arXiv subjects

Jiahao Wang

Publications and source records attributed to Jiahao Wang.

At least 109 records · Page 6Linked to original sources

arXiv2025

RaFD: Flow-Guided Radar Detection for Robust Autonomous Driving

Radar has shown strong potential for robust perception in autonomous driving; however, raw radar images are frequently degraded by noise and "ghost" artifacts, making object detection based solely on semantic features highly challenging. To address this limitation, we introduce RaFD, a radar-based object detection framework that estimates inter-frame bird's-eye-view (BEV) flow and leverages the resulting geometric cues to enhance detection accuracy. Specifically, we design a supervised flow estimation auxiliary task that is jointly trained with the detection network. The estimated flow is further utilized to guide feature propagation from the previous frame to the current one. Our flow-guided, radar-only detector achieves achieves state-of-the-art performance on the RADIATE dataset, underscoring the importance of incorporating geometric information to effectively interpret radar signals, which are inherently ambiguous in semantics.

cs.RO↗

arXiv2025

The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods

This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a Terrestrial LiDAR Scanner (TLS). The perception unit includes three synchronised global shutter colour cameras, an automotive 3D LiDAR scanner, and an inertial sensor - all precisely calibrated. We also establish benchmarks for tasks involving localisation, reconstruction, and novel-view synthesis, which enable the evaluation of Simultaneous Localisation and Mapping (SLAM) methods, Structure-from-Motion (SfM) and Multi-view Stereo (MVS) methods as well as radiance field methods such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting. To evaluate 3D reconstruction the TLS 3D models are used as ground truth. Localisation ground truth is computed by registering the mobile LiDAR scans to the TLS 3D models. Radiance field methods are evaluated not only with poses sampled from the input trajectory, but also from viewpoints that are from trajectories which are distant from the training poses. Our evaluation demonstrates a key limitation of state-of-the-art radiance field methods: we show that they tend to overfit to the training poses/images and do not generalise well to out-of-sequence poses. They also underperform in 3D reconstruction compared to MVS systems using the same visual inputs. Our dataset and benchmarks are intended to facilitate better integration of radiance field methods and SLAM systems. The raw and processed data, along with software for parsing and evaluation, can be accessed at https://dynamic.robots.ox.ac.uk/datasets/oxford-spires/.

cs.CV↗

arXiv2025

SEA: Supervised Embedding Alignment for Token-Level Visual-Textual Integration in MLLMs

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities by integrating visual and textual inputs, yet modality alignment remains one of the most challenging aspects. Current MLLMs typically rely on simple adapter architectures and pretraining approaches to bridge vision encoders with large language models (LLM), guided by image-level supervision. We identify this paradigm often leads to suboptimal alignment between modalities, significantly constraining the LLM's ability to properly interpret and reason with visual features particularly for smaller language models. This limitation degrades overall performance-particularly for smaller language models where capacity constraints are more pronounced and adaptation capabilities are limited. To address this fundamental limitation, we propose Supervised Embedding Alignment (SEA), a token-level supervision alignment method that enables more precise visual-text alignment during pretraining. SEA introduces minimal computational overhead while preserving language capabilities and substantially improving cross-modal understanding. Our comprehensive analyses reveal critical insights into the adapter's role in multimodal integration, and extensive experiments demonstrate that SEA consistently improves performance across various model sizes, with smaller models benefiting the most (average performance gain of 7.61% for Gemma-2B). This work establishes a foundation for developing more effective alignment strategies for future multimodal systems.

cs.CV↗

arXiv2025

ELV-Halluc: Benchmarking Semantic Aggregation Hallucinations in Long Video Understanding

Video multimodal large language models (Video-MLLMs) have achieved remarkable progress in video understanding. However, they remain vulnerable to hallucination-producing content inconsistent with or unrelated to video inputs. Previous video hallucination benchmarks primarily focus on short-videos. They attribute hallucinations to factors such as strong language priors, missing frames, or vision-language biases introduced by the visual encoder. While these causes indeed account for most hallucinations in short videos, they still oversimplify the cause of hallucinations. Sometimes, models generate incorrect outputs but with correct frame-level semantics. We refer to this type of hallucination as Semantic Aggregation Hallucination (SAH), which arises during the process of aggregating frame-level semantics into event-level semantic groups. Given that SAH becomes particularly critical in long videos due to increased semantic complexity across multiple events, it is essential to separate and thoroughly investigate the causes of this type of hallucination. To address the above issues, we introduce ELV-Halluc, the first benchmark dedicated to long-video hallucination, enabling a systematic investigation of SAH. Our experiments confirm the existence of SAH and show that it increases with semantic complexity. Additionally, we find that models are more prone to SAH on rapidly changing semantics. Moreover, we discuss potential approaches to mitigate SAH. We demonstrate that positional encoding strategy contributes to alleviating SAH, and further adopt DPO strategy to enhance the model's ability to distinguish semantics within and across events. To support this, we curate a dataset of 8K adversarial data pairs and achieve improvements on both ELV-Halluc and Video-MME, including a substantial 27.7% reduction in SAH ratio.

cs.CV↗

arXiv2025

A Survey on Data Selection for LLM Instruction Tuning

Instruction tuning is a vital step of training large language models (LLMs), so how to enhance the effect of instruction tuning has received increased attention. Existing works indicate that the quality of the dataset is more crucial than the quantity during instruction tuning of LLMs. Therefore, recently a lot of studies focus on exploring the methods of selecting high-quality subset from instruction datasets, aiming to reduce training costs and enhance the instruction-following capabilities of LLMs. This paper presents a comprehensive survey on data selection for LLM instruction tuning. Firstly, we introduce the wildly used instruction datasets. Then, we propose a new taxonomy of the data selection methods and provide a detailed introduction of recent advances, and the evaluation strategies and results of data selection methods are also elaborated in detail. Finally, we emphasize the open challenges and present new frontiers of this task.

cs.CL↗

arXiv2025

Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition

With the rapid advancement of autonomous driving technology, vehicle-to-everything (V2X) communication has emerged as a key enabler for extending perception range and enhancing driving safety by providing visibility beyond the line of sight. However, integrating multi-source sensor data from both ego-vehicles and infrastructure under real-world constraints, such as limited communication bandwidth and dynamic environments, presents significant technical challenges. To facilitate research in this area, we organized the End-to-End Autonomous Driving through V2X Cooperation Challenge, which features two tracks: cooperative temporal perception and cooperative end-to-end planning. Built on the UniV2X framework and the V2X-Seq-SPD dataset, the challenge attracted participation from over 30 teams worldwide and established a unified benchmark for evaluating cooperative driving systems. This paper describes the design and outcomes of the challenge, highlights key research problems including bandwidth-aware fusion, robust multi-agent planning, and heterogeneous sensor integration, and analyzes emerging technical trends among top-performing solutions. By addressing practical constraints in communication and data fusion, the challenge contributes to the development of scalable and reliable V2X-cooperative autonomous driving systems.

cs.RO↗

arXiv2025

SHALE: A Scalable Benchmark for Fine-grained Hallucination Evaluation in LVLMs

Despite rapid advances, Large Vision-Language Models (LVLMs) still suffer from hallucinations, i.e., generating content inconsistent with input or established world knowledge, which correspond to faithfulness and factuality hallucinations, respectively. Prior studies primarily evaluate faithfulness hallucination at a rather coarse level (e.g., object-level) and lack fine-grained analysis. Additionally, existing benchmarks often rely on costly manual curation or reused public datasets, raising concerns about scalability and data leakage. To address these limitations, we propose an automated data construction pipeline that produces scalable, controllable, and diverse evaluation data. We also design a hierarchical hallucination induction framework with input perturbations to simulate realistic noisy scenarios. Integrating these designs, we construct SHALE, a Scalable HALlucination Evaluation benchmark designed to assess both faithfulness and factuality hallucinations via a fine-grained hallucination categorization scheme. SHALE comprises over 30K image-instruction pairs spanning 12 representative visual perception aspects for faithfulness and 6 knowledge domains for factuality, considering both clean and noisy scenarios. Extensive experiments on over 20 mainstream LVLMs reveal significant factuality hallucinations and high sensitivity to semantic perturbations.

cs.CV↗

arXiv2025

Fitness aligned structural modeling enables scalable virtual screening with AuroBind

Most human proteins remain undrugged, over 96% of human proteins remain unexploited by approved therapeutics. While structure-based virtual screening promises to expand the druggable proteome, existing methods lack atomic-level precision and fail to predict binding fitness, limiting translational impact. We present AuroBind, a scalable virtual screening framework that fine-tunes a custom atomic-level structural model on million-scale chemogenomic data. AuroBind integrates direct preference optimization, self-distillation from high-confidence complexes, and a teacher-student acceleration strategy to jointly predict ligand-bound structures and binding fitness. The proposed models outperform state-of-the-art models on structural and functional benchmarks while enabling 100,000-fold faster screening across ultra-large compound libraries. In a prospective screen across ten disease-relevant targets, AuroBind achieved experimental hit rates of 7-69%, with top compounds reaching sub-nanomolar to picomolar potency. For the orphan GPCRs GPR151 and GPR160, AuroBind identified both agonists and antagonists with success rates of 16-30%, and functional assays confirmed GPR160 modulation in liver and prostate cancer models. AuroBind offers a generalizable framework for structure-function learning and high-throughput molecular screening, bridging the gap between structure prediction and therapeutic discovery.

cs.LG↗

arXiv2025

CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perception

Cooperative perception aims to address the inherent limitations of single-vehicle autonomous driving systems through information exchange among multiple agents. Previous research has primarily focused on single-frame perception tasks. However, the more challenging cooperative sequential perception tasks, such as cooperative 3D multi-object tracking, have not been thoroughly investigated. Therefore, we propose CoopTrack, a fully instance-level end-to-end framework for cooperative tracking, featuring learnable instance association, which fundamentally differs from existing approaches. CoopTrack transmits sparse instance-level features that significantly enhance perception capabilities while maintaining low transmission costs. Furthermore, the framework comprises two key components: Multi-Dimensional Feature Extraction, and Cross-Agent Association and Aggregation, which collectively enable comprehensive instance representation with semantic and motion features, and adaptive cross-agent association and fusion based on a feature graph. Experiments on both the V2X-Seq and Griffin datasets demonstrate that CoopTrack achieves excellent performance. Specifically, it attains state-of-the-art results on V2X-Seq, with 39.0\% mAP and 32.8\% AMOTA. The project is available at https://github.com/zhongjiaru/CoopTrack.

cs.CV↗

arXiv2025

System Report for CCL25-Eval Task 10: SRAG-MAV for Fine-Grained Chinese Hate Speech Recognition

This paper presents our system for CCL25-Eval Task 10, addressing Fine-Grained Chinese Hate Speech Recognition (FGCHSR). We propose a novel SRAG-MAV framework that synergistically integrates task reformulation(TR), Self-Retrieval-Augmented Generation (SRAG), and Multi-Round Accumulative Voting (MAV). Our method reformulates the quadruplet extraction task into triplet extraction, uses dynamic retrieval from the training set to create contextual prompts, and applies multi-round inference with voting to improve output stability and performance. Our system, based on the Qwen2.5-7B model, achieves a Hard Score of 26.66, a Soft Score of 48.35, and an Average Score of 37.505 on the STATE ToxiCN dataset, significantly outperforming baselines such as GPT-4o (Average Score 15.63) and fine-tuned Qwen2.5-7B (Average Score 35.365). The code is available at https://github.com/king-wang123/CCL25-SRAG-MAV.

cs.CL↗

arXiv2025

DynamicID: Zero-Shot Multi-ID Image Personalization with Flexible Facial Editability

Recent advances in text-to-image generation have driven interest in generating personalized human images that depict specific identities from reference images. Although existing methods achieve high-fidelity identity preservation, they are generally limited to single-ID scenarios and offer insufficient facial editability. We present DynamicID, a tuning-free framework that inherently facilitates both single-ID and multi-ID personalized generation with high fidelity and flexible facial editability. Our key innovations include: 1) Semantic-Activated Attention (SAA), which employs query-level activation gating to minimize disruption to the base model when injecting ID features and achieve multi-ID personalization without requiring multi-ID samples during training. 2) Identity-Motion Reconfigurator (IMR), which applies feature-space manipulation to effectively disentangle and reconfigure facial motion and identity features, supporting flexible facial editing. 3) a task-decoupled training paradigm that reduces data dependency, together with VariFace-10k, a curated dataset of 10k unique individuals, each represented by 35 distinct facial images. Experimental results demonstrate that DynamicID outperforms state-of-the-art methods in identity fidelity, facial editability, and multi-ID personalization capability. Our code will be released at https://github.com/ByteCat-bot/DynamicID.

cs.CV↗

arXiv2025

Function-to-Style Guidance of LLMs for Code Translation

Large language models (LLMs) have made significant strides in code translation tasks. However, ensuring both the correctness and readability of translated code remains a challenge, limiting their effective adoption in real-world software development. In this work, we propose F2STrans, a function-to-style guiding paradigm designed to progressively improve the performance of LLMs in code translation. Our approach comprises two key stages: (1) Functional learning, which optimizes translation correctness using high-quality source-target code pairs mined from online programming platforms, and (2) Style learning, which improves translation readability by incorporating both positive and negative style examples. Additionally, we introduce a novel code translation benchmark that includes up-to-date source code, extensive test cases, and manually annotated ground-truth translations, enabling comprehensive functional and stylistic evaluations. Experiments on both our new benchmark and existing datasets demonstrate that our approach significantly improves code translation performance. Notably, our approach enables Qwen-1.5B to outperform prompt-enhanced Qwen-32B and GPT-4 on average across 20 diverse code translation scenarios.

cs.AI↗

arXiv2025

Stepping Out of Similar Semantic Space for Open-Vocabulary Segmentation

Open-vocabulary segmentation aims to achieve segmentation of arbitrary categories given unlimited text inputs as guidance. To achieve this, recent works have focused on developing various technical routes to exploit the potential of large-scale pre-trained vision-language models and have made significant progress on existing benchmarks. However, we find that existing test sets are limited in measuring the models' comprehension of ``open-vocabulary" concepts, as their semantic space closely resembles the training space, even with many overlapping categories. To this end, we present a new benchmark named OpenBench that differs significantly from the training semantics. It is designed to better assess the model's ability to understand and segment a wide range of real-world concepts. When testing existing methods on OpenBench, we find that their performance diverges from the conclusions drawn on existing test sets. In addition, we propose a method named OVSNet to improve the segmentation performance for diverse and open scenarios. Through elaborate fusion of heterogeneous features and cost-free expansion of the training space, OVSNet achieves state-of-the-art results on both existing datasets and our proposed OpenBench. Corresponding analysis demonstrate the soundness and effectiveness of our proposed benchmark and method.

cs.CV↗

arXiv2025

SceneCrafter: Controllable Multi-View Driving Scene Editing

Simulation is crucial for developing and evaluating autonomous vehicle (AV) systems. Recent literature builds on a new generation of generative models to synthesize highly realistic images for full-stack simulation. However, purely synthetically generated scenes are not grounded in reality and have difficulty in inspiring confidence in the relevance of its outcomes. Editing models, on the other hand, leverage source scenes from real driving logs, and enable the simulation of different traffic layouts, behaviors, and operating conditions such as weather and time of day. While image editing is an established topic in computer vision, it presents fresh sets of challenges in driving simulation: (1) the need for cross-camera 3D consistency, (2) learning ``empty street" priors from driving data with foreground occlusions, and (3) obtaining paired image tuples of varied editing conditions while preserving consistent layout and geometry. To address these challenges, we propose SceneCrafter, a versatile editor for realistic 3D-consistent manipulation of driving scenes captured from multiple cameras. We build on recent advancements in multi-view diffusion models, using a fully controllable framework that scales seamlessly to multi-modality conditions like weather, time of day, agent boxes and high-definition maps. To generate paired data for supervising the editing model, we propose a novel framework on top of Prompt-to-Prompt to generate geometrically consistent synthetic paired data with global edits. We also introduce an alpha-blending framework to synthesize data with local edits, leveraging a model trained on empty street priors through novel masked training and multi-view repaint paradigm. SceneCrafter demonstrates powerful editing capabilities and achieves state-of-the-art realism, controllability, 3D consistency, and scene editing quality compared to existing baselines.

cs.CV↗

arXiv2025

EchoShot: Multi-Shot Portrait Video Generation

Video diffusion models substantially boost the productivity of artistic workflows with high-quality portrait video generative capacity. However, prevailing pipelines are primarily constrained to single-shot creation, while real-world applications urge for multiple shots with identity consistency and flexible content controllability. In this work, we propose EchoShot, a native and scalable multi-shot framework for portrait customization built upon a foundation video diffusion model. To start with, we propose shot-aware position embedding mechanisms within video diffusion transformer architecture to model inter-shot variations and establish intricate correspondence between multi-shot visual content and their textual descriptions. This simple yet effective design enables direct training on multi-shot video data without introducing additional computational overhead. To facilitate model training within multi-shot scenario, we construct PortraitGala, a large-scale and high-fidelity human-centric video dataset featuring cross-shot identity consistency and fine-grained captions such as facial attributes, outfits, and dynamic motions. To further enhance applicability, we extend EchoShot to perform reference image-based personalized multi-shot generation and long video synthesis with infinite shot counts. Extensive evaluations demonstrate that EchoShot achieves superior identity consistency as well as attribute-level controllability in multi-shot portrait video generation. Notably, the proposed framework demonstrates potential as a foundational paradigm for general multi-shot video modeling.

cs.CV↗

arXiv2025

Mamba-R: Vision Mamba ALSO Needs Registers

Similar to Vision Transformers, this paper identifies artifacts also present within the feature maps of Vision Mamba. These artifacts, corresponding to high-norm tokens emerging in low-information background areas of images, appear much more severe in Vision Mamba -- they exist prevalently even with the tiny-sized model and activate extensively across background regions. To mitigate this issue, we follow the prior solution of introducing register tokens into Vision Mamba. To better cope with Mamba blocks' uni-directional inference paradigm, two key modifications are introduced: 1) evenly inserting registers throughout the input token sequence, and 2) recycling registers for final decision predictions. We term this new architecture Mamba-R. Qualitative observations suggest, compared to vanilla Vision Mamba, Mamba-R's feature maps appear cleaner and more focused on semantically meaningful regions. Quantitatively, Mamba-R attains stronger performance and scales better. For example, on the ImageNet benchmark, our base-size Mamba-R attains 83.0% accuracy, significantly outperforming Vim-B's 81.8%; furthermore, we provide the first successful scaling to the large model size (i.e., with 341M parameters), attaining a competitive accuracy of 83.6% (84.5% if finetuned with 384x384 inputs). Additional validation on the downstream semantic segmentation task also supports Mamba-R's efficacy. Code is available at https://github.com/wangf3014/Mamba-Reg.

cs.CV↗

arXiv2025

EfficientQAT: Efficient Quantization-Aware Training for Large Language Models

Large language models (LLMs) are crucial in modern natural language processing and artificial intelligence. However, they face challenges in managing their significant memory requirements. Although quantization-aware training (QAT) offers a solution by reducing memory consumption through low-bit representations with minimal accuracy loss, it is impractical due to substantial training resources. To address this, we propose Efficient Quantization-Aware Training (EfficientQAT), a more feasible QAT algorithm. EfficientQAT involves two consecutive phases: Block-wise training of all parameters (Block-AP) and end-to-end training of quantization parameters (E2E-QP). To the best of our knowledge, Block-AP is the first method to enable direct training of all parameters in a block-wise manner, reducing accuracy loss in low-bit scenarios by enhancing the solution space during optimization. E2E-QP then trains only the quantization parameters (step sizes) end-to-end, further improving the performance of quantized models by considering interactions among all sub-modules. Extensive experiments demonstrate that EfficientQAT outperforms previous quantization methods across a range of models, including base LLMs, instruction-tuned LLMs, and multimodal LLMs, with scales from 7B to 70B parameters at various quantization bits. For instance, EfficientQAT obtains a 2-bit Llama-2-70B model on a single A100-80GB GPU in 41 hours, with less than 3 points accuracy degradation compared to the full precision (69.48 vs. 72.41). Code is available at https://github.com/OpenGVLab/EfficientQAT.

cs.LG↗

arXiv2025

Koala-36M: A Large-scale Video Dataset Improving Consistency between Fine-grained Conditions and Video Content

With the continuous progress of visual generation technologies, the scale of video datasets has grown exponentially. The quality of these datasets plays a pivotal role in the performance of video generation models. We assert that temporal splitting, detailed captions, and video quality filtering are three crucial determinants of dataset quality. However, existing datasets exhibit various limitations in these areas. To address these challenges, we introduce Koala-36M, a large-scale, high-quality video dataset featuring accurate temporal splitting, detailed captions, and superior video quality. The essence of our approach lies in improving the consistency between fine-grained conditions and video content. Specifically, we employ a linear classifier on probability distributions to enhance the accuracy of transition detection, ensuring better temporal consistency. We then provide structured captions for the splitted videos, with an average length of 200 words, to improve text-video alignment. Additionally, we develop a Video Training Suitability Score (VTSS) that integrates multiple sub-metrics, allowing us to filter high-quality videos from the original corpus. Finally, we incorporate several metrics into the training process of the generation model, further refining the fine-grained conditions. Our experiments demonstrate the effectiveness of our data processing pipeline and the quality of the proposed Koala-36M dataset. Our dataset and code have been released at https://koala36m.github.io/.

cs.CV↗