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Haoran Wang

Publications and source records attributed to Haoran Wang.

At least 91 records · Page 5Linked to original sources

Towards Effective Model Editing for LLM Personalization

Personalization is becoming indispensable for LLMs to align with individual user preferences and needs. Yet current approaches are often computationally expensive, data-intensive, susceptible to catastrophic forgetting, and prone to performance degradation in multi-turn interactions or when handling implicit queries. To address these challenges, we conceptualize personalization as a model editing task and introduce Personalization Editing, a framework that applies localized edits guided by clustered preference representations. This design enables precise preference-aligned updates while preserving overall model capabilities. In addition, existing personalization benchmarks frequently rely on persona-based dialogs between LLMs rather than user-LLM interactions, or focus primarily on stylistic imitation while neglecting information-seeking tasks that require accurate recall of user-specific preferences. We introduce User Preference Question Answering (UPQA), a short-answer QA dataset constructed from in-situ user queries with varying levels of difficulty. Unlike prior benchmarks, UPQA directly evaluates a model's ability to recall and apply specific user preferences. Across experimental settings, Personalization Editing achieves higher editing accuracy and greater computational efficiency than fine-tuning, while outperforming prompting-based baselines in multi-turn conversations and implicit preference questions settings.

cs.CL↗

Chat with UAV -- Human-UAV Interaction Based on Large Language Models

The future of UAV interaction systems is evolving from engineer-driven to user-driven, aiming to replace traditional predefined Human-UAV Interaction designs. This shift focuses on enabling more personalized task planning and design, thereby achieving a higher quality of interaction experience and greater flexibility, which can be used in many fileds, such as agriculture, aerial photography, logistics, and environmental monitoring. However, due to the lack of a common language between users and the UAVs, such interactions are often difficult to be achieved. The developments of Large Language Models possess the ability to understand nature languages and Robots' (UAVs') behaviors, marking the possibility of personalized Human-UAV Interaction. Recently, some HUI frameworks based on LLMs have been proposed, but they commonly suffer from difficulties in mixed task planning and execution, leading to low adaptability in complex scenarios. In this paper, we propose a novel dual-agent HUI framework. This framework constructs two independent LLM agents (a task planning agent, and an execution agent) and applies different Prompt Engineering to separately handle the understanding, planning, and execution of tasks. To verify the effectiveness and performance of the framework, we have built a task database covering four typical application scenarios of UAVs and quantified the performance of the HUI framework using three independent metrics. Meanwhile different LLM models are selected to control the UAVs with compared performance. Our user study experimental results demonstrate that the framework improves the smoothness of HUI and the flexibility of task execution in the tasks scenario we set up, effectively meeting users' personalized needs.

cs.RO↗

CogDrive: Cognition-Driven Multimodal Prediction-Planning Fusion for Safe Autonomy

Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while rule based systems often lack adaptability in complex interactions. To address these limitations, CogDrive introduces a cognition driven multimodal prediction and planning framework that integrates explicit modal reasoning with safety aware trajectory optimization. The prediction module adopts cognitive representations of interaction modes based on topological motion semantics and nearest neighbor relational encoding. With a differentiable modal loss and multimodal Gaussian decoding, CogDrive learns sparse and unbalanced interaction behaviors and improves long horizon trajectory prediction. The planning module incorporates an emergency response concept and optimizes safety stabilized trajectories, where short term consistent branches ensure safety during replanning cycles and long term branches support smooth and collision free motion under low probability switching modes. Experiments on Argoverse2 and INTERACTION datasets show that CogDrive achieves strong performance in trajectory accuracy and miss rate, while closed loop simulations confirm adaptive behavior in merge and intersection scenarios. By combining cognitive multimodal prediction with safety oriented planning, CogDrive offers an interpretable and reliable paradigm for safe autonomy in complex traffic.

cs.RO↗

Hi-EF: Benchmarking Emotion Forecasting in Human-interaction

Affective Forecasting is an psychology task that involves predicting an individual's future emotional responses, often hampered by reliance on external factors leading to inaccuracies, and typically remains at a qualitative analysis stage. To address these challenges, we narrows the scope of Affective Forecasting by introducing the concept of Human-interaction-based Emotion Forecasting (EF). This task is set within the context of a two-party interaction, positing that an individual's emotions are significantly influenced by their interaction partner's emotional expressions and informational cues. This dynamic provides a structured perspective for exploring the patterns of emotional change, thereby enhancing the feasibility of emotion forecasting.

cs.CV↗

PURE Codec: Progressive Unfolding of Residual Entropy for Speech Codec Learning

Neural speech codecs have achieved strong performance in low-bitrate compression, but residual vector quantization (RVQ) often suffers from unstable training and ineffective decomposition, limiting reconstruction quality and efficiency. We propose PURE Codec (Progressive Unfolding of Residual Entropy), a novel framework that guides multi-stage quantization using a pre-trained speech enhancement model. The first quantization stage reconstructs low-entropy, denoised speech embeddings, while subsequent stages encode residual high-entropy components. This design improves training stability significantly. Experiments demonstrate that PURE consistently outperforms conventional RVQ-based codecs in reconstruction and downstream speech language model-based text-to-speech, particularly under noisy training conditions.

cs.SD↗

COLI: A Hierarchical Efficient Compressor for Large Images

The escalating adoption of high-resolution, large-field-of-view imagery amplifies the need for efficient compression methodologies. Conventional techniques frequently fail to preserve critical image details, while data-driven approaches exhibit limited generalizability. Implicit Neural Representations (INRs) present a promising alternative by learning continuous mappings from spatial coordinates to pixel intensities for individual images, thereby storing network weights rather than raw pixels and avoiding the generalization problem. However, INR-based compression of large images faces challenges including slow compression speed and suboptimal compression ratios. To address these limitations, we introduce COLI (Compressor for Large Images), a novel framework leveraging Neural Representations for Videos (NeRV). First, recognizing that INR-based compression constitutes a training process, we accelerate its convergence through a pretraining-finetuning paradigm, mixed-precision training, and reformulation of the sequential loss into a parallelizable objective. Second, capitalizing on INRs' transformation of image storage constraints into weight storage, we implement Hyper-Compression, a novel post-training technique to substantially enhance compression ratios while maintaining minimal output distortion. Evaluations across two medical imaging datasets demonstrate that COLI consistently achieves competitive or superior PSNR and SSIM metrics at significantly reduced bits per pixel (bpp), while accelerating NeRV training by up to 4 times.

cs.CV↗

Model Editing as a Double-Edged Sword: Steering Agent Ethical Behavior Toward Beneficence or Harm

Agents based on Large Language Models (LLMs) have demonstrated strong capabilities across a wide range of tasks. However, deploying LLM-based agents in high-stakes domains comes with significant safety and ethical risks. Unethical behavior by these agents can directly result in serious real-world consequences, including physical harm and financial loss. To efficiently steer the ethical behavior of agents, we frame agent behavior steering as a model editing task, which we term Behavior Editing. Model editing is an emerging area of research that enables precise and efficient modifications to LLMs while preserving their overall capabilities. To systematically study and evaluate this approach, we introduce BehaviorBench, a multi-tier benchmark grounded in psychological moral theories. This benchmark supports both the evaluation and editing of agent behaviors across a variety of scenarios, with each tier introducing more complex and ambiguous scenarios. We first demonstrate that Behavior Editing can dynamically steer agents toward the target behavior within specific scenarios. Moreover, Behavior Editing enables not only scenario-specific local adjustments but also more extensive shifts in an agent's global moral alignment. We demonstrate that Behavior Editing can be used to promote ethical and benevolent behavior or, conversely, to induce harmful or malicious behavior. Through extensive evaluations of agents built on frontier LLMs, BehaviorBench validates the effectiveness of behavior editing across a wide range of models and scenarios. Our findings offer key insights into a new paradigm for steering agent behavior, highlighting both the promise and perils of Behavior Editing.

cs.CL↗

ACDC: The Adverse Conditions Dataset with Correspondences for Robust Semantic Driving Scene Perception

Level-5 driving automation requires a robust visual perception system that can parse input images under any condition. However, existing driving datasets for dense semantic perception are either dominated by images captured under normal conditions or are small in scale. To address this, we introduce ACDC, the Adverse Conditions Dataset with Correspondences for training and testing methods for diverse semantic perception tasks on adverse visual conditions. ACDC consists of a large set of 8012 images, half of which (4006) are equally distributed between four common adverse conditions: fog, nighttime, rain, and snow. Each adverse-condition image comes with a high-quality pixel-level panoptic annotation, a corresponding image of the same scene under normal conditions, and a binary mask that distinguishes between intra-image regions of clear and uncertain semantic content. 1503 of the corresponding normal-condition images feature panoptic annotations, raising the total annotated images to 5509. ACDC supports the standard tasks of semantic segmentation, object detection, instance segmentation, and panoptic segmentation, as well as the newly introduced uncertainty-aware semantic segmentation. A detailed empirical study demonstrates the challenges that the adverse domains of ACDC pose to state-of-the-art supervised and unsupervised approaches and indicates the value of our dataset in steering future progress in the field. Our dataset and benchmark are publicly available at https://acdc.vision.ee.ethz.ch

cs.CV↗

MMCL: Correcting Content Query Distributions for Improved Anti-Overlapping X-Ray Object Detection

Unlike natural images with occlusion-based overlap, X-ray images exhibit depth-induced superimposition and semi-transparent appearances, where objects at different depths overlap and their features blend together. These characteristics demand specialized mechanisms to disentangle mixed representations between target objects (e.g., prohibited items) and irrelevant backgrounds. While recent studies have explored adapting detection transformers (DETR) for anti-overlapping object detection, the importance of well-distributed content queries that represent object hypotheses remains underexplored. In this paper, we introduce a multi-class min-margin contrastive learning (MMCL) framework to correct the distribution of content queries, achieving balanced intra-class diversity and inter-class separability. The framework first groups content queries by object category and then applies two proposed complementary loss components: a multi-class exclusion loss to enhance inter-class separability, and a min-margin clustering loss to encourage intra-class diversity. We evaluate the proposed method on three widely used X-ray prohibited-item detection datasets, PIXray, OPIXray, and PIDray, using two backbone networks and four DETR variants. Experimental results demonstrate that MMCL effectively enhances anti-overlapping object detection and achieves state-of-the-art performance on both datasets. Code will be made publicly available on GitHub.

cs.CV↗

BSCodec: A Band-Split Neural Codec for High-Quality Universal Audio Reconstruction

Neural audio codecs have recently enabled high-fidelity reconstruction at high compression rates, especially for speech. However, speech and non-speech audio exhibit fundamentally different spectral characteristics: speech energy concentrates in narrow bands around pitch harmonics (80-400 Hz), while non-speech audio requires faithful reproduction across the full spectrum, particularly preserving higher frequencies that define timbre and texture. This poses a challenge: speech-optimized neural codecs suffer degradation on music or sound. Treating the full spectrum holistically is suboptimal: frequency bands have vastly different information density and perceptual importance by content type, yet full-band approaches apply uniform capacity across frequencies without accounting for these acoustic structures. To address this gap, we propose BSCodec (Band-Split Codec), a novel neural audio codec architecture that splits the spectral dimension into separate bands and compresses each band independently. Experimental results demonstrate that BSCodec achieves superior reconstruction over baselines across sound and music, while maintaining competitive quality in the speech domain, when trained on the same combined dataset of speech, music and sound. Downstream benchmark tasks further confirm that BSCodec shows strong potential for use in downstream applications.

eess.AS↗

Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery

The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode, which emulates tool manipulation near the distal end as if the surgeon was holding the tip of the instrument inside the patient's body; (2) Outside Control Mode, which emulates manipulation near the proximal end as if the surgeon was holding the tool externally. The aim of this research is to compare the surgeon's performance on these two modes of operation along with various scaling factors in a simulated vitreoretinal surgical setting. The console of Intraocular Robotic Interventional Surgical System (IRISS) was utilized but the surgical robot itself and the human eye anatomy was simulated by a virtual environment projected microscope view of an intraocular setup to a VR headset. Five experienced vitreoretinal surgeons and five subjects with no surgical experience used the system to perform four fundamental tool/tissue tasks common to vitreoretinal surgery: touch and reset; grasp and drop; inject; circular tracking. Results indicate that Inside Control outperforms Outside Control across multiple tasks and metrics. Higher scaling factors generally performed better, particularly for reducing trajectory errors and tissue damage. This improvement suggests that larger scaling factors enable more precise control, making them the preferred option for fine manipulation. However, completion time was not consistently reduced across all conditions, indicating that surgeons need to balance speed and accuracy based on surgical requirements. By optimizing control dynamics and user interface, robotic teleoperation has the potential to reduce complications, enhance dexterity, and expand the accessibility of high precision procedures to a broader range of practitioners.

cs.RO↗

Tailoring Reproducing Kernels for Optimal Control via Policy Iteration

This paper presents a novel approach to formulating the actor-critic method for optimal control by casting policy iteration in reproducing kernel Hilbert spaces (RKHSs -- also known as native spaces). By tailoring the reproducing kernel and RKHS to the dynamics of the nonlinear optimal control problem, we leverage recent advancements in characterizing error bounds from statistical and machine learning theory. These approximations define a general strategy to select the bases of the actor-critic networks, and we formally guarantee for the first time that this basis selection procedure leads to closed-form error bounds for the individual steps of policy iteration. These bounds often have a geometric and computable form, making them potentially useful for a priori or a posteriori evaluation of candidate collections of scattered bases. Numerical studies subsequently provide qualitative evidence of the practical performance achieved for the full recursion using the algorithms and theory developed for the single-step error bounds.

math.OC↗

Functional Uncertainty Classes, Nonparametric Adaptive Contro Functional Uncertainty Classes for Nonparametric Adaptive Control: the Curse of Dimensionality

This paper derives a new class of vector-valued reproducing kernel Hilbert spaces (vRKHS) defined in terms of operator-valued kernels for the representation of functional uncertainty arising in nonparametric adaptive control methods. These are referred to as maneuver or trajectory vRKHS KM in the paper, and they are introduced to address the curse of dimensionality that can arise for some types of nonparametric adaptive control strategies. The maneuver vRKHSs are derived based on the structure of a compact, l-dimensional, smooth Riemannian manifold M that is regularly embedded in the state space X = Rn, where M is assumed to approximately support the ultimate dynamics of the reference system to be tracked.

eess.SY↗

UC2-ESP: A General-Purpose Framework for Open-Source Microscopy Control

Building the optical setup for investigating biological questions comes with challenges. A major such challenge is setting up and synchronizing the control of multiple hardware components such as stages, cameras and lasers. With UC2-ESP we present a compact electronics system powered by the ESP32 microcontroller, designed to provide general-purpose control for various components in microscopy setups. Our system can interface with stepper motors, directed current (DC) motors, lasers (transistor-transistor logics, TTL or pulse width modulation, PWM), light emitting diodes (LEDs), and analog voltage outputs (galvo mirrors, led current control), allowing precise control over microscopy hardware. The platform is highly flexible, supporting custom pin configurations and multiple communication interfaces such as Bluetooth, universal serial bus (USB-serial), and HTTP via a built-in Webserver. A PlayStation controller can be used for haptic hardware manipulation, while commands are transmitted in a human-readable JSON format to ensure modularity and extensibility. The firmware is designed to receive parameters and execute actions dynamically, supporting complex control loops such as motor homing, stage scanning and temperature regulation via integrated controllers. Furthermore, the system integrates seamlessly with ImSwitch as well as MicroManager and offers a browser-based control tool using Web Serial. This open-source firmware enables microscopy research groups to develop custom setups and expand functionality efficiently, at low cost and high flexibility.

physics.optics↗

Vector-Valued Native Space Embedding for Adaptive State Observation

This paper combines vector-valued reproducing kernel Hilbert space (vRKHS) embedding with robust adaptive observation, yielding an algorithm that is both non-parametric and robust. The main contribution of this paper lies in the ability of the proposed system to estimate the state of a plan model whose matched uncertainties are elements of an infinite-dimensional native space. The plant model considered in this paper also suffers from unmatched uncertainties. Finally, the measured output is affected by disturbances as well. Upper bounds on the state observation error are provided in an analytical form. The proposed theoretical results are applied to the problem of estimating the state of a rigid body.

eess.SY↗

SEGA: A Stepwise Evolution Paradigm for Content-Aware Layout Generation with Design Prior

In this paper, we study the content-aware layout generation problem, which aims to automatically generate layouts that are harmonious with a given background image. Existing methods usually deal with this task with a single-step reasoning framework. The lack of a feedback-based self-correction mechanism leads to their failure rates significantly increasing when faced with complex element layout planning. To address this challenge, we introduce SEGA, a novel Stepwise Evolution Paradigm for Content-Aware Layout Generation. Inspired by the systematic mode of human thinking, SEGA employs a hierarchical reasoning framework with a coarse-to-fine strategy: first, a coarse-level module roughly estimates the layout planning results; then, another refining module performs fine-level reasoning regarding the coarse planning results. Furthermore, we incorporate layout design principles as prior knowledge into the model to enhance its layout planning ability. Besides, we present GenPoster-100K that is a new large-scale poster dataset with rich meta-information annotation. The experiments demonstrate the effectiveness of our approach by achieving the state-of-the-art results on multiple benchmark datasets. Our project page is at: https://brucew91.github.io/SEGA.github.io/

cs.CV↗

Ultracompact high-Q whispering gallery mode microresonator in a non-closed waveguide path

Integrated photonic circuits are foundational for versatile applications, where high-performance traveling-wave optical resonators are critical. Conventional whispering-gallery mode microresonators (WGMRs) confine light in closed-loop waveguide paths, thus inevitably occupy large footprints. Here, we report an ultracompact high loaded Q silicon photonic WGMR in an open curved path instead. By leveraging spatial mode multiplexing, low-loss mode converter-based photonic routers enable reentrant photon recycling in a single non-closed waveguide. The fabricated device achieves a measured loaded Q-factor of 1.78*10^5 at 1554.3 nm with a 1.05 nm free spectral range in a ultracompact footprint of 0.00137 mm^2-6*smaller than standard WGMRs while delivering 100*higher Q-factor than photonic crystal counterparts. This work pioneers dense integration of high-performance WGMR arrays through open-path mode recirculation.

physics.optics↗