel attack in the source. Here, we demonstrate a practical implementation of SCS-QKD, achieving a secure key rate of $6.60$ kbps through a 50.5 km fibre and a maximum distribution distance of 101.1 km while accounting for finite-size effects. Our experiment also represents an approximate forty-times improvement over the previous experiment.

quant-ph↗

arXiv2025

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols. Collecting real-world data is resource-intensive and inefficient, while benchmarking in real-world scenarios remains highly complex. Synthetic data and simulation offer promising alternatives, yet existing efforts often fall short in data quality, diversity, and benchmark standardization. To address these challenges, we introduce RoboVerse, a comprehensive framework comprising a simulation platform, a synthetic dataset, and unified benchmarks. Our simulation platform supports multiple simulators and robotic embodiments, enabling seamless transitions between different environments. The synthetic dataset, featuring high-fidelity physics and photorealistic rendering, is constructed through multiple approaches. Additionally, we propose unified benchmarks for imitation learning and reinforcement learning, enabling evaluation across different levels of generalization. At the core of the simulation platform is MetaSim, an infrastructure that abstracts diverse simulation environments into a universal interface. It restructures existing simulation environments into a simulator-agnostic configuration system, as well as an API aligning different simulator functionalities, such as launching simulation environments, loading assets with initial states, stepping the physics engine, etc. This abstraction ensures interoperability and extensibility. Comprehensive experiments demonstrate that RoboVerse enhances the performance of imitation learning, reinforcement learning, world model learning, and sim-to-real transfer. These results validate the reliability of our dataset and benchmarks, establishing RoboVerse as a robust solution for advancing robot learning.

cs.RO↗

arXiv2025

SplatMesh: Interactive 3D Segmentation and Editing Using Mesh-Based Gaussian Splatting

A key challenge in fine-grained 3D-based interactive editing is the absence of an efficient representation that balances diverse modifications with high-quality view synthesis under a given memory constraint. While 3D meshes provide robustness for various modifications, they often yield lower-quality view synthesis compared to 3D Gaussian Splatting, which, in turn, suffers from instability during extensive editing. A straightforward combination of these two representations results in suboptimal performance and fails to meet memory constraints. In this paper, we introduce SplatMesh, a novel fine-grained interactive 3D segmentation and editing algorithm that integrates 3D Gaussian Splat with a precomputed mesh and could adjust the memory request based on the requirement. Specifically, given a mesh, \method simplifies it while considering both color and shape, ensuring it meets memory constraints. Then, SplatMesh aligns Gaussian splats with the simplified mesh by treating each triangle as a new reference point. By segmenting and editing the simplified mesh, we can effectively edit the Gaussian splats as well, which will lead to extensive experiments on real and synthetic datasets, coupled with illustrative visual examples, highlighting the superiority of our approach in terms of representation quality and editing performance. Code of our paper can be found here: https://github.com/kaichen-z/SplatMesh.

cs.GR↗

arXiv2025

GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous grasping that aims to train a policy for controlling a robotic hand's fingers to assist users in grasping objects. Unlike conventional dexterous grasping, this task presents a more complex challenge as the policy needs to adapt to diverse user intentions, in addition to the object's geometry. We address this challenge by proposing an approach consisting of two sub-modules: a hand-object-conditional grasping primitive called Grasping Gradient Field~(GraspGF), and a history-conditional residual policy. GraspGF learns `how' to grasp by estimating the gradient from a success grasping example set, while the residual policy determines `when' and at what speed the grasping action should be executed based on the trajectory history. Experimental results demonstrate the superiority of our proposed method compared to baselines, highlighting the user-awareness and practicality in real-world applications. The codes and demonstrations can be viewed at "https://sites.google.com/view/graspgf".

cs.RO↗

arXiv2025

Boosting Universal LLM Reward Design through Heuristic Reward Observation Space Evolution

Large Language Models (LLMs) are emerging as promising tools for automated reinforcement learning (RL) reward design, owing to their robust capabilities in commonsense reasoning and code generation. By engaging in dialogues with RL agents, LLMs construct a Reward Observation Space (ROS) by selecting relevant environment states and defining their internal operations. However, existing frameworks have not effectively leveraged historical exploration data or manual task descriptions to iteratively evolve this space. In this paper, we propose a novel heuristic framework that enhances LLM-driven reward design by evolving the ROS through a table-based exploration caching mechanism and a text-code reconciliation strategy. Our framework introduces a state execution table, which tracks the historical usage and success rates of environment states, overcoming the Markovian constraint typically found in LLM dialogues and facilitating more effective exploration. Furthermore, we reconcile user-provided task descriptions with expert-defined success criteria using structured prompts, ensuring alignment in reward design objectives. Comprehensive evaluations on benchmark RL tasks demonstrate the effectiveness and stability of the proposed framework. Code and video demos are available at jingjjjjjie.github.io/LLM2Reward.

cs.AI↗

arXiv2025

PartRM: Modeling Part-Level Dynamics with Large Cross-State Reconstruction Model

As interest grows in world models that predict future states from current observations and actions, accurately modeling part-level dynamics has become increasingly relevant for various applications. Existing approaches, such as Puppet-Master, rely on fine-tuning large-scale pre-trained video diffusion models, which are impractical for real-world use due to the limitations of 2D video representation and slow processing times. To overcome these challenges, we present PartRM, a novel 4D reconstruction framework that simultaneously models appearance, geometry, and part-level motion from multi-view images of a static object. PartRM builds upon large 3D Gaussian reconstruction models, leveraging their extensive knowledge of appearance and geometry in static objects. To address data scarcity in 4D, we introduce the PartDrag-4D dataset, providing multi-view observations of part-level dynamics across over 20,000 states. We enhance the model's understanding of interaction conditions with a multi-scale drag embedding module that captures dynamics at varying granularities. To prevent catastrophic forgetting during fine-tuning, we implement a two-stage training process that focuses sequentially on motion and appearance learning. Experimental results show that PartRM establishes a new state-of-the-art in part-level motion learning and can be applied in manipulation tasks in robotics. Our code, data, and models are publicly available to facilitate future research.

cs.CV↗

arXiv2025

SpatialBot: Precise Spatial Understanding with Vision Language Models

Vision Language Models (VLMs) have achieved impressive performance in 2D image understanding, however they are still struggling with spatial understanding which is the foundation of Embodied AI. In this paper, we propose SpatialBot for better spatial understanding by feeding both RGB and depth images. Additionally, we have constructed the SpatialQA dataset, which involves multi-level depth-related questions to train VLMs for depth understanding. Finally, we present SpatialBench to comprehensively evaluate VLMs' capabilities in spatial understanding at different levels. Extensive experiments on our spatial-understanding benchmark, general VLM benchmarks and Embodied AI tasks, demonstrate the remarkable improvements of SpatialBot trained on SpatialQA. The model, code and data are available at https://github.com/BAAI-DCAI/SpatialBot.

cs.CV↗

arXiv2025

Foundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approach

Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online self-calibration. Recent learning-based robot pose estimation methods, while advancing online calibration, struggle with cross-robot generalization and require the robot to be fully visible. This work proposes a Foundation feature-driven online End-Effector Pose Estimation (FEEPE) algorithm, characterized by its training-free and cross end-effector generalization capabilities. Inspired by the zero-shot generalization capabilities of foundation models, FEEPE leverages pre-trained visual features to estimate 2D-3D correspondences derived from the CAD model and target image, enabling 6D pose estimation via the PnP algorithm. To resolve ambiguities from partial observations and symmetry, a multi-historical key frame enhanced pose optimization algorithm is introduced, utilizing temporal information for improved accuracy. Compared to traditional hand-eye calibration, FEEPE enables marker-free online calibration. Unlike robot pose estimation, it generalizes across robots and end-effectors in a training-free manner. Extensive experiments demonstrate its superior flexibility, generalization, and performance.

cs.RO↗

arXiv2025

TransDiff: Diffusion-Based Method for Manipulating Transparent Objects Using a Single RGB-D Image

Manipulating transparent objects presents significant challenges due to the complexities introduced by their reflection and refraction properties, which considerably hinder the accurate estimation of their 3D shapes. To address these challenges, we propose a single-view RGB-D-based depth completion framework, TransDiff, that leverages the Denoising Diffusion Probabilistic Models(DDPM) to achieve material-agnostic object grasping in desktop. Specifically, we leverage features extracted from RGB images, including semantic segmentation, edge maps, and normal maps, to condition the depth map generation process. Our method learns an iterative denoising process that transforms a random depth distribution into a depth map, guided by initially refined depth information, ensuring more accurate depth estimation in scenarios involving transparent objects. Additionally, we propose a novel training method to better align the noisy depth and RGB image features, which are used as conditions to refine depth estimation step by step. Finally, we utilized an improved inference process to accelerate the denoising procedure. Through comprehensive experimental validation, we demonstrate that our method significantly outperforms the baselines in both synthetic and real-world benchmarks with acceptable inference time. The demo of our method can be found on https://wang-haoxiao.github.io/TransDiff/

cs.CV↗