arXiv subjects

Heng Li

Publications and source records attributed to Heng Li.

At least 109 records · Page 6Linked to original sources

arXiv2025

STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation

Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However, the collection of high-quality training data, the impact of platform motion and processing delays, and limited onboard computing resources pose significant barriers to existing solutions. In this work, we present STDArm, a system that directly transfers policies trained under static conditions to dynamic platforms without extensive modifications. The core of STDArm is a real-time action correction framework consisting of: (1) an action manager to boost control frequency and maintain temporal consistency, (2) a stabilizer with a lightweight prediction network to compensate for motion disturbances, and (3) an online latency estimation module for calibrating system parameters. In this way, STDArm achieves centimeter-level precision in mobile manipulation tasks. We conduct comprehensive evaluations of the proposed STDArm on two types of robotic arms, four types of mobile platforms, and three tasks. Experimental results indicate that the STDArm enables real-time compensation for platform motion disturbances while preserving the original policy's manipulation capabilities, achieving centimeter-level operational precision during robot motion.

cs.RO↗

arXiv2025

Self-Supervised Pre-training with Combined Datasets for 3D Perception in Autonomous Driving

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this goal, this paper proposes to utilize massive unlabeled data from heterogeneous datasets to pre-train 3D perception models. We introduce a self-supervised pre-training framework that learns effective 3D representations from scratch on unlabeled data, combined with a prompt adapter based domain adaptation strategy to reduce dataset bias. The approach significantly improves model performance on downstream tasks such as 3D object detection, BEV segmentation, 3D object tracking, and occupancy prediction, and shows steady performance increase as the training data volume scales up, demonstrating the potential of continually benefit 3D perception models for autonomous driving. We will release the source code to inspire further investigations in the community.

cs.CV↗

arXiv2025

Open-Medical-R1: How to Choose Data for RLVR Training at Medicine Domain

This paper explores optimal data selection strategies for Reinforcement Learning with Verified Rewards (RLVR) training in the medical domain. While RLVR has shown exceptional potential for enhancing reasoning capabilities in large language models, most prior implementations have focused on mathematics and logical puzzles, with limited exploration of domain-specific applications like medicine. We investigate four distinct data sampling strategies from MedQA-USMLE: random sampling (baseline), and filtering using Phi-4, Gemma-3-27b-it, and Gemma-3-12b-it models. Using Gemma-3-12b-it as our base model and implementing Group Relative Policy Optimization (GRPO), we evaluate performance across multiple benchmarks including MMLU, GSM8K, MMLU-Pro, and CMMLU. Our findings demonstrate that models trained on filtered data generally outperform those trained on randomly selected samples. Notably, training on self-filtered samples (using Gemma-3-12b-it for filtering) achieved superior performance in medical domains but showed reduced robustness across different benchmarks, while filtering with larger models from the same series yielded better overall robustness. These results provide valuable insights into effective data organization strategies for RLVR in specialized domains and highlight the importance of thoughtful data selection in achieving optimal performance. You can access our repository (https://github.com/Qsingle/open-medical-r1) to get the codes.

cs.LG↗

arXiv2025

LogLSHD: Fast Log Parsing with Locality-Sensitive Hashing and Dynamic Time Warping

Large-scale software systems generate vast volumes of system logs that are essential for monitoring, diagnosing, and performance optimization. However, the unstructured nature and ever-growing scale of these logs present significant challenges for manual analysis and automated downstream tasks such as anomaly detection. Log parsing addresses these challenges by converting raw logs into structured formats, enabling efficient log analysis. Despite its importance, existing log parsing methods suffer from limitations in efficiency and scalability, due to the large size of log data and their heterogeneous formats. To overcome these challenges, this study proposes a log parsing approach, LogLSHD, which leverages Locality-Sensitive Hashing (LSH) to group similar logs and integrates Dynamic Time Warping (DTW) to enhance the accuracy of template extraction. LogLSHD demonstrates exceptional efficiency in parsing time, significantly outperforming state-of-the-art methods. For example, compared to Drain, LogLSHD reduces the average parsing time by 73% while increasing the average parsing accuracy by 15% on the LogHub 2.0 benchmark.

cs.SE↗

arXiv2025

OccMamba: Semantic Occupancy Prediction with State Space Models

Training deep learning models for semantic occupancy prediction is challenging due to factors such as a large number of occupancy cells, severe occlusion, limited visual cues, complicated driving scenarios, etc. Recent methods often adopt transformer-based architectures given their strong capability in learning input-conditioned weights and long-range relationships. However, transformer-based networks are notorious for their quadratic computation complexity, seriously undermining their efficacy and deployment in semantic occupancy prediction. Inspired by the global modeling and linear computation complexity of the Mamba architecture, we present the first Mamba-based network for semantic occupancy prediction, termed OccMamba. Specifically, we first design the hierarchical Mamba module and local context processor to better aggregate global and local contextual information, respectively. Besides, to relieve the inherent domain gap between the linguistic and 3D domains, we present a simple yet effective 3D-to-1D reordering scheme, i.e., height-prioritized 2D Hilbert expansion. It can maximally retain the spatial structure of 3D voxels as well as facilitate the processing of Mamba blocks. Endowed with the aforementioned designs, our OccMamba is capable of directly and efficiently processing large volumes of dense scene grids, achieving state-of-the-art performance across three prevalent occupancy prediction benchmarks, including OpenOccupancy, SemanticKITTI, and SemanticPOSS. Notably, on OpenOccupancy, our OccMamba outperforms the previous state-of-the-art Co-Occ by 5.1% IoU and 4.3% mIoU, respectively. Our implementation is open-sourced and available at: https://github.com/USTCLH/OccMamba.

cs.CV↗

arXiv2025

What Information Contributes to Log-based Anomaly Detection? Insights from a Configurable Transformer-Based Approach

Log data are generated from logging statements in the source code, providing insights into the execution processes of software applications and systems. State-of-the-art log-based anomaly detection approaches typically leverage deep learning models to capture the semantic or sequential information in the log data and detect anomalous runtime behaviors. However, the impacts of these different types of information are not clear. In addition, most existing approaches ignore the timestamps in log data, which can potentially provide fine-grained sequential and temporal information. In this work, we propose a configurable Transformer-based anomaly detection model that can capture the semantic, sequential, and temporal information in the log data and allows us to configure the different types of information as the model's features. Additionally, we train and evaluate the proposed model using log sequences of different lengths, thus overcoming the constraint of existing methods that rely on fixed-length or time-windowed log sequences as inputs. With the proposed model, we conduct a series of experiments with different combinations of input features to evaluate the roles of different types of information in anomaly detection. The model can attain competitive and consistently stable performance compared to the baselines when presented with log sequences of varying lengths. The results indicate that the event occurrence information plays a key role in identifying anomalies, while the impact of the sequential and temporal information is not significant for anomaly detection on the studied public datasets. On the other hand, the findings also reveal the simplicity of the studied public datasets and highlight the importance of constructing new datasets that contain different types of anomalies to better evaluate the performance of anomaly detection models.

cs.SE↗

arXiv2025

OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving

Accurate and realistic 3D scene reconstruction enables the lifelike creation of autonomous driving simulation environments. With advancements in 3D Gaussian Splatting (3DGS), previous studies have applied it to reconstruct complex dynamic driving scenes. These methods typically require expensive LiDAR sensors and pre-annotated datasets of dynamic objects. To address these challenges, we propose OG-Gaussian, a novel approach that replaces LiDAR point clouds with Occupancy Grids (OGs) generated from surround-view camera images using Occupancy Prediction Network (ONet). Our method leverages the semantic information in OGs to separate dynamic vehicles from static street background, converting these grids into two distinct sets of initial point clouds for reconstructing both static and dynamic objects. Additionally, we estimate the trajectories and poses of dynamic objects through a learning-based approach, eliminating the need for complex manual annotations. Experiments on Waymo Open dataset demonstrate that OG-Gaussian is on par with the current state-of-the-art in terms of reconstruction quality and rendering speed, achieving an average PSNR of 35.13 and a rendering speed of 143 FPS, while significantly reducing computational costs and economic overhead.

cs.CV↗

arXiv2025

Yi: Open Foundation Models by 01.AI

We introduce the Yi model family, a series of language and multimodal models that demonstrate strong multi-dimensional capabilities. The Yi model family is based on 6B and 34B pretrained language models, then we extend them to chat models, 200K long context models, depth-upscaled models, and vision-language models. Our base models achieve strong performance on a wide range of benchmarks like MMLU, and our finetuned chat models deliver strong human preference rate on major evaluation platforms like AlpacaEval and Chatbot Arena. Building upon our scalable super-computing infrastructure and the classical transformer architecture, we attribute the performance of Yi models primarily to its data quality resulting from our data-engineering efforts. For pretraining, we construct 3.1 trillion tokens of English and Chinese corpora using a cascaded data deduplication and quality filtering pipeline. For finetuning, we polish a small scale (less than 10K) instruction dataset over multiple iterations such that every single instance has been verified directly by our machine learning engineers. For vision-language, we combine the chat language model with a vision transformer encoder and train the model to align visual representations to the semantic space of the language model. We further extend the context length to 200K through lightweight continual pretraining and demonstrate strong needle-in-a-haystack retrieval performance. We show that extending the depth of the pretrained checkpoint through continual pretraining further improves performance. We believe that given our current results, continuing to scale up model parameters using thoroughly optimized data will lead to even stronger frontier models.

cs.CL↗

arXiv2025

Fundus Image Quality Assessment and Enhancement: a Systematic Review

As an affordable and convenient eye scan, fundus photography holds the potential for preventing vision impairment, especially in resource-limited regions. However, fundus image degradation is common under intricate imaging environments, impacting following diagnosis and treatment. Consequently, image quality assessment (IQA) and enhancement (IQE) are essential for ensuring the clinical value and reliability of fundus images. While existing reviews offer some overview of this field, a comprehensive analysis of the interplay between IQA and IQE, along with their clinical deployment challenges, is lacking. This paper addresses this gap by providing a thorough review of fundus IQA and IQE algorithms, research advancements, and practical applications. We outline the fundamentals of the fundus photography imaging system and the associated interferences, and then systematically summarize the paradigms in fundus IQA and IQE. Furthermore, we discuss the practical challenges and solutions in deploying IQA and IQE, as well as offer insights into potential future research directions.

eess.IV↗

arXiv2025

GaussianAvatar-Editor: Photorealistic Animatable Gaussian Head Avatar Editor

We introduce GaussianAvatar-Editor, an innovative framework for text-driven editing of animatable Gaussian head avatars that can be fully controlled in expression, pose, and viewpoint. Unlike static 3D Gaussian editing, editing animatable 4D Gaussian avatars presents challenges related to motion occlusion and spatial-temporal inconsistency. To address these issues, we propose the Weighted Alpha Blending Equation (WABE). This function enhances the blending weight of visible Gaussians while suppressing the influence on non-visible Gaussians, effectively handling motion occlusion during editing. Furthermore, to improve editing quality and ensure 4D consistency, we incorporate conditional adversarial learning into the editing process. This strategy helps to refine the edited results and maintain consistency throughout the animation. By integrating these methods, our GaussianAvatar-Editor achieves photorealistic and consistent results in animatable 4D Gaussian editing. We conduct comprehensive experiments across various subjects to validate the effectiveness of our proposed techniques, which demonstrates the superiority of our approach over existing methods. More results and code are available at: [Project Link](https://xiangyueliu.github.io/GaussianAvatar-Editor/).

cs.CV↗

arXiv2025

COph100: A comprehensive fundus image registration dataset from infants constituting the "RIDIRP" database

Retinal image registration is vital for diagnostic therapeutic applications within the field of ophthalmology. Existing public datasets, focusing on adult retinal pathologies with high-quality images, have limited number of image pairs and neglect clinical challenges. To address this gap, we introduce COph100, a novel and challenging dataset known as the Comprehensive Ophthalmology Retinal Image Registration dataset for infants with a wide range of image quality issues constituting the public "RIDIRP" database. COph100 consists of 100 eyes, each with 2 to 9 examination sessions, amounting to a total of 491 image pairs carefully selected from the publicly available dataset. We manually labeled the corresponding ground truth image points and provided automatic vessel segmentation masks for each image. We have assessed COph100 in terms of image quality and registration outcomes using state-of-the-art algorithms. This resource enables a robust comparison of retinal registration methodologies and aids in the analysis of disease progression in infants, thereby deepening our understanding of pediatric ophthalmic conditions.

cs.CV↗

arXiv2025

Universal Features Guided Zero-Shot Category-Level Object Pose Estimation

Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits both 2D and 3D universal features of input RGB-D image to establish semantic similarity-based correspondences and can be extended to unseen categories without additional model fine-tuning. Our method begins with combining efficient 2D universal features to find sparse correspondences between intra-category objects and gets initial coarse pose. To handle the correspondence degradation of 2D universal features if the pose deviates much from the target pose, we use an iterative strategy to optimize the pose. Subsequently, to resolve pose ambiguities due to shape differences between intra-category objects, the coarse pose is refined by optimizing with dense alignment constraint of 3D universal features. Our method outperforms previous methods on the REAL275 and Wild6D benchmarks for unseen categories.

cs.CV↗

arXiv2025

AIF-SFDA: Autonomous Information Filter-driven Source-Free Domain Adaptation for Medical Image Segmentation

Decoupling domain-variant information (DVI) from domain-invariant information (DII) serves as a prominent strategy for mitigating domain shifts in the practical implementation of deep learning algorithms. However, in medical settings, concerns surrounding data collection and privacy often restrict access to both training and test data, hindering the empirical decoupling of information by existing methods. To tackle this issue, we propose an Autonomous Information Filter-driven Source-free Domain Adaptation (AIF-SFDA) algorithm, which leverages a frequency-based learnable information filter to autonomously decouple DVI and DII. Information Bottleneck (IB) and Self-supervision (SS) are incorporated to optimize the learnable frequency filter. The IB governs the information flow within the filter to diminish redundant DVI, while SS preserves DII in alignment with the specific task and image modality. Thus, the autonomous information filter can overcome domain shifts relying solely on target data. A series of experiments covering various medical image modalities and segmentation tasks were conducted to demonstrate the benefits of AIF-SFDA through comparisons with leading algorithms and ablation studies. The code is available at https://github.com/JingHuaMan/AIF-SFDA.

cs.CV↗

arXiv2024

Automated, Unsupervised, and Auto-parameterized Inference of Data Patterns and Anomaly Detection

With the advent of data-centric and machine learning (ML) systems, data quality is playing an increasingly critical role in ensuring the overall quality of software systems. Data preparation, an essential step towards high data quality, is known to be a highly effort-intensive process. Although prior studies have dealt with one of the most impacting issues, data pattern violations, these studies usually require data-specific configurations (i.e., parameterized) or use carefully curated data as learning examples (i.e., supervised), relying on domain knowledge and deep understanding of the data, or demanding significant manual effort. In this paper, we introduce RIOLU: Regex Inferencer auto-parameterized Learning with Uncleaned data. RIOLU is fully automated, automatically parameterized, and does not need labeled samples. RIOLU can generate precise patterns from datasets in various domains, with a high F1 score of 97.2%, exceeding the state-of-the-art baseline. In addition, according to our experiment on five datasets with anomalies, RIOLU can automatically estimate a data column's error rate, draw normal patterns, and predict anomalies from unlabeled data with higher performance (up to 800.4% improvement in terms of F1) than the state-of-the-art baseline, even outperforming ChatGPT in terms of both accuracy (12.3% higher F1) and efficiency (10% less inference time). A variant of RIOLU, with user guidance, can further boost its precision, with up to 37.4% improvement in terms of F1. Our evaluation in an industrial setting further demonstrates the practical benefits of RIOLU.

cs.SE↗

arXiv2024

Preprocessing is All You Need: Boosting the Performance of Log Parsers With a General Preprocessing Framework

Log parsing has been a long-studied area in software engineering due to its importance in identifying dynamic variables and constructing log templates. Prior work has proposed many statistic-based log parsers (e.g., Drain), which are highly efficient; they, unfortunately, met the bottleneck of parsing performance in comparison to semantic-based log parsers, which require labeling and more computational resources. Meanwhile, we noticed that previous studies mainly focused on parsing and often treated preprocessing as an ad hoc step (e.g., masking numbers). However, we argue that both preprocessing and parsing are essential for log parsers to identify dynamic variables: the lack of understanding of preprocessing may hinder the optimal use of parsers and future research. Therefore, our work studied existing log preprocessing approaches based on Loghub, a popular log parsing benchmark. We developed a general preprocessing framework with our findings and evaluated its impact on existing parsers. Our experiments show that the preprocessing framework significantly boosts the performance of four state-of-the-art statistic-based parsers. Drain, the best statistic-based parser, obtained improvements across all four parsing metrics (e.g., F1 score of template accuracy, FTA, increased by 108.9%). Compared to semantic-based parsers, it achieved a 28.3% improvement in grouping accuracy (GA), 38.1% in FGA, and an 18.6% increase in FTA. Our work pioneers log preprocessing and provides a generalizable framework to enhance log parsing.

cs.SE↗

arXiv2024

Exploring the Potential of Llama Models in Automated Code Refinement: A Replication Study

Code reviews are an integral part of software development and have been recognized as a crucial practice for minimizing bugs and favouring higher code quality. They serve as an important checkpoint before committing code and play an essential role in knowledge transfer between developers. However, code reviews can be time-consuming and can stale the development of large software projects. In a recent study, Guo et al. assessed how ChatGPT3.5 can help the code review process. They evaluated the effectiveness of ChatGPT in automating the code refinement tasks, where developers recommend small changes in the submitted code. While Guo et al. 's study showed promising results, proprietary models like ChatGPT pose risks to data privacy and incur extra costs for software projects. In this study, we explore alternatives to ChatGPT in code refinement tasks by including two open-source, smaller-scale large language models: CodeLlama and Llama 2 (7B parameters). Our results show that, if properly tuned, the Llama models, particularly CodeLlama, can achieve reasonable performance, often comparable to ChatGPT in automated code refinement. However, not all code refinement tasks are equally successful: tasks that require changing existing code (e.g., refactoring) are more manageable for models to automate than tasks that demand new code. Our study highlights the potential of open-source models for code refinement, offering cost-effective, privacy-conscious solutions for real-world software development.

cs.SE↗

arXiv2024

Tracing Optimization for Performance Modeling and Regression Detection

Software performance modeling plays a crucial role in developing and maintaining software systems. A performance model analytically describes the relationship between the performance of a system and its runtime activities. This process typically examines various aspects of a system's runtime behavior, such as the execution frequency of functions or methods, to forecast performance metrics like program execution time. By using performance models, developers can predict expected performance and thereby effectively identify and address unexpected performance regressions when actual performance deviates from the model's predictions. One common and precise method for capturing performance behavior is software tracing, which involves instrumenting the execution of a program, either at the kernel level (e.g., system calls) or application level (e.g., function calls). However, due to the nature of tracing, it can be highly resource-intensive, making it impractical for production environments where resources are limited. In this work, we propose statistical approaches to reduce tracing overhead by identifying and excluding performance-insensitive code regions, particularly application-level functions, from tracing while still building accurate performance models that can capture performance degradations. By selecting an optimal set of functions to be traced, we can construct optimized performance models that achieve an R-2 score of up to 99% and, sometimes, outperform full tracing models (models using non-optimized tracing data), while significantly reducing the tracing overhead by more than 80% in most cases. Our optimized performance models can also capture performance regressions in our studied programs effectively, demonstrating their usefulness in real-world scenarios. Our approach is fully automated, making it ready to be used in production environments with minimal human effort.

cs.SE↗

arXiv2024

BWT construction and search at the terabase scale

Motivation: Burrows-Wheeler Transform (BWT) is a common component in full-text indices. Initially developed for data compression, it is particularly powerful for encoding redundant sequences such as pangenome data. However, BWT construction is resource intensive and hard to be parallelized, and many methods for querying large full-text indices only report exact matches or their simple extensions. These limitations have hampered the biological applications of full-text indices. Results: We developed ropebwt3 for efficient BWT construction and query. Ropebwt3 indexed 320 assembled human genomes in 65 hours and indexed 7.3 terabases of commonly studied bacterial assemblies in 26 days. This was achieved using up to 170 gigabytes of memory at the peak without working disk space. Ropebwt3 can find maximal exact matches and inexact alignments under affine-gap penalties, and can retrieve similar local haplotypes matching a query sequence. It demonstrates the feasibility of full-text indexing at the terabase scale. Availability and implementation: https://github.com/lh3/ropebwt3

q-bio.GN↗