arXiv subjects

Haotian Jin

Publications and source records attributed to Haotian Jin.

3 recordsLinked to original sources

arXiv2026

From Sketch Prior to Trajectories: A Mission-Oriented Coordinated Navigation Framework for Indoor UAV Swarm

UAV swarm for applications, such as indoor inspection, security patrol, and logistics delivery, are often mission-oriented rather than exploration-oriented. In these tasks, UAVs are required to visit task-relevant regions in a prescribed sequence, and such region-level mission information can often be obtained from pre-deployment sketch-map priors, such as floor plans, CAD layouts, or evacuation diagrams. Although these tasks are executed in three-dimensional space, UAVs usually fly within a specific altitude layer or a nearly fixed altitude range on each floor, making mission-level region transitions mainly governed by planar connectivity. Based on these observations, this paper proposes a mission-oriented coordinated navigation framework that exploits sketch-map priors for multi-UAV indoor operations. Onboard observations are used to perform topological alignment, and the aligned prior is fused with online observations to construct a mission-oriented traversability representation. A layered 2D--3D coordinated navigation framework is further developed, where 2D guided path planning generates mission-oriented guide paths and guide-driven 3D trajectory optimization produces dynamically feasible and collision-free trajectories. Simulation and real-world experiments validate the effectiveness of the proposed framework in structured multi-room indoor environments and further demonstrate its coordinated navigation capability under both communication-available and communication-loss conditions. Multi-floor simulation results show the scalability of the system to layered indoor structures.

cs.RO↗

arXiv2025

Uncovering and Aligning Anomalous Attention Heads to Defend Against NLP Backdoor Attacks

Backdoor attacks pose a serious threat to the security of large language models (LLMs), causing them to exhibit anomalous behavior under specific trigger conditions. The design of backdoor triggers has evolved from fixed triggers to dynamic or implicit triggers. This increased flexibility in trigger design makes it challenging for defenders to identify their specific forms accurately. Most existing backdoor defense methods are limited to specific types of triggers or rely on an additional clean model for support. To address this issue, we propose a backdoor detection method based on attention similarity, enabling backdoor detection without prior knowledge of the trigger. Our study reveals that models subjected to backdoor attacks exhibit unusually high similarity among attention heads when exposed to triggers. Based on this observation, we propose an attention safety alignment approach combined with head-wise fine-tuning to rectify potentially contaminated attention heads, thereby effectively mitigating the impact of backdoor attacks. Extensive experimental results demonstrate that our method significantly reduces the success rate of backdoor attacks while preserving the model's performance on downstream tasks.

cs.CR↗

arXiv2025

Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation

Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain comprehensively fused features but often ignore the fact that each modality requires different levels of attention at different manipulation stages. To address this, we propose a force-guided attention fusion module that adaptively adjusts the weights of visual and tactile features without human labeling. We also introduce a self-supervised future force prediction auxiliary task to reinforce the tactile modality, improve data imbalance, and encourage proper adjustment. Our method achieves an average success rate of 93% across three fine-grained, contactrich tasks in real-world experiments. Further analysis shows that our policy appropriately adjusts attention to each modality at different manipulation stages. The videos can be viewed at https://adaptac-dex.github.io/.

cs.RO↗