arXiv subjects

Jiahao Luo

Publications and source records attributed to Jiahao Luo.

14 recordsLinked to original sources

arXiv2026

RegHead: Non-Humanoid Head Blendshapes via Feed-Forward Registration

We present RegHead, a framework for constructing semantic blendshape sets for animatable non-humanoid head avatars. With a fixed expression vocabulary, semantic blendshapes provide a low-dimensional and interpretable animation interface and support cross-identity retargeting. Building such blendshape sets remains expensive because (i) expression-consistent supervision is scarce, (ii) generated 4D assets typically lack correspondence, and (iii) facial motion is highly localized. We propose (1) a large-scale dataset of non-humanoid identities paired with a shared expression vocabulary, obtained by expanding a small artist-rigged library via fine-tuned image editing; (2) a dense stochastic anchor motion representation tailored to localized facial deformations; and (3) a fast feed-forward registration model that converts unregistered expression meshes into a corresponded blendshape basis by predicting anchor-based deformations from the neutral shape. Experiments show that our approach produces higher-fidelity expression meshes than baselines, while running orders of magnitude faster than optimization. We further demonstrate real-time retargeting from human face tracking signals to non-humanoid characters, capturing both head pose and localized facial motions. Our project page is available at https://snap-research.github.io/RegHead/.

cs.CV↗

arXiv2026

Decidability and Undecidability Results for LIA-Definable Impartial Combinatorial Games

Combinatorial game theory is a branch of mathematics and theoretical computer science that studies deterministic games with perfect information and no elements of chance. The majority of combinatorial games are impartial and formalized in linear integer arithmetic, which we call LIA-definable impartial combinatorial games (ICGs). This paper studies decidability and undecidability questions for these games. We prove that deciding whether an LIA-definable ICG is terminating or cyclic is undecidable in general, while the corresponding questions become decidable for terminating LIA-definable ICGs. We also show that deciding whether an LIA formula exactly characterizes the set of winning, losing, or draw states of an LIA-definable ICG is undecidable in general and decidable for terminating LIA-definable ICGs. For state-level questions, deciding whether a state is winning or losing remains undecidable even for terminating LIA-definable ICGs, but becomes decidable for terminating finite-depth LIA-definable ICGs. Finally, deciding whether a state is draw for an LIA-definable ICG is undecidable in general and decidable for terminating LIA-definable ICGs.

cs.GT↗

arXiv2026

Closed-Form Pose Estimation of Endoluminal Medical Devices via Gradiometer-Based Electromagnetic Localization System

Embedded magnetic tracking holds highly attractive prospects for remote navigation of endoluminal medical devices. However, existing six-degree-of-freedom pose recovery approaches often require pre-calibrated workspace field maps or iterative nonlinear optimization. This letter presents a Gradiometer-Based Electromagnetic Localization System (GELS), a closed-form tracking framework that uses a compact magnetometer array as an embedded quasi-gradiometer to estimate local magnetic fields and gradient tensors. These quantities are mapped by the Euler homogeneous relation to displacements between source and array, from which multi-source Procrustes registration recovers the array orientation and position using at least three non-collinear sources. The algorithm requires known source positions and array geometry, but no pre-calibrated workspace field maps, initial pose guesses, or calibrated excitation-source moments. The recovered pose also enables a proof-of-concept sub-level dipole localization task by serving as a mobile magnetic reference frame. Benchtop experiments across sensor-array configurations and excitation modes demonstrate sequence-averaged position errors of \SI{10.80}{\milli\meter}--\SI{15.57}{\milli\meter}, a fastest update rate of \SI{14.49}{\hertz}, and a median solver runtime of \SI{172.00}{\micro\second}. A perturbation-based error propagation analysis further identifies inter-sensor inconsistency and dipole-model mismatch as the dominant accuracy limits, thereby informing future sensor array and magnetic source design for further reducing pose-estimation error.

cs.RO↗

arXiv2026

FFAvatar: Few-Shot, Feed-Forward, and Generalizable Avatar Reconstruction

Avatar reconstruction has traditionally relied on per-subject optimization that requires hours of computation or on expensive preprocessing that limits scalability. We introduce FFAvatar, a generalizable feed-forward framework that reconstructs high-quality, animatable 3D Gaussian head avatars from few-shot unposed portrait images in seconds. FFAvatar fuses information from multiple source images into a unified canonical Gaussian representation through Multi-View Query-Former, which is animated via FLAME parameters predicted end-to-end directly from pixels, eliminating the overhead of offline FLAME extraction. We further propose a three-stage training curriculum that achieves both broad generalization and high-fidelity reconstruction: (i) scalable pretraining on extensive monocular video data with over 1M identities to learn strong generalizable priors; (ii) multi-view fine-tuning on a small but high-quality dataset of 360-degree captures to enhance geometric fidelity and extreme-view awareness; and (iii) optional personalization that adapts to specific identities for maximum fidelity within 500 optimization steps. Extensive experiments demonstrate that FFAvatar sets a new standard for identity preservation, geometric consistency, and animation fidelity. On the NeRSemble benchmark, it outperforms the state-of-the-art LAM by a substantial 5.5 PSNR gain. Furthermore, FFAvatar enables real-time deployment, reconstructing avatars in 2 seconds without personalization and 10 seconds with personalization, while supporting 49 FPS animation on a single NVIDIA A100 GPU.

cs.GR↗

arXiv2026

RigMo: Unifying Rig and Motion Learning for Generative Animation

Despite significant progress in 4D generation, rig and motion, the core structural and dynamic components of animation are typically modeled as separate problems. Existing pipelines rely on ground-truth skeletons and skinning weights for motion generation and treat auto-rigging as an independent process, undermining scalability and interpretability. We present RigMo, a unified generative framework that jointly learns rig and motion directly from raw mesh sequences, without any human-provided rig annotations. RigMo encodes per-vertex deformations into two compact latent spaces: a rig latent that decodes into explicit Gaussian bones and skinning weights, and a motion latent that produces time-varying SE(3) transformations. Together, these outputs define an animatable mesh with explicit structure and coherent motion, enabling feed-forward rig and motion inference for deformable objects. Beyond unified rig-motion discovery, we introduce a Motion-DiT model operating in RigMo's latent space and demonstrate that these structure-aware latents can naturally support downstream motion generation tasks. Experiments on DeformingThings4D, Objaverse-XL, and TrueBones demonstrate that RigMo learns smooth, interpretable, and physically plausible rigs, while achieving superior reconstruction and category-level generalization compared to existing auto-rigging and deformation baselines. RigMo establishes a new paradigm for unified, structure-aware, and scalable dynamic 3D modeling.

cs.GR↗

arXiv2025

SafeEditor: Unified MLLM for Efficient Post-hoc T2I Safety Editing

With the rapid advancement of text-to-image (T2I) models, ensuring their safety has become increasingly critical. Existing safety approaches can be categorized into training-time and inference-time methods. While inference-time methods are widely adopted due to their cost-effectiveness, they often suffer from limitations such as over-refusal and imbalance between safety and utility. To address these challenges, we propose a multi-round safety editing framework that functions as a model-agnostic, plug-and-play module, enabling efficient safety alignment for any text-to-image model. Central to this framework is MR-SafeEdit, a multi-round image-text interleaved dataset specifically constructed for safety editing in text-to-image generation. We introduce a post-hoc safety editing paradigm that mirrors the human cognitive process of identifying and refining unsafe content. To instantiate this paradigm, we develop SafeEditor, a unified MLLM capable of multi-round safety editing on generated images. Experimental results show that SafeEditor surpasses prior safety approaches by reducing over-refusal while achieving a more favorable safety-utility balance.

cs.CV↗

arXiv2025

T2Bs: Text-to-Character Blendshapes via Video Generation

We present T2Bs, a framework for generating high-quality, animatable character head morphable models from text by combining static text-to-3D generation with video diffusion. Text-to-3D models produce detailed static geometry but lack motion synthesis, while video diffusion models generate motion with temporal and multi-view geometric inconsistencies. T2Bs bridges this gap by leveraging deformable 3D Gaussian splatting to align static 3D assets with video outputs. By constraining motion with static geometry and employing a view-dependent deformation MLP, T2Bs (i) outperforms existing 4D generation methods in accuracy and expressiveness while reducing video artifacts and view inconsistencies, and (ii) reconstructs smooth, coherent, fully registered 3D geometries designed to scale for building morphable models with diverse, realistic facial motions. This enables synthesizing expressive, animatable character heads that surpass current 4D generation techniques.

cs.GR↗

arXiv2025

Topology-Inspired Morphological Descriptor for Soft Continuum Robots

This paper presents a topology-inspired morphological descriptor for soft continuum robots by combining a pseudo-rigid-body (PRB) model with Morse theory to achieve a quantitative characterization of robot morphologies. By counting critical points of directional projections, the proposed descriptor enables a discrete representation of multimodal configurations and facilitates morphological classification. Furthermore, we apply the descriptor to morphology control by formulating the target configuration as an optimization problem to compute actuation parameters that generate equilibrium shapes with desired topological features. The proposed framework provides a unified methodology for quantitative morphology description, classification, and control of soft continuum robots, with the potential to enhance their precision and adaptability in medical applications such as minimally invasive surgery and endovascular interventions.

cs.RO↗

arXiv2025

Enhancing Kinematic Performances of Soft Continuum Robots for Magnetic Actuation

Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates equilibrium computation with kinematic performances by evaluating Riemannian Jacobian spectra on the equilibrium manifold shaped by internal/external loading. The resulting framework yields a global performance functional that directly links structural parameters, actuation inputs, and the induced configuration space geometry. We apply this general framework to magnetic actuation. Analytical characterization is obtained under weak uniform fields, revealing optimal placement and orientation of the embedded magnet with invariant scale properties. To address nonlinear deformation and spatially varying fields, a two-level optimization algorithm is developed that alternates between energy based equilibrium search and gradient based structural updates. Simulations and physical experiments across uniform field, dipole field, and multi-magnet configurations demonstrate consistent structural tendencies: aligned moments favor distal or mid-distal solutions through constructive torque amplification, whereas opposing moments compress optimal designs toward proximal regions due to intrinsic cancellation zones.

cs.RO↗

arXiv2025

Snapmoji: Instant Generation of Animatable Dual-Stylized Avatars

Despite the increasing popularity of avatar systems such as Snapchat Bitmojis, existing production avatar platforms face several limitations, such as a limited number of predefined assets, tedious customization processes, and inefficient rendering requirements. Addressing these shortcomings, we introduce Snapmoji, an avatar generation system that instantly creates 3D avatars, and enables customization in a process we call dual-stylization. Snapmoji first maps a selfie of a user to a primary avatar (e.g., Bitmoji style) using a new technique we name Gaussian Domain Adaptation (GDA), then applies a secondary style (e.g., skeleton, yarn, toy) to the primary avatar, all while preserving the user's identity. The generated 3D avatars can then be rendered an animated on mobile devices at 30-40 FPS.

cs.GR↗

arXiv2025

Unveiling Ethereum's P2P Network: The Role of Chain and Client Diversity

The Ethereum network, built on the devp2p protocol stack, was designed to function as a "world computer" by supporting decentralized applications through a shared P2P infrastructure. However, the proliferation of blockchain forks has increased network diversity, complicating node discovery and reducing efficiency. Ethereum mainnet nodes cannot easily distinguish between peers from different blockchains until after establishing an expensive TCP connection, encryption, and protocol handshake. This inefficiency is further worsened by client diversity, where differences in software implementations cause protocol incompatibilities and connection failures. This paper introduces a monitoring tool that tracks devp2p message exchanges and client statuses to analyze connection dynamics and protocol variations. Our findings highlight issues such as inefficiencies in node discovery and client incompatibility, including timeouts in Geth during the discovery process. The study emphasizes the need to consider chain and client diversity when assessing the health and performance of the post-merge Ethereum network.

cs.NI↗

arXiv2024

SplatFace: Gaussian Splat Face Reconstruction Leveraging an Optimizable Surface

We present SplatFace, a novel Gaussian splatting framework designed for 3D human face reconstruction without reliance on accurate pre-determined geometry. Our method is designed to simultaneously deliver both high-quality novel view rendering and accurate 3D mesh reconstructions. We incorporate a generic 3D Morphable Model (3DMM) to provide a surface geometric structure, making it possible to reconstruct faces with a limited set of input images. We introduce a joint optimization strategy that refines both the Gaussians and the morphable surface through a synergistic non-rigid alignment process. A novel distance metric, splat-to-surface, is proposed to improve alignment by considering both the Gaussian position and covariance. The surface information is also utilized to incorporate a world-space densification process, resulting in superior reconstruction quality. Our experimental analysis demonstrates that the proposed method is competitive with both other Gaussian splatting techniques in novel view synthesis and other 3D reconstruction methods in producing 3D face meshes with high geometric precision.

cs.CV↗

arXiv2023

Disjoint Pose and Shape for 3D Face Reconstruction

Existing methods for 3D face reconstruction from a few casually captured images employ deep learning based models along with a 3D Morphable Model(3DMM) as face geometry prior. Structure From Motion(SFM), followed by Multi-View Stereo (MVS), on the other hand, uses dozens of high-resolution images to reconstruct accurate 3D faces.However, it produces noisy and stretched-out results with only two views available. In this paper, taking inspiration from both these methods, we propose an end-to-end pipeline that disjointly solves for pose and shape to make the optimization stable and accurate. We use a face shape prior to estimate face pose and use stereo matching followed by a 3DMM to solve for the shape. The proposed method achieves end-to-end topological consistency, enables iterative face pose refinement procedure, and show remarkable improvement on both quantitative and qualitative results over existing state-of-the-art methods.

cs.CV↗

arXiv2022

DuelGAN: A Duel Between Two Discriminators Stabilizes the GAN Training

In this paper, we introduce DuelGAN, a generative adversarial network (GAN) solution to improve the stability of the generated samples and to mitigate mode collapse. Built upon the Vanilla GAN's two-player game between the discriminator $D_1$ and the generator $G$, we introduce a peer discriminator $D_2$ to the min-max game. Similar to previous work using two discriminators, the first role of both $D_1$, $D_2$ is to distinguish between generated samples and real ones, while the generator tries to generate high-quality samples which are able to fool both discriminators. Different from existing methods, we introduce another game between $D_1$ and $D_2$ to discourage their agreement and therefore increase the level of diversity of the generated samples. This property alleviates the issue of early mode collapse by preventing $D_1$ and $D_2$ from converging too fast. We provide theoretical analysis for the equilibrium of the min-max game formed among $G, D_1, D_2$. We offer convergence behavior of DuelGAN as well as stability of the min-max game. It's worth mentioning that DuelGAN operates in the unsupervised setting, and the duel between $D_1$ and $D_2$ does not need any label supervision. Experiments results on a synthetic dataset and on real-world image datasets (MNIST, Fashion MNIST, CIFAR-10, STL-10, CelebA, VGG, and FFHQ) demonstrate that DuelGAN outperforms competitive baseline work in generating diverse and high-quality samples, while only introduces negligible computation cost.

cs.LG↗