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Haodong Zhang

Publications and source records attributed to Haodong Zhang.

At least 37 records · Page 2Linked to original sources

SlowFastVAD: Video Anomaly Detection via Integrating Simple Detector and RAG-Enhanced Vision-Language Model

Video anomaly detection (VAD) aims to identify unexpected events in videos and has wide applications in safety-critical domains. While semi-supervised methods trained on only normal samples have gained traction, they often suffer from high false alarm rates and poor interpretability. Recently, vision-language models (VLMs) have demonstrated strong multimodal reasoning capabilities, offering new opportunities for explainable anomaly detection. However, their high computational cost and lack of domain adaptation hinder real-time deployment and reliability. Inspired by dual complementary pathways in human visual perception, we propose SlowFastVAD, a hybrid framework that integrates a fast anomaly detector with a slow anomaly detector (namely a retrieval augmented generation (RAG) enhanced VLM), to address these limitations. Specifically, the fast detector first provides coarse anomaly confidence scores, and only a small subset of ambiguous segments, rather than the entire video, is further analyzed by the slower yet more interpretable VLM for elaborate detection and reasoning. Furthermore, to adapt VLMs to domain-specific VAD scenarios, we construct a knowledge base including normal patterns based on few normal samples and abnormal patterns inferred by VLMs. During inference, relevant patterns are retrieved and used to augment prompts for anomaly reasoning. Finally, we smoothly fuse the anomaly confidence of fast and slow detectors to enhance robustness of anomaly detection. Extensive experiments on four benchmarks demonstrate that SlowFastVAD effectively combines the strengths of both fast and slow detectors, and achieves remarkable detection accuracy and interpretability with significantly reduced computational overhead, making it well-suited for real-world VAD applications with high reliability requirements.

cs.CV↗

Re-Aligning Language to Visual Objects with an Agentic Workflow

Language-based object detection (LOD) aims to align visual objects with language expressions. A large amount of paired data is utilized to improve LOD model generalizations. During the training process, recent studies leverage vision-language models (VLMs) to automatically generate human-like expressions for visual objects, facilitating training data scaling up. In this process, we observe that VLM hallucinations bring inaccurate object descriptions (e.g., object name, color, and shape) to deteriorate VL alignment quality. To reduce VLM hallucinations, we propose an agentic workflow controlled by an LLM to re-align language to visual objects via adaptively adjusting image and text prompts. We name this workflow Real-LOD, which includes planning, tool use, and reflection steps. Given an image with detected objects and VLM raw language expressions, Real-LOD reasons its state automatically and arranges action based on our neural symbolic designs (i.e., planning). The action will adaptively adjust the image and text prompts and send them to VLMs for object re-description (i.e., tool use). Then, we use another LLM to analyze these refined expressions for feedback (i.e., reflection). These steps are conducted in a cyclic form to gradually improve language descriptions for re-aligning to visual objects. We construct a dataset that contains a tiny amount of 0.18M images with re-aligned language expression and train a prevalent LOD model to surpass existing LOD methods by around 50% on the standard benchmarks. Our Real-LOD workflow, with automatic VL refinement, reveals a potential to preserve data quality along with scaling up data quantity, which further improves LOD performance from a data-alignment perspective.

cs.CV↗

Natural Humanoid Robot Locomotion with Generative Motion Prior

Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper, we propose a novel Generative Motion Prior (GMP) that provides fine-grained motion-level supervision for the task of natural humanoid robot locomotion. To leverage natural human motions, we first employ whole-body motion retargeting to effectively transfer them to the robot. Subsequently, we train a generative model offline to predict future natural reference motions for the robot based on a conditional variational auto-encoder. During policy training, the generative motion prior serves as a frozen online motion generator, delivering precise and comprehensive supervision at the trajectory level, including joint angles and keypoint positions. The generative motion prior significantly enhances training stability and improves interpretability by offering detailed and dense guidance throughout the learning process. Experimental results in both simulation and real-world environments demonstrate that our method achieves superior motion naturalness compared to existing approaches. Project page can be found at https://sites.google.com/view/humanoid-gmp

cs.RO↗

Red Emission from Strain-Relaxed Bulk InGaN Active Region

High-In-content InGaN quantum wells (QWs) in red light-emitting diodes (LEDs) are typically grown at low temperatures to ensure effective In incorporation. In this study, red LEDs based on bulk InGaN active region were demonstrated. The growth temperature of bulk InGaN was ~800C, which is over 100C higher than the typical growth temperature of red QWs. By introducing high-density trench structures in the underlying green multi-quantum wells (MQWs), the compressive strain in bulk InGaN was relaxed by ~96%. With strain relaxation, phase separation occurred in the bulk InGaN, forming low-In-content (blue) and high-In-content (red) phases. The red phase acted as carrier localization centers, enabling red light emission under electrical injection. The red LEDs based on bulk InGaN exhibited a peak wavelength of 645 nm at 20 mA, with on-wafer peak external quantum efficiency of 0.32%. This study presents a new epitaxial strategy for red InGaN LEDs.

cond-mat.mtrl-sci↗

Near-field Beam-focusing Pattern under Discrete Phase Shifters

Extremely large-scale arrays (XL-arrays) have emerged as a promising technology for enabling near-field communications in future wireless systems. However, the huge number of antennas deployed pose demanding challenges on the hardware cost and power consumption, especially when the antennas employ high-resolution phase shifters (PSs). To address this issue, in this paper, we consider low-resolution discrete PSs at the XL-array which are practically more energy efficient, and investigate the impact of PS resolution on the near-field beam-focusing effect. To this end, we propose a new Fourier series expansion method to efficiently tackle the difficulty in characterizing the beam pattern properties under phase quantization. Interestingly, we analytically show, for the first time, that 1) discrete PSs introduce additional grating lobes; 2) the main lobe still exhibits the beam-focusing property with its beam power increasing with PS resolution; and 3) there are two types of grating lobes, featured by the beam-focusing and beam-steering properties, respectively. In addition, we provide intuitive understanding for the appearance of grating lobes under discrete PSs from an array-of-subarrays perspective. Finally, numerical results demonstrate that the grating lobes generally degrade communication rate performance. However, a low-resolution of 3-bit PSs can achieve similar beam pattern and rate performance with the continuous PS counterpart, while it attains much higher energy efficiency.

cs.IT↗

Bias voltage controlled inversions of tunneling magnetoresistance in van der Waals heterostructures Fe3GaTe2/hBN/Fe3GaTe2

We report the bias voltage controlled inversions of tunneling magnetoresistance (TMR) in magnetic tunnel junctions composed of Fe3GaTe2 electrodes and hBN tunneling barrier, observed at room temperature. The polarity reversal of TMR occurs consistently at around 0.625 V across multiple devices and temperatures, highlighting the robustness of the effect. To understand this behavior, we developed a theoretical model incorporating spin-resolved density of states (DOS) at high energy levels. By adjusting the DOS weighting at different k points to account for misalignment between the crystal structure of electrodes in experimental devices, we improved agreement between experimental and theoretical inversion voltages. Our results provide valuable insight into the voltage-controlled spin injection and detection in two-dimensional magnetic tunnel junctions, with implications for the development of energy-efficient spintronic devices.

cond-mat.mes-hall↗

Dual-TSST: A Dual-Branch Temporal-Spectral-Spatial Transformer Model for EEG Decoding

The decoding of electroencephalography (EEG) signals allows access to user intentions conveniently, which plays an important role in the fields of human-machine interaction. To effectively extract sufficient characteristics of the multichannel EEG, a novel decoding architecture network with a dual-branch temporal-spectral-spatial transformer (Dual-TSST) is proposed in this study. Specifically, by utilizing convolutional neural networks (CNNs) on different branches, the proposed processing network first extracts the temporal-spatial features of the original EEG and the temporal-spectral-spatial features of time-frequency domain data converted by wavelet transformation, respectively. These perceived features are then integrated by a feature fusion block, serving as the input of the transformer to capture the global long-range dependencies entailed in the non-stationary EEG, and being classified via the global average pooling and multi-layer perceptron blocks. To evaluate the efficacy of the proposed approach, the competitive experiments are conducted on three publicly available datasets of BCI IV 2a, BCI IV 2b, and SEED, with the head-to-head comparison of more than ten other state-of-the-art methods. As a result, our proposed Dual-TSST performs superiorly in various tasks, which achieves the promising EEG classification performance of average accuracy of 80.67% in BCI IV 2a, 88.64% in BCI IV 2b, and 96.65% in SEED, respectively. Extensive ablation experiments conducted between the Dual-TSST and comparative baseline model also reveal the enhanced decoding performance with each module of our proposed method. This study provides a new approach to high-performance EEG decoding, and has great potential for future CNN-Transformer based applications.

cs.HC↗

Semantics-aware Motion Retargeting with Vision-Language Models

Capturing and preserving motion semantics is essential to motion retargeting between animation characters. However, most of the previous works neglect the semantic information or rely on human-designed joint-level representations. Here, we present a novel Semantics-aware Motion reTargeting (SMT) method with the advantage of vision-language models to extract and maintain meaningful motion semantics. We utilize a differentiable module to render 3D motions. Then the high-level motion semantics are incorporated into the motion retargeting process by feeding the vision-language model with the rendered images and aligning the extracted semantic embeddings. To ensure the preservation of fine-grained motion details and high-level semantics, we adopt a two-stage pipeline consisting of skeleton-aware pre-training and fine-tuning with semantics and geometry constraints. Experimental results show the effectiveness of the proposed method in producing high-quality motion retargeting results while accurately preserving motion semantics.

cs.CV↗

InstructDET: Diversifying Referring Object Detection with Generalized Instructions

We propose InstructDET, a data-centric method for referring object detection (ROD) that localizes target objects based on user instructions. While deriving from referring expressions (REC), the instructions we leverage are greatly diversified to encompass common user intentions related to object detection. For one image, we produce tremendous instructions that refer to every single object and different combinations of multiple objects. Each instruction and its corresponding object bounding boxes (bbxs) constitute one training data pair. In order to encompass common detection expressions, we involve emerging vision-language model (VLM) and large language model (LLM) to generate instructions guided by text prompts and object bbxs, as the generalizations of foundation models are effective to produce human-like expressions (e.g., describing object property, category, and relationship). We name our constructed dataset as InDET. It contains images, bbxs and generalized instructions that are from foundation models. Our InDET is developed from existing REC datasets and object detection datasets, with the expanding potential that any image with object bbxs can be incorporated through using our InstructDET method. By using our InDET dataset, we show that a conventional ROD model surpasses existing methods on standard REC datasets and our InDET test set. Our data-centric method InstructDET, with automatic data expansion by leveraging foundation models, directs a promising field that ROD can be greatly diversified to execute common object detection instructions.

cs.AI↗

Breakup of liquid jets: Thermodynamic perspectives

Breakup of a liquid jet into a chain of droplets is common in nature and industry. Previous researchers developed profound mathematic and fluid dynamic models to address this breakup phenomenon starting from tiny perturbations. However, the morphological evolution of the jets at large amplitude perturbations is still an open question. Here, we report a concise thermodynamic model based on the surface area minimization principle. Our results demonstrate a reversible breakup transition from a continuous jet via droplets towards a uniform-radius cylinder, which has not been found previously, but is observed in our simulations. This new observation is attributed to a geometric constraint, which was often overlooked in former studies. We anticipate our model to be a shortcut to tackle many similar highly nonlinear morphological evolutions without solving abstruse fluid dynamic equations for inviscid fluids.

physics.flu-dyn↗

Sparse Array Enabled Near-Field Communications: Beam Pattern Analysis and Hybrid Beamforming Design

Extremely large-scale array (XL-array) has emerged as a promising technology to enable near-field communications for achieving enhanced spectrum efficiency and spatial resolution, by drastically increasing the number of antennas. However, this also inevitably incurs higher hardware and energy cost, which may not be affordable in future wireless systems. To address this issue, we propose in this paper to exploit two types of sparse arrays (SAs) for enabling near-field communications. Specifically, we first consider the linear sparse array (LSA) and characterize its near-field beam pattern. It is shown that despite the achieved beam-focusing gain, the LSA introduces several undesired grating-lobes, which have comparable beam power with the main-lobe and are focused on specific regions. An efficient hybrid beamforming design is then proposed for the LSA to deal with the potential strong inter-user interference (IUI). Next, we consider another form of SA, called extended coprime array (ECA), which is composed of two LSA subarrays with different (coprime) inter-antenna spacing. By characterizing the ECA near-field beam pattern, we show that compared with the LSA with the same array sparsity, the ECA can greatly suppress the beam power of near-field grating-lobes thanks to the offset effect of the two subarrays, albeit with a larger number of grating-lobes. This thus motivates us to propose a customized two-phase hybrid beamforming design for the ECA. Finally, numerical results are presented to demonstrate the rate performance gain of the proposed two SAs over the conventional uniform linear array (ULA).

cs.IT↗

Low Resistance Ohmic Contact to P-type Monolayer WSe2

Advanced microelectronics in the future may require semiconducting channel materials beyond silicon. Two-dimensional (2D) semiconductors, characterized by their atomically thin thickness, hold immense promise for high-performance electronic devices at the nanometer scale with lower heat dissipation. One challenge for achieving high-performance 2D semiconductor field effect transistors (FET), especially for p-type materials, is the high electrical contact resistance present at the metal-semiconductor interface. In conventional bulk semiconductors, low resistance ohmic contact is realized through heavy substitutional doping with acceptor or donor impurities at the contact region. The strategy of substitutional doping, however, does not work for p-type 2D semiconductors such as monolayer tungsten diselenide (WSe$_2$).In this study, we developed highly efficient charge-transfer doping with WSe$_2$/$α$-RuCl$_3$ heterostructures to achieve low-resistance ohmic contact for p-type WSe$_2$ transistors. We show that a hole doping as high as 3$\times$10$^{13}$ cm$^{-2}$ can be achieved in the WSe$_2/α$-RuCl$_3$ heterostructure due to its type-III band alignment. It results in an Ohmic contact with resistance lower than 4 k Ohm $μ$m at the p-type monolayer WSe$_2$/metal junction. at room temperature. Using this low-resistance contact, we demonstrate high-performance p-type WSe$_2$ transistors with a saturation current of 35 $μ$A$\cdot$ $μ$m$^{-1}$ and an I$_{ON}$/I$_{OFF}$ ratio exceeding 10$^9$ It could enable future microelectronic devices based on 2D semiconductors and contribute to the extension of Moore's law.

cond-mat.mes-hall↗

Brownian motion of droplets induced by thermal noise

Brownian motion (BM) is pivotal in natural science for the stochastic motion of microscopic droplets. In this study, we investigate BM driven by thermal composition noise at sub-micro scales, where inter-molecular diffusion and surface tension both are significant. To address BM of microscopic droplets, we develop two stochastic multi-phase-field models coupled with the full Navier-Stokes equation, namely Allen-Cahn-Navier-Stokes (ACNS) and Cahn-Hilliard-Navier-Stokes (CHNS). Both models are validated against capillary wave theory; the Einstein's relation for the Brownian coefficient at thermodynamic equilibrium is recovered. Moreover, by adjusting the co-action of the diffusion, Marangoni effect, and viscous friction, two non-equilibrium phenomena are observed. (I) The droplet motion transits from the Brownian to Ballistic with increasing Marangoni effect which is emanated from the energy dissipation mechanism distinct from the conventional fluctuation-dissipation theorem. (II) The deterministic droplet motion is triggered by the noise induced non-uniform velocity field which leads to a novel droplet coalescence mechanism associated with the thermal noise.

physics.flu-dyn↗

Effect of Grain Coalescence on Dislocation and Stress Evolution of GaN Films Grown on Nanoscale Patterned Sapphire Substrates

Two types of nucleation layers (NLs), including in-situ low-temperature grown GaN (LT-GaN) and ex-situ sputtered physical vapor deposition AlN (PVD-AlN), are applied on cone-shaped nanoscale patterned sapphire substrate (NPSS). The initial growth process of GaN on these two NLs is comparably investigated by a series of growth interruptions. The coalescence process of GaN grains is modulated by adjusting the three-dimensional (3D) temperatures. The results indicate that higher 3D temperatures reduce the edge dislocation density while increasing the residual compressive stress in GaN films. Compared to the LT-GaN NLs, the PVD-AlN NLs effectively resist Ostwald ripening and facilitate the uniform growth of GaN grains on NPSS. Furthermore, GaN films grown on NPSS with PVD-AlN NLs exhibit a reduction of over 50% in both screw and edge dislocation densities compared to those grown on LT-GaN NLs. Additionally, PVD-AlN NLs result in an increase of about 0.5 GPa in the residual compressive stress observed in GaN films.

cond-mat.mtrl-sci↗

Reversible Adversarial Examples with Beam Search Attack and Grayscale Invariance

Reversible adversarial examples (RAE) combine adversarial attacks and reversible data-hiding technology on a single image to prevent illegal access. Most RAE studies focus on achieving white-box attacks. In this paper, we propose a novel framework to generate reversible adversarial examples, which combines a novel beam search based black-box attack and reversible data hiding with grayscale invariance (RDH-GI). This RAE uses beam search to evaluate the adversarial gain of historical perturbations and guide adversarial perturbations. After the adversarial examples are generated, the framework RDH-GI embeds the secret data that can be recovered losslessly. Experimental results show that our method can achieve an average Peak Signal-to-Noise Ratio (PSNR) of at least 40dB compared to source images with limited query budgets. Our method can also achieve a targeted black-box reversible adversarial attack for the first time.

cs.CR↗

DPCN++: Differentiable Phase Correlation Network for Versatile Pose Registration

Pose registration is critical in vision and robotics. This paper focuses on the challenging task of initialization-free pose registration up to 7DoF for homogeneous and heterogeneous measurements. While recent learning-based methods show promise using differentiable solvers, they either rely on heuristically defined correspondences or are prone to local minima. We present a differentiable phase correlation (DPC) solver that is globally convergent and correspondence-free. When combined with simple feature extraction networks, our general framework DPCN++ allows for versatile pose registration with arbitrary initialization. Specifically, the feature extraction networks first learn dense feature grids from a pair of homogeneous/heterogeneous measurements. These feature grids are then transformed into a translation and scale invariant spectrum representation based on Fourier transform and spherical radial aggregation, decoupling translation and scale from rotation. Next, the rotation, scale, and translation are independently and efficiently estimated in the spectrum step-by-step using the DPC solver. The entire pipeline is differentiable and trained end-to-end. We evaluate DCPN++ on a wide range of registration tasks taking different input modalities, including 2D bird's-eye view images, 3D object and scene measurements, and medical images. Experimental results demonstrate that DCPN++ outperforms both classical and learning-based baselines, especially on partially observed and heterogeneous measurements.

cs.CV↗

Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World

In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation estimators based on the seam representation for pose alignment, which proves to be general to the unseen peg geometries. By putting the estimators into the closed-loop control with reinforcement learning, we further achieve a higher or comparable success rate, efficiency, and robustness compared with the baseline methods. The policy is trained totally in simulation without any manual intervention. To achieve sim-to-real, a learnable segmentation module with automatic data collecting and labeling can be easily trained to decouple the perception and the policy, which helps the model trained in simulation quickly adapt to the real world with negligible effort. Results are presented in simulation and on a physical robot. Code, videos, and supplemental material are available at https://github.com/xieliang555/SFN.git

cs.RO↗

Kinematic Motion Retargeting via Neural Latent Optimization for Learning Sign Language

Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots. Traditional optimization-based methods are time-consuming and rely heavily on good initialization, while recent studies using feedforward neural networks suffer from poor generalization to unseen motions. Moreover, they neglect the topological information in human skeletons and robot structures. In this paper, we propose a novel neural latent optimization approach to address these problems. Latent optimization utilizes a decoder to establish a mapping between the latent space and the robot motion space. Afterward, the retargeting results that satisfy robot constraints can be obtained by searching for the optimal latent vector. Alongside with latent optimization, neural initialization exploits an encoder to provide a better initialization for faster and better convergence of optimization. Both the human skeleton and the robot structure are modeled as graphs to make better use of topological information. We perform experiments on retargeting Chinese sign language, which involves two arms and two hands, with additional requirements on the relative relationships among joints. Experiments include retargeting various human demonstrations to YuMi, NAO, and Pepper in the simulation environment and to YuMi in the real-world environment. Both efficiency and accuracy of the proposed method are verified.

cs.RO↗