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Jialing Liu

Publications and source records attributed to Jialing Liu.

11 recordsLinked to original sources

LatentOmni: Rethinking Omni-Modal Understanding via Unified Audio-Visual Latent Reasoning

Joint audio-visual reasoning is essential for omnimodal understanding, yet current multimodal large language models (MLLMs) still struggle when reasoning requires fine-grained evidence from both modalities. A central limitation is that explicit text-based chain-of-thought (CoT) compresses continuous audio-visual signals into discrete tokens, weakening temporal grounding and shifting intermediate reasoning toward language priors. We argue that a unified latent space is a better medium for such reasoning because it preserves dense sensory information while remaining compatible with autoregressive generation. Based on this insight, we propose \textbf{LatentOmni}, a cross-modal reasoning framework that interleaves textual reasoning with audio-visual latent states. LatentOmni introduces feature-level supervision to align latent reasoning states with task-relevant sensory features and uses Omni-Sync Position Embedding (OSPE) to maintain temporal consistency between latent audio and visual states. We further construct \textbf{LatentOmni-Instruct-35K}, a dataset of audio-visual interleaved reasoning trajectories for supervising latent-space reasoning. Comprehensive evaluation across multiple audio-visual reasoning benchmarks demonstrates that LatentOmni achieves the best performance among the evaluated open-source models and consistently outperforms the Explicit Text CoT baseline, supporting latent-space joint reasoning as a promising path toward stronger omnimodal understanding.

cs.CL

Pioneering Multimodal Emotion Recognition in the Era of Large Models: From Closed Sets to Open Vocabularies

Recent advances in multimodal large language models (MLLMs) have demonstrated remarkable multi- and cross-modal integration capabilities. However, their potential for fine-grained emotion understanding remains systematically underexplored. While open-vocabulary multimodal emotion recognition (MER-OV) has emerged as a promising direction to overcome the limitations of closed emotion sets, no comprehensive evaluation of MLLMs in this context currently exists. To address this, our work presents the first large-scale benchmarking study of MER-OV on the OV-MERD dataset, evaluating 19 mainstream MLLMs, including general-purpose, modality-specialized, and reasoning-enhanced architectures. Through systematic analysis of model reasoning capacity, fusion strategies, contextual utilization, and prompt design, we provide key insights into the capabilities and limitations of current MLLMs for MER-OV. Our evaluation reveals that a two-stage, trimodal (audio, video, and text) fusion approach achieves optimal performance in MER-OV, with video emerging as the most critical modality. We further identify a surprisingly narrow gap between open- and closed-source LLMs. These findings establish essential benchmarks and offer practical guidelines for advancing open-vocabulary and fine-grained affective computing, paving the way for more nuanced and interpretable emotion AI systems. Associated code will be made publicly available upon acceptance.

cs.HC

PostCam: Camera-Controllable Novel-View Video Generation with Query-Shared Cross-Attention

We propose PostCam, a streamlined framework for novel-view video generation that achieves superior detail preservation and precise camera trajectory editing in dynamic scenes. Current methods often struggle with a trade-off between pose-based control, which lacks visual detail, and rendering-based guidance, which is overly sensitive to geometric accuracy. Despite recent hybrid attempts, achieving precise motion and visual consistency remains challenging due to the lack of effective cross-modal alignment. We argue that robust control stems from the deep alignment of multimodal signals rather than increased input complexity. Our core contribution is the Query-Shared Cross-Attention mechanism, which projects 6-DoF poses and rendered features into a unified latent space. This allows the model to spontaneously achieve intrinsic consistency between motion cues and pixel-level guidance during denoising. Experiments demonstrate that PostCam maintains high-fidelity visual details while outperforming state-of-the-art methods by 20% in trajectory precision, exhibiting superior robustness in complex dynamic scenes. Our project webpage is publicly available at: https://cccqaq.github.io/PostCam.github.io/

cs.CV

Analog Beamforming Aided by Full-Dimension One-Bit Chains

This paper investigates the design of analog beamforming at the receiver in millimeter-wave (mmWave) multiple-input multiple-output (MIMO) systems, aided by full digital chains featuring 1-bit ADCs. We advocate utilizing these full digital chains to facilitate rapid channel estimation and beam acquisition for subsequent communication, even without prior knowledge of the training pilots. To balance energy consumption and implementation costs, we opt for 1-bit ADCs. We propose a two-stage maximum likelihood (ML)-based algorithm to estimate angles of arrival (AoAs) and facilitate the design of analog beamforming to maximize the received signal-to-noise ratio (SNR). We validate our proposed beamforming schemes in narrowband coherent channels through synthetic testing and in wideband coherent channels, particularly under the 3GPP clustered-delay-line (CDL)-C channel model.

eess.SP

Semantic Visual Simultaneous Localization and Mapping: A Survey

Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM cannot achieve good localization in dynamic and complex environments. Numerous publications have reported that, by combining with the semantic information with vSLAM, the semantic vSLAM systems have the capability of solving the above problems in recent years. Nevertheless, there is no comprehensive survey about semantic vSLAM. To fill the gap, this paper first reviews the development of semantic vSLAM, explicitly focusing on its strengths and differences. Secondly, we explore three main issues of semantic vSLAM: the extraction and association of semantic information, the application of semantic information, and the advantages of semantic vSLAM. Then, we collect and analyze the current state-of-the-art SLAM datasets which have been widely used in semantic vSLAM systems. Finally, we discuss future directions that will provide a blueprint for the future development of semantic vSLAM.

cs.CV

Accurate Object Association and Pose Updating for Semantic SLAM

Current pandemic has caused the medical system to operate under high load. To relieve it, robots with high autonomy can be used to effectively execute contactless operations in hospitals and reduce cross-infection between medical staff and patients. Although semantic Simultaneous Localization and Mapping (SLAM) technology can improve the autonomy of robots, semantic object association is still a problem that is worthy of being studied. The key to solving this problem is to correctly associate multiple object measurements of one object landmark by using semantic information, and to refine the pose of object landmark in real time. To this end, we propose a hierarchical object association strategy and a pose-refinement approach. The former one consists of two levels, i.e., a short-term object association and a global one. In the first level, we employ the multiple-object-tracking for short-term object association, through which the incorrect association among objects whose locations are close and appearances are similar can be avoided. Moreover, the short-term object association can provide more abundant object appearance and more robust estimation of object pose for the global object association in the second level. To refine the object pose in the map, we develop an approach to choose the optimal object pose from all object measurements associated with an object landmark. The proposed method is comprehensively evaluated on seven simulated hospital sequences1, a real hospital environment and the KITTI dataset. Experimental results show that our method has an obviously improvement in terms of robustness and accuracy for the object association and the trajectory estimation in the semantic SLAM.

cs.CV

Collaborative Visual Inertial SLAM for Multiple Smart Phones

The efficiency and accuracy of mapping are crucial in a large scene and long-term AR applications. Multi-agent cooperative SLAM is the precondition of multi-user AR interaction. The cooperation of multiple smart phones has the potential to improve efficiency and robustness of task completion and can complete tasks that a single agent cannot do. However, it depends on robust communication, efficient location detection, robust mapping, and efficient information sharing among agents. We propose a multi-intelligence collaborative monocular visual-inertial SLAM deployed on multiple ios mobile devices with a centralized architecture. Each agent can independently explore the environment, run a visual-inertial odometry module online, and then send all the measurement information to a central server with higher computing resources. The server manages all the information received, detects overlapping areas, merges and optimizes the map, and shares information with the agents when needed. We have verified the performance of the system in public datasets and real environments. The accuracy of mapping and fusion of the proposed system is comparable to VINS-Mono which requires higher computing resources.

cs.RO

Capacity-achieving Feedback Scheme for Gaussian Finite-State Markov Channels with Channel State Information

In this paper, we propose capacity-achieving communication schemes for Gaussian finite-state Markov channels (FSMCs) subject to an average channel input power constraint, under the assumption that the transmitters can have access to delayed noiseless output feedback as well as instantaneous or delayed channel state information (CSI). We show that the proposed schemes reveals connections between feedback communication and feedback control.

cs.IT

Convergence of Fundamental Limitations in Feedback Communication, Estimation, and Feedback Control over Gaussian Channels

In this paper, we establish the connections of the fundamental limitations in feedback communication, estimation, and feedback control over Gaussian channels, from a unifying perspective for information, estimation, and control. The optimal feedback communication system over a Gaussian necessarily employs the Kalman filter (KF) algorithm, and hence can be transformed into an estimation system and a feedback control system over the same channel. This follows that the information rate of the communication system is alternatively given by the decay rate of the Cramer-Rao bound (CRB) of the estimation system and by the Bode integral (BI) of the control system. Furthermore, the optimal tradeoff between the channel input power and information rate in feedback communication is alternatively characterized by the optimal tradeoff between the (causal) one-step prediction mean-square error (MSE) and (anti-causal) smoothing MSE (of an appropriate form) in estimation, and by the optimal tradeoff between the regulated output variance with causal feedback and the disturbance rejection measure (BI or degree of anti-causality) in feedback control. All these optimal tradeoffs have an interpretation as the tradeoff between causality and anti-causality. Utilizing and motivated by these relations, we provide several new results regarding the feedback codes and information theoretic characterization of KF. Finally, the extension of the finite-horizon results to infinite horizon is briefly discussed under specific dimension assumptions (the asymptotic feedback capacity problem is left open in this paper).

cs.IT

Phase Transitions on Fixed Connected Graphs and Random Graphs in the Presence of Noise

In this paper, we study the phase transition behavior emerging from the interactions among multiple agents in the presence of noise. We propose a simple discrete-time model in which a group of non-mobile agents form either a fixed connected graph or a random graph process, and each agent, taking bipolar value either +1 or -1, updates its value according to its previous value and the noisy measurements of the values of the agents connected to it. We present proofs for the occurrence of the following phase transition behavior: At a noise level higher than some threshold, the system generates symmetric behavior (vapor or melt of magnetization) or disagreement; whereas at a noise level lower than the threshold, the system exhibits spontaneous symmetry breaking (solid or magnetization) or consensus. The threshold is found analytically. The phase transition occurs for any dimension. Finally, we demonstrate the phase transition behavior and all analytic results using simulations. This result may be found useful in the study of the collective behavior of complex systems under communication constraints.

math.OC

Gaussian Channels with Feedback: Optimality, Fundamental Limitations, and Connections of Communication, Estimation, and Control

Gaussian channels with memory and with noiseless feedback have been widely studied in the information theory literature. However, a coding scheme to achieve the feedback capacity is not available. In this paper, a coding scheme is proposed to achieve the feedback capacity for Gaussian channels. The coding scheme essentially implements the celebrated Kalman filter algorithm, and is equivalent to an estimation system over the same channel without feedback. It reveals that the achievable information rate of the feedback communication system can be alternatively given by the decay rate of the Cramer-Rao bound of the associated estimation system. Thus, combined with the control theoretic characterizations of feedback communication (proposed by Elia), this implies that the fundamental limitations in feedback communication, estimation, and control coincide. This leads to a unifying perspective that integrates information, estimation, and control. We also establish the optimality of the Kalman filtering in the sense of information transmission, a supplement to the optimality of Kalman filtering in the sense of information processing proposed by Mitter and Newton. In addition, the proposed coding scheme generalizes the Schalkwijk-Kailath codes and reduces the coding complexity and coding delay. The construction of the coding scheme amounts to solving a finite-dimensional optimization problem. A simplification to the optimal stationary input distribution developed by Yang, Kavcic, and Tatikonda is also obtained. The results are verified in a numerical example.

cs.IT