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Haoran Duan

Publications and source records attributed to Haoran Duan.

At least 19 recordsLinked to original sources
arXiv2026

PhaseLoRA: Control-Regime-Conditioned Low-Rank Adaptation for Continuous-Action Vision-Language-Action Policies

Parameter-efficient fine-tuning (PEFT) is a natural way to adapt pretrained vision-language-action (VLA) policies, but most adapter designs apply temporally static updates throughout a control rollout, overlooking the phase-dependent nature of continuous-action manipulation. Such policies traverse distinct regimes, including approach, contact transition, grasping, transport, and placement, each requiring different adaptation behaviors. We propose \textbf{PhaseLoRA}, a lightweight LoRA parameterization that conditions adaptation at each action-chunk prediction step using two weakly supervised descriptors: fine-control tendency and event/boundary intensity. PhaseLoRA modulates the LoRA left factor in the action expert, allowing the effective low-rank update direction to vary over time while keeping the backbone largely frozen. On LIBERO, PhaseLoRA improves average success rate by 12.2 points over a matched-parameter high-rank LoRA baseline and outperforms stronger LoRA variants. Ablations show that random temporal modulation and scalar gating do not reproduce the performance of the full model, while update-direction analyses reveal structured temporal variation associated with the predicted control descriptors. These results establish within-trajectory conditioning as an effective lightweight PEFT axis for continuous-action VLA policies.

cs.RO↗
arXiv2026

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention

Vision-Language-Action (VLA) models have driven significant progress in robotic manipulation, yet they fundamentally struggle with the vision-override phenomenon. Driven by the severe modality imbalance between dense visual streams and sparse linguistic instructions, VLAs frequently fall prey to causal confusion. Instead of treating language as the primary causal driver, the policy entirely bypasses the original instruction by overfitting to spurious visual confounders, such as prominent objects or familiar layouts. To systematically alleviate this bias, we formalize the process of action generation as a Dual-path Deconfounding Graph (DDG) and propose CofactVLA, a novel causal intervention framework. By dynamically constructing a language-masked counterfactual branch within a single forward pass, CofactVLA isolates and neutralizes visual confounders through two synergistic mechanisms. First, Action-Level Orthogonal Projection Guidance (OPG) geometrically projects the factual velocity field away from the counterfactual visual bias during continuous flow matching, extracting the pure semantic intent. Second, Feature-Level Counterfactual Covariance Reduction (CCR) mathematically deconfounds latent representations by penalizing the positive eigenspace of the covariance difference, explicitly suppressing dominant visual shortcuts while preserving the causal language intent. Extensive experiments demonstrate that CofactVLA establishes a new state-of-the-art across diverse simulation benchmarks. Beyond simulation, real-world robot experiments demonstrate the causal efficacy of our method in bridging the generalization gap, yielding a 52.3\% absolute success rate gain under out-of-distribution scenarios.

cs.CV↗
arXiv2026

QuoVLA: Quotient Space for Vision-Language-Action Models

Vision-Language-Action (VLA) models commonly adapt pretrained Vision-Language Models (VLMs) to robot control by mapping visual observations and language instructions to continuous actions. Existing approaches typically take an action-insufficiency view, assuming that pretrained VLM latents either lack directly usable action information or should be shielded from action-learning signals. Against this view, our \textit{Quotient Theory for VLA} shows that pretrained VLM latents are not action-insufficient but action-sufficient: they already contain the information needed for control, yet remain overcomplete by distinguishing prompt-level variations that induce the same optimal action behavior. To operationalize this theory, we propose QuoVLA, a quotient-space framework for VLA that compresses pretrained VLM latents into action-sufficient representations. Specifically, QuoVLA instantiates this principle with a quantization module and a dual-branch design with relative temporal-complexity regularization, preserving action-relevant information while removing prompt-level redundancy. Extensive experiments across multiple benchmarks demonstrate that QuoVLA achieves strong performance, with particularly notable improvements in generalization under visual, linguistic, and environmental distribution shifts. Our code will be made publicly available.

cs.CV↗
arXiv2026

M2StyleGS: Multi-Modality 3D Style Transfer with Gaussian Splatting

Conventional 3D style transfer methods rely on a fixed reference image to apply artistic patterns to 3D scenes. However, in practical applications such as virtual or augmented reality, users often prefer more flexible inputs, including textual descriptions and diverse imagery. In this work, we introduce a novel real-time styling technique M2StyleGS to generate a sequence of precisely color-mapped views. It utilizes 3D Gaussian Splatting (3DGS) as a 3D presentation and multi-modality knowledge refined by CLIP as a reference style. M2StyleGS resolves the abnormal transformation issue by employing a precise feature alignment, namely subdivisive flow, it strengthens the projection of the mapped CLIP text-visual combination feature to the VGG style feature. In addition, we introduce observation loss, which assists in the stylized scene better matching the reference style during the generation, and suppression loss, which suppresses the offset of reference color information throughout the decoding process. By integrating these approaches, M2StyleGS can employ text or images as references to generate a set of style-enhanced novel views. Our experiments show that M2StyleGS achieves better visual quality and surpasses the previous work by up to 32.92% in terms of consistency.

cs.CV↗
arXiv2026

When Modalities Remember: Continual Learning for Multimodal Knowledge Graphs

Real-world multimodal knowledge graphs (MMKGs) are dynamic, with new entities, relations, and multimodal knowledge emerging over time. Existing continual knowledge graph reasoning (CKGR) methods focus on structural triples and cannot fully exploit multimodal signals from new entities. Existing multimodal knowledge graph reasoning (MMKGR) methods, however, usually assume static graphs and suffer catastrophic forgetting as graphs evolve. To address this gap, we present a systematic study of continual multimodal knowledge graph reasoning (CMMKGR). We construct several continual multimodal knowledge graph benchmarks from existing MMKG datasets and propose MRCKG, a new CMMKGR model. Specifically, MRCKG employs a multimodal-structural collaborative curriculum to schedule progressive learning based on the structural connectivity of new triples to the historical graph and their multimodal compatibility. It also introduces a cross-modal knowledge preservation mechanism to mitigate forgetting through entity representation stability, relational semantic consistency, and modality anchoring. In addition, a multimodal contrastive replay scheme with a two-stage optimization strategy reinforces learned knowledge via multimodal importance sampling and representation alignment. Experiments on multiple datasets show that MRCKG preserves previously learned multimodal knowledge while substantially improving the learning of new knowledge.

cs.CL↗
arXiv2025

Debiasing Diffusion Priors via 3D Attention for Consistent Gaussian Splatting

Versatile 3D tasks (e.g., generation or editing) that distill from Text-to-Image (T2I) diffusion models have attracted significant research interest for not relying on extensive 3D training data. However, T2I models exhibit limitations resulting from prior view bias, which produces conflicting appearances between different views of an object. This bias causes subject-words to preferentially activate prior view features during cross-attention (CA) computation, regardless of the target view condition. To overcome this limitation, we conduct a comprehensive mathematical analysis to reveal the root cause of the prior view bias in T2I models. Moreover, we find different UNet layers show different effects of prior view in CA. Therefore, we propose a novel framework, TD-Attn, which addresses multi-view inconsistency via two key components: (1) the 3D-Aware Attention Guidance Module (3D-AAG) constructs a view-consistent 3D attention Gaussian for subject-words to enforce spatial consistency across attention-focused regions, thereby compensating for the limited spatial information in 2D individual view CA maps; (2) the Hierarchical Attention Modulation Module (HAM) utilizes a Semantic Guidance Tree (SGT) to direct the Semantic Response Profiler (SRP) in localizing and modulating CA layers that are highly responsive to view conditions, where the enhanced CA maps further support the construction of more consistent 3D attention Gaussians. Notably, HAM facilitates semantic-specific interventions, enabling controllable and precise 3D editing. Extensive experiments firmly establish that TD-Attn has the potential to serve as a universal plugin, significantly enhancing multi-view consistency across 3D tasks.

cs.CV↗
arXiv2025

ReaSon: Reinforced Causal Search with Information Bottleneck for Video Understanding

Keyframe selection has become essential for video understanding with vision-language models (VLMs) due to limited input tokens and the temporal sparsity of relevant information across video frames. Video understanding often relies on effective keyframes that are not only informative but also causally decisive. To this end, we propose Reinforced Causal Search with Information Bottleneck (ReaSon), a framework that formulates keyframe selection as an optimization problem with the help of a novel Causal Information Bottleneck (CIB), which explicitly defines keyframes as those satisfying both predictive sufficiency and causal necessity. Specifically, ReaSon employs a learnable policy network to select keyframes from a visually relevant pool of candidate frames to capture predictive sufficiency, and then assesses causal necessity via counterfactual interventions. Finally, a composite reward aligned with the CIB principle is designed to guide the selection policy through reinforcement learning. Extensive experiments on NExT-QA, EgoSchema, and Video-MME demonstrate that ReaSon consistently outperforms existing state-of-the-art methods under limited-frame settings, validating its effectiveness and generalization ability.

cs.CV↗
arXiv2025

vMFCoOp: Towards Equilibrium on a Unified Hyperspherical Manifold for Prompting Biomedical VLMs

Recent advances in context optimization (CoOp) guided by large language model (LLM)-distilled medical semantic priors offer a scalable alternative to manual prompt engineering and full fine-tuning for adapting biomedical CLIP-based vision-language models (VLMs). However, prompt learning in this context is challenged by semantic misalignment between LLMs and CLIP variants due to divergent training corpora and model architectures; it further lacks scalability across continuously evolving families of foundation models. More critically, pairwise multimodal alignment via conventional Euclidean-space optimization lacks the capacity to model unified representations or apply localized geometric constraints, which tends to amplify modality gaps in complex biomedical imaging and destabilize few-shot adaptation. In this work, we propose vMFCoOp, a framework that inversely estimates von Mises-Fisher (vMF) distributions on a shared Hyperspherical Manifold, aligning semantic biases between arbitrary LLMs and CLIP backbones via Unified Semantic Anchors to achieve robust biomedical prompting and superior few-shot classification. Grounded in three complementary constraints, vMFCoOp demonstrates consistent improvements across 14 medical datasets, 12 medical imaging modalities, and 13 anatomical regions, outperforming state-of-the-art methods in accuracy, generalization, and clinical applicability. This work aims to continuously expand to encompass more downstream applications, and the corresponding resources are intended to be shared through https://github.com/VinyehShaw/UniEqui.

cs.CV↗
arXiv2025

Liquid metal printing for superconducting circuits

Superconducting circuits are a promising platform for implementing fault-tolerant quantum computers, quantum limited amplifiers, ultra-low power superconducting electronics, and sensors with ultimate sensitivity. Typically, circuit fabrication is realized by standard nanolithography, generally associated with a high level of control over defects and contaminants. Additive approaches have not been used so far since they are expected to be inferior in terms of superconducting properties or quantum coherence. This work shows that liquid-metal based micro-pipette printing is suited for fabricating superconducting lumped-element resonators with high internal quality factors. The applicability of our technique for low-loss superconducting device fabrication and the possibility to locally add metal structures, without affecting any preexisting circuit elements, is a further advantage. Our results open up new avenues in the hardware implementation of scaled-up superconducting quantum computers.

quant-ph↗
arXiv2025

Decoding Visual Neural Representations by Multimodal with Dynamic Balancing

In this work, we propose an innovative framework that integrates EEG, image, and text data, aiming to decode visual neural representations from low signal-to-noise ratio EEG signals. Specifically, we introduce text modality to enhance the semantic correspondence between EEG signals and visual content. With the explicit semantic labels provided by text, image and EEG features of the same category can be more closely aligned with the corresponding text representations in a shared multimodal space. To fully utilize pre-trained visual and textual representations, we propose an adapter module that alleviates the instability of high-dimensional representation while facilitating the alignment and fusion of cross-modal features. Additionally, to alleviate the imbalance in multimodal feature contributions introduced by the textual representations, we propose a Modal Consistency Dynamic Balance (MCDB) strategy that dynamically adjusts the contribution weights of each modality. We further propose a stochastic perturbation regularization (SPR) term to enhance the generalization ability of semantic perturbation-based models by introducing dynamic Gaussian noise in the modality optimization process. The evaluation results on the ThingsEEG dataset show that our method surpasses previous state-of-the-art methods in both Top-1 and Top-5 accuracy metrics, improving by 2.0\% and 4.7\% respectively.

cs.CV↗
arXiv2025

Learning to Evolve: Bayesian-Guided Continual Knowledge Graph Embedding

As social media and the World Wide Web become hubs for information dissemination, effectively organizing and understanding the vast amounts of dynamically evolving Web content is crucial. Knowledge graphs (KGs) provide a powerful framework for structuring this information. However, the rapid emergence of new hot topics, user relationships, and events in social media renders traditional static knowledge graph embedding (KGE) models rapidly outdated. Continual Knowledge Graph Embedding (CKGE) aims to address this issue, but existing methods commonly suffer from catastrophic forgetting, whereby older, but still valuable, information is lost when learning new knowledge (such as new memes or trending events). This means the model cannot effectively learn the evolution of the data. We propose a novel CKGE framework, BAKE. Unlike existing methods, BAKE formulates CKGE as a sequential Bayesian inference problem and utilizes the Bayesian posterior update principle as a natural continual learning strategy. This principle is insensitive to data order and provides theoretical guarantees to preserve prior knowledge as much as possible. Specifically, we treat each batch of new data as a Bayesian update to the model's prior. By maintaining the posterior distribution, the model effectively preserves earlier knowledge even as it evolves over multiple snapshots. Furthermore, to constrain the evolution of knowledge across snapshots, we introduce a continual clustering method that maintains the compact cluster structure of entity embeddings through a regularization term, ensuring semantic consistency while allowing controlled adaptation to new knowledge. We conduct extensive experiments on multiple CKGE benchmarks, which demonstrate that BAKE achieves the top performance in the vast majority of cases compared to existing approaches.

cs.CL↗
arXiv2025

Towards Scalable Spatial Intelligence via 2D-to-3D Data Lifting

Spatial intelligence is emerging as a transformative frontier in AI, yet it remains constrained by the scarcity of large-scale 3D datasets. Unlike the abundant 2D imagery, acquiring 3D data typically requires specialized sensors and laborious annotation. In this work, we present a scalable pipeline that converts single-view images into comprehensive, scale- and appearance-realistic 3D representations - including point clouds, camera poses, depth maps, and pseudo-RGBD - via integrated depth estimation, camera calibration, and scale calibration. Our method bridges the gap between the vast repository of imagery and the increasing demand for spatial scene understanding. By automatically generating authentic, scale-aware 3D data from images, we significantly reduce data collection costs and open new avenues for advancing spatial intelligence. We release two generated spatial datasets, i.e., COCO-3D and Objects365-v2-3D, and demonstrate through extensive experiments that our generated data can benefit various 3D tasks, ranging from fundamental perception to MLLM-based reasoning. These results validate our pipeline as an effective solution for developing AI systems capable of perceiving, understanding, and interacting with physical environments.

cs.CV↗
arXiv2025

TRACE: Temporally Reliable Anatomically-Conditioned 3D CT Generation with Enhanced Efficiency

3D medical image generation is essential for data augmentation and patient privacy, calling for reliable and efficient models suited for clinical practice. However, current methods suffer from limited anatomical fidelity, restricted axial length, and substantial computational cost, placing them beyond reach for regions with limited resources and infrastructure. We introduce TRACE, a framework that generates 3D medical images with spatiotemporal alignment using a 2D multimodal-conditioned diffusion approach. TRACE models sequential 2D slices as video frame pairs, combining segmentation priors and radiology reports for anatomical alignment, incorporating optical flow to sustain temporal coherence. During inference, an overlapping-frame strategy links frame pairs into a flexible length sequence, reconstructed into a spatiotemporally and anatomically aligned 3D volume. Experimental results demonstrate that TRACE effectively balances computational efficiency with preserving anatomical fidelity and spatiotemporal consistency. Code is available at: https://github.com/VinyehShaw/TRACE.

cs.CV↗
arXiv2025

Rethinking Brain Tumor Segmentation from the Frequency Domain Perspective

Precise segmentation of brain tumors, particularly contrast-enhancing regions visible in post-contrast MRI (areas highlighted by contrast agent injection), is crucial for accurate clinical diagnosis and treatment planning but remains challenging. However, current methods exhibit notable performance degradation in segmenting these enhancing brain tumor areas, largely due to insufficient consideration of MRI-specific tumor features such as complex textures and directional variations. To address this, we propose the Harmonized Frequency Fusion Network (HFF-Net), which rethinks brain tumor segmentation from a frequency-domain perspective. To comprehensively characterize tumor regions, we develop a Frequency Domain Decomposition (FDD) module that separates MRI images into low-frequency components, capturing smooth tumor contours and high-frequency components, highlighting detailed textures and directional edges. To further enhance sensitivity to tumor boundaries, we introduce an Adaptive Laplacian Convolution (ALC) module that adaptively emphasizes critical high-frequency details using dynamically updated convolution kernels. To effectively fuse tumor features across multiple scales, we design a Frequency Domain Cross-Attention (FDCA) integrating semantic, positional, and slice-specific information. We further validate and interpret frequency-domain improvements through visualization, theoretical reasoning, and experimental analyses. Extensive experiments on four public datasets demonstrate that HFF-Net achieves an average relative improvement of 4.48\% (ranging from 2.39\% to 7.72\%) in the mean Dice scores across the three major subregions, and an average relative improvement of 7.33% (ranging from 5.96% to 8.64%) in the segmentation of contrast-enhancing tumor regions, while maintaining favorable computational efficiency and clinical applicability. Code: https://github.com/VinyehShaw/HFF.

eess.IV↗
arXiv2025

Rethinking Regularization Methods for Knowledge Graph Completion

Knowledge graph completion (KGC) has attracted considerable attention in recent years because it is critical to improving the quality of knowledge graphs. Researchers have continuously explored various models. However, most previous efforts have neglected to take advantage of regularization from a deeper perspective and therefore have not been used to their full potential. This paper rethinks the application of regularization methods in KGC. Through extensive empirical studies on various KGC models, we find that carefully designed regularization not only alleviates overfitting and reduces variance but also enables these models to break through the upper bounds of their original performance. Furthermore, we introduce a novel sparse-regularization method that embeds the concept of rank-based selective sparsity into the KGC regularizer. The core idea is to selectively penalize those components with significant features in the embedding vector, thus effectively ignoring many components that contribute little and may only represent noise. Various comparative experiments on multiple datasets and multiple models show that the SPR regularization method is better than other regularization methods and can enable the KGC model to further break through the performance margin.

cs.LG↗
arXiv2025

Rethinking Score Distilling Sampling for 3D Editing and Generation

Score Distillation Sampling (SDS) has emerged as a prominent method for text-to-3D generation by leveraging the strengths of 2D diffusion models. However, SDS is limited to generation tasks and lacks the capability to edit existing 3D assets. Conversely, variants of SDS that introduce editing capabilities often can not generate new 3D assets effectively. In this work, we observe that the processes of generation and editing within SDS and its variants have unified underlying gradient terms. Building on this insight, we propose Unified Distillation Sampling (UDS), a method that seamlessly integrates both the generation and editing of 3D assets. Essentially, UDS refines the gradient terms used in vanilla SDS methods, unifying them to support both tasks. Extensive experiments demonstrate that UDS not only outperforms baseline methods in generating 3D assets with richer details but also excels in editing tasks, thereby bridging the gap between 3D generation and editing. The code is available on: https://github.com/xingy038/UDS.

cs.CV↗
arXiv2025

From Gaze to Insight: Bridging Human Visual Attention and Vision Language Model Explanation for Weakly-Supervised Medical Image Segmentation

Medical image segmentation remains challenging due to the high cost of pixel-level annotations for training. In the context of weak supervision, clinician gaze data captures regions of diagnostic interest; however, its sparsity limits its use for segmentation. In contrast, vision-language models (VLMs) provide semantic context through textual descriptions but lack the explanation precision required. Recognizing that neither source alone suffices, we propose a teacher-student framework that integrates both gaze and language supervision, leveraging their complementary strengths. Our key insight is that gaze data indicates where clinicians focus during diagnosis, while VLMs explain why those regions are significant. To implement this, the teacher model first learns from gaze points enhanced by VLM-generated descriptions of lesion morphology, establishing a foundation for guiding the student model. The teacher then directs the student through three strategies: (1) Multi-scale feature alignment to fuse visual cues with textual semantics; (2) Confidence-weighted consistency constraints to focus on reliable predictions; (3) Adaptive masking to limit error propagation in uncertain areas. Experiments on the Kvasir-SEG, NCI-ISBI, and ISIC datasets show that our method achieves Dice scores of 80.78%, 80.53%, and 84.22%, respectively-improving 3-5% over gaze baselines without increasing the annotation burden. By preserving correlations among predictions, gaze data, and lesion descriptions, our framework also maintains clinical interpretability. This work illustrates how integrating human visual attention with AI-generated semantic context can effectively overcome the limitations of individual weak supervision signals, thereby advancing the development of deployable, annotation-efficient medical AI systems. Code is available at: https://github.com/jingkunchen/FGI.

cs.CV↗