arXiv subjects

Jiahao Tang

Publications and source records attributed to Jiahao Tang.

13 recordsLinked to original sources

arXiv2026

RynnValue: Scaling Robotic Value Foundation Models with Temporal Distance

General-purpose reward models are increasingly the bottleneck for scaling robot learning, yet the recipe for learning value-related capabilities from large-scale heterogeneous corpora remains underexplored. Existing approaches tie supervision to task-internal anchors such as preferences or normalized progress, none of which transfer cleanly across embodiments and data sources. We introduce RynnValue, an open-source value foundation model for robotic manipulation that replaces these anchors with temporal distance, the directed cost-to-go from an observation to the language-specified goal. Because temporal-distance labels can be derived directly from timestamps, RynnValue scales to over 7,000 hours and roughly 3M instruction-conditioned clips without preference or progress annotations. To make temporal-value learning reliable at scale, we combine random temporal sampling, temporal-order shuffling, and value-isolation attention, suppressing shortcuts that would leave predictions insensitive to failures and regressions. Trained without preference labels, RynnValue attains an average Kendall's tau_a of 0.675 on RBM-EVAL-OOD, surpassing the fully preference-supervised state of the art (0.655) and more than doubling a progress-only counterpart (0.292), while generalizing zero-shot to unseen tasks, embodiments, and viewpoints. Converted into dense rewards via potential-based shaping, it raises real-world policy success from 52.5% to 72.5% online and from 63.8% to 82.5% offline. These results establish temporal distance as a scalable supervision target and practical reward interface for generalist robot policies.

cs.RO↗

arXiv2026

RynnBrain 1.1: Towards More Capable and Generalizable Embodied Foundation Model

We present RynnBrain 1.1, a family of embodied foundation models spanning 2B, 9B, and 122B-A10B scales. Trained with a unified spatio-temporal and physically grounded framework, RynnBrain 1.1 supports embodied perception, spatial reasoning, localization, and planning. Compared with RynnBrain 1.0, it further introduces contact-point prediction across the model family and native 3D grounding for the 2B and 9B models, yielding representations and outputs that are more directly aligned with robot manipulation. We also develop RynnBrain-VLA with a unified cross-embodiment action space and embodiment-specific masking, and deploy it on Unitree G1, Astribot-S1, and Tianji-Wuji. RynnBrain 1.1 achieves strong results on embodied cognition, localization, and 3D grounding, with the 122B-A10B model outperforming all evaluated proprietary and open-source models on VSI-Bench, MMSI, and RefSpatial-Bench. Real-robot experiments show that RynnBrain-initialized policies outperform Qwen-based and representative generalist VLAs, while joint multi-task and multi-embodiment training improves process scores and success rates over per-task training.

cs.RO↗

arXiv2026

Residual Decoder Adapter: ID-Preserving Tokenizer Adaption for Autoregressive Text Rendering

Visual Autoregressive (AR) models generate images by predicting discrete tokens that are decoded by a visual tokenizer. Despite demonstrating strong overall image generation ability, they still underperform on text rendering with blur strokes and disrupt letter shapes. In this work, we trace this limitation to the visual tokenizer, which struggles to reconstruct fine-grained detail. Improving the tokenizer is straightforward but expensive, as it necessitates retraining both the tokenizer and the AR model. Can we improve text rendering performance of AR models without retraining the existing tokenizer and AR model? To achieve this, we propose the Residual Decoder Adapter(RDA) that upgrades an existing tokenizer post-hoc without changing its token space. Specifically, it refines the decoder output of the visual tokenizer by introducing two novel components: (i) a paired codebook that shares the token distribution with the original one; (ii) a parallel branch to learn the tiny differences (residual) between the reconstructed image and the ground-truth images in the pixel space. This residual design allows us to enhance the tokenizer non-invasively while preserving compatibility with prior AR models. RDA substantially improves text rendering significantly by a large margin. For instance, we boost finetuned Janus-Pro OCR accuracy rises from 24.52% to 58.26% (TextVisionBlend), from 12.75% to 36.81% (StyledTextSynth) on competitive TextAtlas benchmark. The code is available at https://github.com/CSU-JPG/RDA

cs.CV↗

arXiv2026

A geometry aware framework enhances noninvasive mapping of whole human brain dynamics

Non-invasive electrophysiology lacks methods that accurately reconstruct whole-brain spatiotemporal dynamics while incorporating individual cortical geometry, leaving current electroencephalography and magnetoencephalography source imaging limited by simplistic or biologically implausible priors. Here, we show that embedding participant-specific Geometric Basis Functions (GBFs), eigenmodes derived from each individual's cortical surface, provides a powerful anatomic constraint that resolves the inverse problem and improves reconstruction fidelity. The method reconstructs neural sources as linear combinations of geometric basis functions, thereby aligning source estimates with the geometric organization of neural dynamics. We validate GBF across the Meta-Source Benchmark, task-evoked data, resting-state networks, intracranial stimulation, and epilepsy data. The results demonstrate that GBF yields high localization accuracy and captures fast spatiotemporal dynamics consistent with anatomical pathways. These findings suggest that both spontaneous and evoked whole-brain activity can be described by hundreds of geometric modes, providing a compact yet accurate representation of neural sources. By linking cortical geometry to electrophysiological dynamics, GBF offers a versatile source imaging tool for both scientific and clinical applications.

q-bio.NC↗

arXiv2026

FlowInOne:Unifying Multimodal Generation as Image-in, Image-out Flow Matching

Multimodal generation has long been dominated by text-driven pipelines where language dictates vision but cannot reason or create within it. We challenge this paradigm by asking whether all modalities, including textual descriptions, spatial layouts, and editing instructions, can be unified into a single visual representation. We present FlowInOne, a framework that reformulates multimodal generation as a purely visual flow, converting all inputs into visual prompts and enabling a clean image-in, image-out pipeline governed by a single flow matching model. This vision-centric formulation naturally eliminates cross-modal alignment bottlenecks, noise scheduling, and task-specific architectural branches, unifying text-to-image generation, layout-guided editing, and visual instruction following under one coherent paradigm. To support this, we introduce VisPrompt-5M, a large-scale dataset of 5 million visual prompt pairs spanning diverse tasks including physics-aware force dynamics and trajectory prediction, alongside VP-Bench, a rigorously curated benchmark assessing instruction faithfulness, spatial precision, visual realism, and content consistency. Extensive experiments demonstrate that FlowInOne achieves state-of-the-art performance among open-source models across all unified generation tasks while remaining competitive with leading commercial systems, thereby establishing a new foundation for fully vision-centric generative modeling, in which perception and creation coexist within a unified continuous visual space. Our code and models are released on https://csu-jpg.github.io/FlowInOne.github.io/

cs.CV↗

arXiv2026

HADUA: Hierarchical Attention and Dynamic Uniform Alignment for Robust Cross-Subject Emotion Recognition

Robust cross-subject emotion recognition from multimodal physiological signals remains a challenging problem, primarily due to modality heterogeneity and inter-subject distribution shift. To tackle these challenges, we propose a novel adaptive learning framework named Hierarchical Attention and Dynamic Uniform Alignment (HADUA). Our approach unifies the learning of multimodal representations with domain adaptation. First, we design a hierarchical attention module that explicitly models intra-modal temporal dynamics and inter-modal semantic interactions (e.g., between electroencephalogram(EEG) and eye movement(EM)), yielding discriminative and semantically coherent fused features. Second, to overcome the noise inherent in pseudo-labels during adaptation, we introduce a confidence-aware Gaussian weighting scheme that smooths the supervision from target-domain samples by down-weighting uncertain instances. Third, a uniform alignment loss is employed to regularize the distribution of pseudo-labels across classes, thereby mitigating imbalance and stabilizing conditional distribution matching. Extensive experiments on multiple cross-subject emotion recognition benchmarks show that HADUA consistently surpasses existing state-of-the-art methods in both accuracy and robustness, validating its effectiveness in handling modality gaps, noisy pseudo-labels, and class imbalance. Taken together, these contributions offer a practical and generalizable solution for building robust cross-subject affective computing systems.

cs.MM↗

arXiv2025

ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for physical manipulation, particularly regarding articulated objects. Existing approaches for inferring articulation mechanisms from static observations are prone to visual ambiguity, while methods that estimate parameters from state changes typically rely on constrained settings such as fixed cameras and unobstructed views. Furthermore, inconspicuous functional elements like hidden handles are frequently missed by pure visual perception. To bridge this gap, we present ArtiSG, a framework that constructs functional 3D scene graphs by encoding human demonstrations into structured robotic memory. Our approach leverages a robust data collection pipeline utilizing a portable hardware setup to accurately track 6-DoF manipulation trajectories and estimate articulation axes, even under camera ego-motion. By integrating these kinematic priors into a hierarchical, open-vocabulary graph, our system not only models how articulated objects move but also utilizes physical interaction data to discover implicit elements. Extensive real-world experiments demonstrate that ArtiSG significantly outperforms baselines in functional element recall and articulation estimation precision. Moreover, we show that the constructed graph serves as a reliable robotic memory, effectively guiding robots to perform language-directed manipulation tasks in real-world environments containing diverse articulated objects.

cs.RO↗

arXiv2025

From Charts to Code: A Hierarchical Benchmark for Multimodal Models

We introduce Chart2Code, a new benchmark for evaluating the chart understanding and code generation capabilities of large multimodal models (LMMs). Chart2Code is explicitly designed from a user-driven perspective, capturing diverse real-world scenarios and progressively increasing task difficulty. It consists of three levels: Level 1 (Chart Reproduction) reproduces charts from a reference figure and user query; Level 2 (Chart Editing) involves complex modifications such as changing chart types or adding elements; and Level 3 (Long-Table to Chart Generation) requires models to transform long, information-dense tables into faithful charts following user instructions. To our knowledge, this is the first hierarchical benchmark that reflects practical chart2code usage while systematically scaling task complexity. In total, Chart2Code contains 2,023 tasks across 22 chart types, paired with multi-level evaluation metrics that assess both code correctness and the visual fidelity of rendered charts. We benchmark 25 state-of-the-art (SoTA) LMMs, including both proprietary and the latest open-source models such as GPT-5, Qwen2.5-VL, InternVL3/3.5, MiMo-VL, and Seed-1.6-VL. Experimental results demonstrate that even the SoTA model GPT-5 averages only 0.57 on code-based evaluation and 0.22 on chart-quality assessment across the editing tasks, underscoring the difficulty of Chart2Code. We anticipate this benchmark will drive advances in multimodal reasoning and foster the development of more robust and general-purpose LMMs. Our code and data are available on Chart2Code.

cs.SE↗

arXiv2025

SDC-Net: A Domain Adaptation Framework with Semantic-Dynamic Consistency for Cross-Subject EEG Emotion Recognition

Emotion recognition based on electroencephalography (EEG) holds significant promise for affective brain-computer interfaces (aBCIs). However, its practical deployment faces challenges due to the variability within inter-subject and the scarcity of labeled data in target domains. To overcome these limitations, we propose SDC-Net, a novel Semantic-Dynamic Consistency domain adaptation network for fully label-free cross-subject EEG emotion recognition. First, we introduce a Same-Subject Same-Trial Mixup strategy that generates augmented samples through intra-trial interpolation, enhancing data diversity while explicitly preserving individual identity to mitigate label ambiguity. Second, we construct a dynamic distribution alignment module within the Reproducing Kernel Hilbert Space (RKHS), jointly aligning marginal and conditional distributions through multi-objective kernel mean embedding, and leveraging a confidence-aware pseudo-labeling strategy to ensure stable adaptation. Third, we propose a dual-domain similarity consistency learning mechanism that enforces cross-domain structural constraints based on latent pairwise similarities, facilitating semantic boundary learning without reliance on temporal synchronization or label priors. To validate the effectiveness and robustness of the proposed SDC-Net, extensive experiments are conducted on three widely used EEG benchmark datasets: SEED, SEED-IV, and FACED. Comparative results against existing unsupervised domain adaptation methods demonstrate that SDC-Net achieves state-of-the-art performance in emotion recognition under both cross-subject and cross-session conditions. This advancement significantly improves the accuracy and generalization capability of emotion decoding, laying a solid foundation for real-world applications of personalized aBCIs. The source code is available at: https://github.com/XuanSuTrum/SDC-Net.

cs.HC↗

arXiv2025

SDA-DDA Semi-supervised Domain Adaptation with Dynamic Distribution Alignment Network For Emotion Recognition Using EEG Signals

In this paper, we focus on the challenge of individual variability in affective brain-computer interfaces (aBCI), which employs electroencephalogram (EEG) signals to monitor and recognize human emotional states, thereby facilitating the advancement of emotion-aware technologies. The variability in EEG data across individuals poses a significant barrier to the development of effective and widely applicable aBCI models. To tackle this issue, we propose a novel transfer learning framework called Semi-supervised Domain Adaptation with Dynamic Distribution Alignment (SDA-DDA). This approach aligns the marginal and conditional probability distribution of source and target domains using maximum mean discrepancy (MMD) and conditional maximum mean discrepancy (CMMD). We introduce a dynamic distribution alignment mechanism to adjust differences throughout training and enhance adaptation. Additionally, a pseudo-label confidence filtering module is integrated into the semi-supervised process to refine pseudo-label generation and improve the estimation of conditional distributions. Extensive experiments on EEG benchmark databases (SEED, SEED-IV and DEAP) validate the robustness and effectiveness of SDA-DDA. The results demonstrate its superiority over existing methods in emotion recognition across various scenarios, including cross-subject and cross-session conditions. This advancement enhances the generalization and accuracy of emotion recognition, potentially fostering the development of personalized aBCI applications. The source code is accessible at https://github.com/XuanSuTrum/SDA-DDA.

cs.HC↗

arXiv2024

MR-COGraphs: Communication-efficient Multi-Robot Open-vocabulary Mapping System via 3D Scene Graphs

Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding. However, existing map representations that support open-vocabulary queries often involve large data volumes, which becomes a bottleneck for multi-robot transmission in communication-limited environments. To address this challenge, we develop a method to construct a graph-structured 3D representation called COGraph, where nodes represent objects with semantic features and edges capture their spatial adjacency relationships. Before transmission, a data-driven feature encoder is applied to compress the feature dimensions of the COGraph. Upon receiving COGraphs from other robots, the semantic features of each node are recovered using a decoder. We also propose a feature-based approach for place recognition and translation estimation, enabling the merging of local COGraphs into a unified global map. We validate our framework on two realistic datasets and the real-world environment. The results demonstrate that, compared to existing baselines for open-vocabulary map construction, our framework reduces the data volume by over 80\% while maintaining mapping and query performance without compromise. For more details, please visit our website at https://github.com/efc-robot/MR-COGraphs.

cs.RO↗

arXiv2024

ML-Mamba: Efficient Multi-Modal Large Language Model Utilizing Mamba-2

Multimodal Large Language Models (MLLMs) have attracted much attention for their multifunctionality. However, traditional Transformer architectures incur significant overhead due to their secondary computational complexity. To address this issue, we introduce ML-Mamba, a multimodal language model, which utilizes the latest and efficient Mamba-2 model for inference. Mamba-2 is known for its linear scalability and fast processing of long sequences. We replace the Transformer-based backbone with a pre-trained Mamba-2 model and explore methods for integrating 2D visual selective scanning mechanisms into multimodal learning while also trying various visual encoders and Mamba-2 model variants. Our extensive experiments in various multimodal benchmark tests demonstrate the competitive performance of ML-Mamba and highlight the potential of state space models in multimodal tasks. The experimental results show that: (1) we empirically explore how to effectively apply the 2D vision selective scan mechanism for multimodal learning. We propose a novel multimodal connector called the Mamba-2 Scan Connector (MSC), which enhances representational capabilities. (2) ML-Mamba achieves performance comparable to state-of-the-art methods such as TinyLaVA and MobileVLM v2 through its linear sequential modeling while faster inference speed; (3) Compared to multimodal models utilizing Mamba-1, the Mamba-2-based ML-Mamba exhibits superior inference performance and effectiveness.

cs.CV↗

arXiv2022

Explore-Bench: Data Sets, Metrics and Evaluations for Frontier-based and Deep-reinforcement-learning-based Autonomous Exploration

Autonomous exploration and mapping of unknown terrains employing single or multiple robots is an essential task in mobile robotics and has therefore been widely investigated. Nevertheless, given the lack of unified data sets, metrics, and platforms to evaluate the exploration approaches, we develop an autonomous robot exploration benchmark entitled Explore-Bench. The benchmark involves various exploration scenarios and presents two types of quantitative metrics to evaluate exploration efficiency and multi-robot cooperation. Explore-Bench is extremely useful as, recently, deep reinforcement learning (DRL) has been widely used for robot exploration tasks and achieved promising results. However, training DRL-based approaches requires large data sets, and additionally, current benchmarks rely on realistic simulators with a slow simulation speed, which is not appropriate for training exploration strategies. Hence, to support efficient DRL training and comprehensive evaluation, the suggested Explore-Bench designs a 3-level platform with a unified data flow and $12 \times$ speed-up that includes a grid-based simulator for fast evaluation and efficient training, a realistic Gazebo simulator, and a remotely accessible robot testbed for high-accuracy tests in physical environments. The practicality of the proposed benchmark is highlighted with the application of one DRL-based and three frontier-based exploration approaches. Furthermore, we analyze the performance differences and provide some insights about the selection and design of exploration methods. Our benchmark is available at https://github.com/efc-robot/Explore-Bench.

cs.RO↗