arXiv subjects

James Zhao

Publications and source records attributed to James Zhao.

4 recordsLinked to original sources

arXiv2026

The Impact of a Gridded Streamflow Measure on Drought Variation in the Conterminous United States

Models for droughts draw on a wide range of meteorological and hydrological inputs. Stakeholders classify droughts according to different purposes and priorities, and accordingly rely on different measures to explain and predict the onset of drought. While many meteorological inputs are available as gridded data products, hydrological streamflow measurements are often only available as point-referenced gauge measurements. This leads to an issue of misalignment for studies relying on both areal meteorological and point-referenced hydrological data. Such gauge data can also have notable spatial and/or temporal missingness. Many areas remain ungauged, and where gauges exist, equipment malfunctions cause temporal gaps. In this study, we document the value of an existing gridded streamflow measure for the conterminous United States, one which was specifically designed to match the spatio-temporal support of publicly available meteorological and ordinal drought measurements. We use this homogenized database to assess the relative importance of this streamflow measure in explaining US drought variability. This assessment first requires that we address autocorrelation and variability in the variance of observed droughts, two extensions to existing statistical methodology. After suitably controlling for both, our results show that the streamflow measure is often the most statistically important explanatory variable from among a wide set of meteorological variables. We explore the spatial variation and some drivers of this result.

stat.AP↗

arXiv2026

NestDex: Nested Policy Learning with Copilot Assisted Teleoperation for Dexterous Manipulation

Dexterous manipulation promises substantially richer robot interaction with the physical world, but learning these behaviours remains constrained by the difficulty of collecting consistent, complete-task demonstrations. Unlike parallel-jaw manipulation, dexterous tasks require the operator to coordinate arm motion with precise, contact-rich finger behaviour throughout the task. We introduce NestDex, a nested policy-learning framework that reduces this burden by using learned hand skills to assist demonstration collection. The operator controls the arm and regulates the active hand skill through a single-DoF clutch, rather than directly specifying the full finger trajectory. The inner hand policy adapts its motion from the latest proprioceptive history, while a vision-language selector activates the appropriate skill for each task stage. The resulting demonstrations train a separate outer visuomotor policy that controls both the arm and hand without the inner policies at deployment. A hand-action variational autoencoder provides compact hand-action targets while retaining arm commands in joint space. Across real-world dexterous manipulation experiments, NestDex improves demonstration reliability and efficiency, and the resulting empirical evaluations support effective autonomous policy learning. Video Demo are available at project website https://aus.bot/research/nestdex.

cs.RO↗

arXiv2026

Tri-Manual Visuomotor Imitation Learning of Robot Policies

Bimanual teleoperation provides an effective way to collect robot demonstrations, but it assumes that the operator and robot have matching numbers of simultaneous control channels. This assumption breaks for tri-manual systems: the robot can coordinate three arms concurrently, whereas a single operator can continuously control only two. Pairwise mode switching may therefore record otherwise independent motions sequentially, causing behaviour cloning to reproduce delays imposed by the interface rather than required by the task. We present TriManPolicy, a tri-manual imitation learning system that allows one operator to demonstrate behaviours for three arms. Its central component is Dependency-Aware Tri-Arm Scheduling (DATS). The key idea is to preserve the demonstrated arm motions while reconsidering when they occur. DATS retimes demonstrations offline by preserving local sensorimotor segments of fixed duration and repositioning them according to constraints on task order and arm usage that are reviewed by a human. The resulting data train a single synchronous policy for all three arms, while deployment requires neither the dependency graph nor the scheduler. Across six challenging tasks performed in the real world, policies trained on demonstrations retimed by DATS exhibit more efficient coordination while maintaining comparable observed task success. Offline analysis further shows that DATS changes the supervision across arms rather than merely removing idle periods. Project videos and additional material are available at https://aus.bot/trimanpolicy/.

cs.RO↗

arXiv2024

Fact-Aware Multimodal Retrieval Augmentation for Accurate Medical Radiology Report Generation

Multimodal foundation models hold significant potential for automating radiology report generation, thereby assisting clinicians in diagnosing cardiac diseases. However, generated reports often suffer from serious factual inaccuracy. In this paper, we introduce a fact-aware multimodal retrieval-augmented pipeline in generating accurate radiology reports (FactMM-RAG). We first leverage RadGraph to mine factual report pairs, then integrate factual knowledge to train a universal multimodal retriever. Given a radiology image, our retriever can identify high-quality reference reports to augment multimodal foundation models, thus enhancing the factual completeness and correctness of report generation. Experiments on two benchmark datasets show that our multimodal retriever outperforms state-of-the-art retrievers on both language generation and radiology-specific metrics, up to 6.5% and 2% score in F1CheXbert and F1RadGraph. Further analysis indicates that employing our factually-informed training strategy imposes an effective supervision signal, without relying on explicit diagnostic label guidance, and successfully propagates fact-aware capabilities from the multimodal retriever to the multimodal foundation model in radiology report generation.

cs.CL↗