arXiv subjects

Haoran Pei

Publications and source records attributed to Haoran Pei.

7 recordsLinked to original sources

arXiv2026

FARM: Reading Failure Signals from the Internal Predictive States of a Frozen Robotic World Model

Reliable robot deployment requires online failure monitoring, yet existing monitors mainly derive risk from proxy signals or train dedicated monitoring components. We ask whether the internal predictive states of a frozen pretrained robotic world model already contain directly decodable failure information. Failure-Aware Readout from World Models (FARM) trains only a 33,985-parameter supervised readout over frozen VLA-JEPA predictive states, producing step-wise failure scores and causal trajectory risk. Five-fold out-of-fold evaluation across seven source tasks reaches 85.68/88.59 pooled AUROC/AUPRC, and FARM gives the best Seen performance among 15 matched baselines on the 10-task benchmark. Across four real-robot populations on PIPER X, SO-101, and Franka, fixed-readout transfer and readout-only adaptation test deployment shifts without updating the predictive backbone. FARM also discriminates failures from partial causal histories and adds 0.2256 ms mean CUDA latency once the frozen state is available. These results support frozen predictive world-model states as reusable features for causal, transferable, and low-overhead execution monitoring.

cs.RO↗

arXiv2026

HyperANFIS: Enhancing Rule Representation and Interpretability in Adaptive Neuro-Fuzzy Systems via Hyperbolic Geometry

The adaptive neuro-fuzzy inference system (ANFIS) is an interpretable reasoning framework capable of generating explicit IF-THEN fuzzy rules, making it suitable for tasks requiring transparent reasoning. However, existing ANFIS models generally construct rule antecedents and perform inference in Euclidean space, limiting their representational capacity and predictive performance. To address this issue, we propose Hyperbolic ANFIS (HyperANFIS), a hyperbolic extension of ANFIS. HyperANFIS preserves the fuzzy semantics and core architecture of conventional ANFIS while performing rule-prototype learning, rule activation, and consequent aggregation in hyperbolic space. It also retains the ability to generate interpretable IF-THEN rules. By exploiting the representational properties of hyperbolic geometry, HyperANFIS strengthens the fuzzy inference process, thereby improving predictive accuracy, inter-rule collaboration, and the credibility of its interpretable rules. Experimental results show that HyperANFIS consistently outperforms the standard ANFIS baseline and various ANFIS variants across all datasets, while also generating higher-quality fuzzy rules.

cs.AI↗

arXiv2026

Solar-VLM: Multimodal Vision-Language Models for Augmented Solar Power Forecasting

Photovoltaic (PV) power forecasting plays a critical role in power system dispatch and market participation. Because PV generation is highly sensitive to weather conditions and cloud motion, accurate forecasting requires effective modeling of complex spatiotemporal dependencies across multiple information sources. Although recent studies have advanced AI-based forecasting methods, most fail to fuse temporal observations, satellite imagery, and textual weather information in a unified framework. This paper proposes Solar-VLM, a large-language-model-driven framework for multimodal PV power forecasting. First, modality-specific encoders are developed to extract complementary features from heterogeneous inputs. The time-series encoder adopts a patch-based design to capture temporal patterns from multivariate observations at each site. The visual encoder, built upon a Qwen-based vision backbone, extracts cloud-cover information from satellite images. The text encoder distills historical weather characteristics from textual descriptions. Second, to capture spatial dependencies across geographically distributed PV stations, a cross-site feature fusion mechanism is introduced. Specifically, a Graph Learner models inter-station correlations through a graph attention network constructed over a K-nearest-neighbor (KNN) graph, while a cross-site attention module further facilitates adaptive information exchange among sites. Finally, experiments conducted on data from eight PV stations in a northern province of China demonstrate the effectiveness of the proposed framework. Our proposed model is publicly available at https://github.com/rhp413/Solar-VLM.

cs.AI↗

arXiv2026

Learning domain-invariant features through channel-level sparsification for Out-Of Distribution Generalization

Out-of-Distribution (OOD) generalization has become a primary metric for evaluating image analysis systems. Since deep learning models tend to capture domain-specific context, they often develop shortcut dependencies on these non-causal features, leading to inconsistent performance across different data sources. Current techniques, such as invariance learning, attempt to mitigate this. However, they struggle to isolate highly mixed features within deep latent spaces. This limitation prevents them from fully resolving the shortcut learning problem.In this paper, we propose Hierarchical Causal Dropout (HCD), a method that uses channel-level causal masks to enforce feature sparsity. This approach allows the model to separate causal features from spurious ones, effectively performing a causal intervention at the representation level. The training is guided by a Matrix-based Mutual Information (MMI) objective to minimize the mutual information between latent features and domain labels, while simultaneously maximizing the information shared with class labels.To ensure stability, we incorporate a StyleMix-driven VICReg module, which prevents the masks from accidentally filtering out essential causal data. Experimental results on OOD benchmarks show that HCD performs better than existing top-tier methods.

cs.CV↗

arXiv2026

KANFIS: A Neuro-Symbolic Framework for Interpretable and Uncertainty-Aware Learning

Adaptive Neuro-Fuzzy Inference System (ANFIS) was designed to combine the learning capabilities of neural network with the reasoning transparency of fuzzy logic. However, conventional ANFIS architectures suffer from structural complexity, where the product-based inference mechanism causes an exponential explosion of rules in high-dimensional spaces. We herein propose the Kolmogorov-Arnold Neuro-Fuzzy Inference System (KANFIS), a compact neuro-symbolic architecture that unifies fuzzy reasoning with additive function decomposition. KANFIS employs an additive aggregation mechanism, under which both model parameters and rule complexity scale linearly with input dimensionality rather than exponentially. Furthermore, KANFIS is compatible with both Type-1 (T1) and Interval Type-2 (IT2) fuzzy logic systems, enabling explicit modeling of uncertainty and ambiguity in fuzzy representations. By using sparse masking mechanisms, KANFIS generates compact and structured rule sets, resulting in an intrinsically interpretable model with clear rule semantics and transparent inference processes. Empirical results demonstrate that KANFIS achieves competitive performance against representative neural and neuro-fuzzy baselines.

cs.AI↗

arXiv2025

Causally Guided Gaussian Perturbations for Out-Of-Distribution Generalization in Medical Imaging

Out-of-distribution (OOD) generalization remains a central challenge in deploying deep learning models to real-world scenarios, particularly in domains such as biomedical images, where distribution shifts are both subtle and pervasive. While existing methods often pursue domain invariance through complex generative models or adversarial training, these approaches may overlook the underlying causal mechanisms of generalization.In this work, we propose Causally-Guided Gaussian Perturbations (CGP)-a lightweight framework that enhances OOD generalization by injecting spatially varying noise into input images, guided by soft causal masks derived from Vision Transformers. By applying stronger perturbations to background regions and weaker ones to foreground areas, CGP encourages the model to rely on causally relevant features rather than spurious correlations.Experimental results on the challenging WILDS benchmark Camelyon17 demonstrate consistent performance gains over state-of-the-art OOD baselines, highlighting the potential of causal perturbation as a tool for reliable and interpretable generalization.

cs.CV↗

arXiv2024

DAOcc: 3D Object Detection Assisted Multi-Sensor Fusion for 3D Occupancy Prediction

Multi-sensor fusion significantly enhances the accuracy and robustness of 3D semantic occupancy prediction, which is crucial for autonomous driving and robotics. However, most existing approaches depend on high-resolution images and complex networks to achieve top performance, hindering their deployment in practical scenarios. Moreover, current multi-sensor fusion approaches mainly focus on improving feature fusion while largely neglecting effective supervision strategies for those features. To address these issues, we propose DAOcc, a novel multi-modal occupancy prediction framework that leverages 3D object detection supervision to assist in achieving superior performance, while using a deployment-friendly image backbone and practical input resolution. In addition, we introduce a BEV View Range Extension strategy to mitigate performance degradation caused by lower image resolution. Extensive experiments demonstrate that DAOcc achieves new state-of-the-art results on both the Occ3D-nuScenes and Occ3D-Waymo benchmarks, and outperforms previous state-of-the-art methods by a significant margin using only a ResNet-50 backbone and 256*704 input resolution. With TensorRT optimization, DAOcc reaches 104.9 FPS while maintaining 54.2 mIoU on an NVIDIA RTX 4090 GPU. Code is available at https://github.com/AlphaPlusTT/DAOcc.

cs.CV↗