arXiv subjects

Haoxuan Dou

Publications and source records attributed to Haoxuan Dou.

5 recordsLinked to original sources

arXiv2026

WorldScape Policy 2.0: Empowering Steerable World Action Modeling with Reasoning-Augmented Memory

World Action Models (WAMs) offer a promising paradigm for robotic manipulation by jointly modeling visual state transitions and robot actions. However, existing WAMs are constrained by limited temporal context, coarse episode-level language supervision, and predominantly text-only conditioning, which hinder task-progress tracking and fine-grained language-video-action grounding while limiting visual-context reasoning and cross-embodiment transfer. In this paper, we introduce WorldScape Policy 2.0, a controllable WAM with reasoning-augmented long short-term memory. Its causal short-term visual memory supplies recent observations as DiT prefill to preserve local interaction dynamics, while its long short-term event memory organizes historical VLM outputs into global-history, local-active, and event-boundary representations for progress-aware retrieval. The retrieved history augments perception and autoregressively generated planning tokens, yielding an implicit subgoal condition for autonomous planning; semantic forcing further transfers event-level instruction semantics into this latent planning pathway. To establish fine-grained multimodal controllability, we construct ManipEvent-5M, an event-grounded embodied pretraining dataset containing nearly 5 million event segments with aligned action trajectories, episode-level task instructions, segment-level subtask captions, goal images, and video demonstrations. These designs provide a unified interface for autonomous planning from high-level instructions and controllable execution from fine-grained text, goal-image, or video-context prompts. Experiments in both simulation and real-world platforms demonstrate superior capabilities in long-horizon autonomous planning, fine-grained instruction following and in-context adaptation.

cs.RO↗

arXiv2024

InfinityDrive: Breaking Time Limits in Driving World Models

Autonomous driving systems struggle with complex scenarios due to limited access to diverse, extensive, and out-of-distribution driving data which are critical for safe navigation. World models offer a promising solution to this challenge; however, current driving world models are constrained by short time windows and limited scenario diversity. To bridge this gap, we introduce InfinityDrive, the first driving world model with exceptional generalization capabilities, delivering state-of-the-art performance in high fidelity, consistency, and diversity with minute-scale video generation. InfinityDrive introduces an efficient spatio-temporal co-modeling module paired with an extended temporal training strategy, enabling high-resolution (576$\times$1024) video generation with consistent spatial and temporal coherence. By incorporating memory injection and retention mechanisms alongside an adaptive memory curve loss to minimize cumulative errors, achieving consistent video generation lasting over 1500 frames (more than 2 minutes). Comprehensive experiments in multiple datasets validate InfinityDrive's ability to generate complex and varied scenarios, highlighting its potential as a next-generation driving world model built for the evolving demands of autonomous driving. Our project homepage: https://metadrivescape.github.io/papers_project/InfinityDrive/page.html

cs.CV↗

arXiv2021

AutoSampling: Search for Effective Data Sampling Schedules

Data sampling acts as a pivotal role in training deep learning models. However, an effective sampling schedule is difficult to learn due to the inherently high dimension of parameters in learning the sampling schedule. In this paper, we propose an AutoSampling method to automatically learn sampling schedules for model training, which consists of the multi-exploitation step aiming for optimal local sampling schedules and the exploration step for the ideal sampling distribution. More specifically, we achieve sampling schedule search with shortened exploitation cycle to provide enough supervision. In addition, we periodically estimate the sampling distribution from the learned sampling schedules and perturb it to search in the distribution space. The combination of two searches allows us to learn a robust sampling schedule. We apply our AutoSampling method to a variety of image classification tasks illustrating the effectiveness of the proposed method.

cs.CV↗

arXiv2021

Efficient Transfer Learning via Joint Adaptation of Network Architecture and Weight

Transfer learning can boost the performance on the targettask by leveraging the knowledge of the source domain. Recent worksin neural architecture search (NAS), especially one-shot NAS, can aidtransfer learning by establishing sufficient network search space. How-ever, existing NAS methods tend to approximate huge search spaces byexplicitly building giant super-networks with multiple sub-paths, anddiscard super-network weights after a child structure is found. Both thecharacteristics of existing approaches causes repetitive network trainingon source tasks in transfer learning. To remedy the above issues, we re-duce the super-network size by randomly dropping connection betweennetwork blocks while embedding a larger search space. Moreover, wereuse super-network weights to avoid redundant training by proposinga novel framework consisting of two modules, the neural architecturesearch module for architecture transfer and the neural weight searchmodule for weight transfer. These two modules conduct search on thetarget task based on a reduced super-networks, so we only need to trainonce on the source task. We experiment our framework on both MS-COCO and CUB-200 for the object detection and fine-grained imageclassification tasks, and show promising improvements with onlyO(CN)super-network complexity.

cs.CV↗

arXiv2016

Anti-jamming in a fungal transport network

Congestion limits the efficiency of transport networks ranging from highways to the internet. Fungal hyphal networks are studied as an examples of optimal biological transport networks, but the scheduling and direction of traffic to avoid congestion has not been examined. We show here that the Neurospora crassa fungal network exhibits anticongestion: more densely packed nuclei flow faster along hyphal highways, and transported nuclei self-organize into fast flowing solitons. Concentrated transport by solitons may allow cells to cycle between growing and acting as transport conduits.

physics.bio-ph↗