arXiv subjects

Jiazheng Wang

Publications and source records attributed to Jiazheng Wang.

At least 19 recordsLinked to original sources

arXiv2026

KUPAS MASTER: Distilling the Tacit Expertise of Master Practitioners into Agent-Ready Experience Corpora

Experienced professionals know more than just facts and conclusions. They know which cues matter, why a judgment is reasonable, and which action to take. Routine work records often leave out this tacit knowledge, making it difficult for Large Language Model (LLM) agents to use professional experience effectively. We introduce KUPAS MASTER, an experience engineering platform built around nine-layer cognitive corpus construction. It turns heterogeneous work records and practitioner interviews into traceable, reusable experience corpora for agents. Six case elements preserve the task process: context, cues, judgment, action, boundaries, and outcomes. Nine-layer cognitive corpus construction organizes tacit experience along nine extraction dimensions and stores the resulting assets in six libraries: rules, constraints, best practices, negative examples, corner cases, and skills. Semantic alignment, individual experience distillation, organizational consolidation, and cross-review preserve source evidence, conditions of use, and unresolved disagreements. The platform packages these assets into callable skills with explicit inputs, steps, dependencies, and stopping conditions, connecting experience collection to task execution and evaluation feedback. Using authorized samples from 20 randomly selected practitioners, the platform processed 1,576 source files into 23,024 individual experience records and 13,113 organizational assets. The evaluation spans multiple professional domains. Under common task inputs and scoring criteria, the base model, raw corpus retrieval-augmented generation (RAG), and KUPAS MASTER agent scored 70.63, 79.75, and 89.58, respectively. The KUPAS MASTER agent improved on raw-corpus RAG in all seven scoring dimensions. The platform provides a practical path from individual tacit experience to organizational knowledge and agent capabilities.

cs.AI↗

arXiv2026

Amortized Probabilistic Retrieval of Atmospheric CO2 from OCO-2 Spectra Using Deep Learning with Laplace Approximations and Normalizing Flows

Space-based monitoring of atmospheric carbon dioxide (CO$_2$) constrains the global carbon budget. NASA's Orbiting Carbon Observatory-2 (OCO-2) estimates column-averaged dry-air mole fractions of CO$_2$ (XCO$_2$) from high-resolution spectra, but operational retrievals are computationally expensive and impose stringent Gaussianity assumptions on the retrieved posterior. We present a deep learning framework that addresses both through amortized probabilistic inference. Lacking ground truth for real observations, we train and evaluate on a high-fidelity OCO-2 simulation ensemble with calibrated forward-model errors, comparing against the version-10 ACOS full-physics retrieval on the same radiances. Our architecture encodes each spectral band separately and estimates posteriors of the full CO$_2$ column, or summaries thereof, with Laplace approximations and conditional normalizing flows. Once trained, inference costs milliseconds per sounding rather than minutes, and calibrated posteriors are attainable at that cost. Trained on simulations that explicitly include forward-model discrepancy, our retrievals are more accurate than the operational one for XCO$_2$ on both data partitions we consider, and competitive on profiles. The flow represents asymmetric posteriors that a Gaussian cannot, a gain attributable to shape rather than scale, and its advantage in predictive density persists where its accuracy advantage does not. These results are established on a land-only ensemble against one configuration of the operational algorithm. On reference soundings withheld from training and on two unseen months the XCO$_2$ and density advantages persist while calibration degrades under sparsely sampled observing conditions, pointing to the diversity of the simulated scene population rather than the method as the main obstacle.

cs.LG↗

arXiv2026

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation

Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers improve generalization compared with rule-based and analytic approaches, but most are trained for individual tasks and remain difficult to reuse across procedures. Vision-Language-Action (VLA) models provide a unified framework that integrates visual perception, language grounding, and action generation, offering a promising path toward more composable surgical autonomy. However, existing VLA policies rely on fixed-length open-loop action sequences, where changing scene conditions can lead to accumulated errors and potential risks in surgical manipulation. To mitigate this issue, we formulate surgical VLA deployment as an adaptive execution-horizon decision problem and propose Trajectory Divergence Horizon Decision (TDHD), a test-time mechanism that estimates step-wise action reliability by measuring the divergence between two flow-matching-generated trajectories under small noise perturbations and truncates execution using a dual-threshold rule to trigger timely replanning. We further establish a real-world da Vinci-like dual-arm benchmark with synchronized multi-view perception and language instructions, and collect 600 teleoperated demonstrations across needle (reach, pick, regrasp) and tissue (reach, lift, resection) manipulation suites. On real hardware with 20 trials per task setting, TDHD consistently improves performance over the latest VLA baselines: success increases from 55\% to 60\% for needle manipulation and from 55\% to 80\% for tissue manipulation, with the largest gains observed in the final manipulation stages. These results highlight the importance of adaptive execution control for reliable deployment of VLA models in surgical robotic manipulation.

cs.RO↗

arXiv2026

MTSSL: Meta-Thresholding Semi-Supervised Learning

A large body of Semi-supervised Learning~(SSL) algorithms encounter the threshold $τ$ to select pseudo-labels. The value of $τ$ across different SSL algorithms can vary depending on the learning perspective, yet they may achieve similar performance. It motivates us to establish a unified theoretical framework to explain the role of $τ$ in SSL. We statistically explained that the unsupervised loss is affected independently by correct and incorrect pseudo-labels, while $τ$ adjusts their numbers to balance the corresponding error term. This inherent trade-off indicates that SSL can reach the same loss with varying $τ$, precise optimal values of $τ$ during training may be unnecessary. With this, we treat $τ$ as an updatable parameter and optimize it via differentiation; the new policy is named \textbf{Meta-Thresholding Semi-Supervised Learning (MTSSL)}. Extensive experiments demonstrate the superior performance of MTSSL. We observe that the accuracy curves of SSL algorithms can overlap completely even when the values of $τ$ differ significantly, which supports our theoretical framework and indicates that the selection of $τ$ can be relaxed in the future design of SSL algorithms.

stat.ML↗

arXiv2026

SurgVLA-Bench: Towards Evaluating Vision-Language-Action Models for Laparoscopic Surgical Robotics

Vision-Language-Action (VLA) models represent a promising direction for embodied intelligence in surgical robotics. Despite the prevalence of VLA benchmarks for general robotics, standardized evaluation platforms specifically designed for surgical contexts remain absent. To address this limitation, we present SurgVLA-Bench, the first comprehensive benchmark for evaluating VLA models in laparoscopic surgical robotics. Leveraging the SurRoL simulation platform, we construct a hierarchical task taxonomy ranging from atomic actions to complete surgical procedures, complemented by a multi-dimensional evaluation framework assessing action accuracy and semantic consistency. We then systematically evaluate two representative paradigms, including autoregressive models such as OpenVLA, and flow matching models such as $π_{0}$, $π_{0.5}$, and SmolVLA. Our experiments show that autoregressive models tend to excel in semantic understanding, while flow matching models often achieve higher task precision but may face generalization trade-offs. However, even the best-performing models remain far from satisfactory, as the constrained endoscopic field of view, restricted viewing angles, and frequent occlusions persist as fundamental physical bottlenecks. The code and data are available at https://github.com/VCL-HNU/SurgVLA

cs.AI↗

arXiv2026

GeoCFNet: Geometry-Aware Confidence Field Network for Robot-Assisted Endoscopic Submucosal Dissection

Advanced surgical robotics has made robot-assisted endoscopic submucosal dissection (ESD) a promising approach for the en-bloc resection of large lesions, with the potential to reduce recurrence and improve long-term outcomes. However, the technical complexity and risk of complications in ESD demand stable and precise visual guidance to maintain an accurate dissection corridor and a safe tissue margin. Dense confidence fields provide an effective representation for this purpose by describing both the preferred dissection region and its spatial transition to surrounding tissue. However, reliable confidence field estimation remains challenging in dynamic endoscopic scenes due to smoke, specular highlights, tissue deformation, weak texture, and the thin geometric structure of the target region. To address these challenges, we formulate dissection guidance as a geometry-aware confidence field estimation problem and propose GeoCFNet, a geometry-aware confidence field network built on a pretrained DINOv3 backbone. GeoCFNet integrates a Token-Differentiated Fusion module to aggregate class-token context with dense patch representations, a SegFormer decoder for confidence regression, and Geometry-Aware Spatial Regularization (GASR) to preserve spatial coherence and local geometric transitions. Experimental results show that GeoCFNet achieves RMSE 0.0480, PSNR 27.1995, SSIM 0.3397, and CC 0.2466, indicating accurate and geometrically stable confidence field estimation for robot-assisted ESD guidance.

cs.CV↗

arXiv2026

A Step to Decouple Optimization in 3DGS

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time novel view synthesis. As an explicit representation optimized through gradient propagation among primitives, optimization widely accepted in deep neural networks (DNNs) is actually adopted in 3DGS, such as synchronous weight updating and Adam with the adaptive gradient. However, considering the physical significance and specific design in 3DGS, there are two overlooked details in the optimization of 3DGS: (i) update step coupling, which induces optimizer state rescaling and costly attribute updates outside the viewpoints, and (ii) gradient coupling in the moment, which may lead to under- or over-effective regularization. Nevertheless, such a complex coupling is under-explored. After revisiting the optimization of 3DGS, we take a step to decouple it and recompose the process into: Sparse Adam, Re-State Regularization and Decoupled Attribute Regularization. Taking a large number of experiments under the 3DGS and 3DGS-MCMC frameworks, our work provides a deeper understanding of these components. Finally, based on the empirical analysis, we re-design the optimization and propose AdamW-GS by re-coupling the beneficial components, under which better optimization efficiency and representation effectiveness are achieved simultaneously.

cs.CV↗

arXiv2026

Can Protective Watermarking Safeguard the Copyright of 3D Gaussian Splatting?

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for 3D scenes, widely adopted due to its exceptional efficiency and high-fidelity visual quality. Given the significant value of 3DGS assets, recent works have introduced specialized watermarking schemes to ensure copyright protection and ownership verification. However, can existing 3D Gaussian watermarking approaches genuinely guarantee robust protection of the 3D assets? In this paper, for the first time, we systematically explore and validate possible vulnerabilities of 3DGS watermarking frameworks. We demonstrate that conventional watermark removal techniques designed for 2D images do not effectively generalize to the 3DGS scenario due to the specialized rendering pipeline and unique attributes of each gaussian primitives. Motivated by this insight, we propose GSPure, the first watermark purification framework specifically for 3DGS watermarking representations. By analyzing view-dependent rendering contributions and exploiting geometrically accurate feature clustering, GSPure precisely isolates and effectively removes watermark-related Gaussian primitives while preserving scene integrity. Extensive experiments demonstrate that our GSPure achieves the best watermark purification performance, reducing watermark PSNR by up to 16.34dB while minimizing degradation to original scene fidelity with less than 1dB PSNR loss. Moreover, it consistently outperforms existing methods in both effectiveness and generalization. Our code is available at https://github.com/insightlab-CG-3DV/GSPure.

cs.CV↗

arXiv2026

Unsupervised MR-US Multimodal Image Registration with Multilevel Correlation Pyramidal Optimization

Surgical navigation based on multimodal image registration has played a significant role in providing intraoperative guidance to surgeons by showing the relative position of the target area to critical anatomical structures during surgery. However, due to the differences between multimodal images and intraoperative image deformation caused by tissue displacement and removal during the surgery, effective registration of preoperative and intraoperative multimodal images faces significant challenges. To address the multimodal image registration challenges in Learn2Reg 2025, an unsupervised multimodal medical image registration method based on Multilevel Correlation Pyramidal Optimization (MCPO) is designed to solve these problems. First, the features of each modality are extracted based on the modality independent neighborhood descriptor, and the multimodal images is mapped to the feature space. Second, a multilevel pyramidal fusion optimization mechanism is designed to achieve global optimization and local detail complementation of the displacement field through dense correlation analysis and weight-balanced coupled convex optimization for input features at different scales. Our method focuses on the ReMIND2Reg task in Learn2Reg 2025. Based on the results, our method achieved the first place in the validation phase and test phase of ReMIND2Reg. The MCPO is also validated on the Resect dataset, achieving an average TRE of 1.798 mm. This demonstrates the broad applicability of our method in preoperative-to-intraoperative image registration. The code is available at https://github.com/wjiazheng/MCPO.

cs.CV↗

arXiv2026

GeoLanG: Geometry-Aware Language-Guided Grasping with Unified RGB-D Multimodal Learning

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing methods often rely on multi-stage pipelines that separate object perception and grasping, which leads to limited cross-modal fusion, redundant computation, and poor generalization in cluttered, occluded, or low-texture scenes. To address these limitations, we propose GeoLanG, an end-to-end multi-task framework built upon the CLIP architecture that unifies visual and linguistic inputs into a shared representation space for robust semantic alignment and improved generalization. To enhance target discrimination under occlusion and low-texture conditions, we explore a more effective use of depth information through the Depth-guided Geometric Module (DGGM), which converts depth into explicit geometric priors and injects them into the attention mechanism without additional computational overhead. In addition, we propose Adaptive Dense Channel Integration, which adaptively balances the contributions of multi-layer features to produce more discriminative and generalizable visual representations. Extensive experiments on the OCID-VLG dataset, as well as in both simulation and real-world hardware, demonstrate that GeoLanG enables precise and robust language-guided grasping in complex, cluttered environments, paving the way toward more reliable multimodal robotic manipulation in real-world human-centric settings.

cs.RO↗

arXiv2025

ShorterBetter: Guiding Reasoning Models to Find Optimal Inference Length for Efficient Reasoning

Recent models such as OpenAI o1 and DeepSeek-R1 have demonstrated strong performance on reasoning-intensive tasks by generating extended Chain-of-Thought (CoT) traces. While longer reasoning helps with thorough exploration of solution paths for complex problems, it also often leads to inefficient and redundant outputs--a phenomenon commonly described as overthinking. In this paper, we propose ShorterBetter, a simple yet effective reinforcement learning method that enables reasoning models to learn their own optimal CoT lengths without manual supervision. We define the Sample Optimal Length (SOL) as the length of the shortest correct response among multiple generations, which serves as a dynamic reward signal to guide the model toward efficient reasoning. Applied to DeepSeek-Distill-Qwen-1.5B/7B as base models, ShorterBetter achieves 50%-80% reduction in output lengths in both in-domain and out-of-domain reasoning tasks while maintaining accuracy. Our reasoning trace analysis shows that ShorterBetter refines the structure of the reasoning traces by reducing unnecessary repetition, excessive self-verification, and over-exploration of alternatives.

cs.AI↗

arXiv2025

SAMIR, an efficient registration framework via robust feature learning from SAM

Image registration is a fundamental task in medical image analysis. Deformations are often closely related to the morphological characteristics of tissues, making accurate feature extraction crucial. Recent weakly supervised methods improve registration by incorporating anatomical priors such as segmentation masks or landmarks, either as inputs or in the loss function. However, such weak labels are often not readily available, limiting their practical use. Motivated by the strong representation learning ability of visual foundation models, this paper introduces SAMIR, an efficient medical image registration framework that utilizes the Segment Anything Model (SAM) to enhance feature extraction. SAM is pretrained on large-scale natural image datasets and can learn robust, general-purpose visual representations. Rather than using raw input images, we design a task-specific adaptation pipeline using SAM's image encoder to extract structure-aware feature embeddings, enabling more accurate modeling of anatomical consistency and deformation patterns. We further design a lightweight 3D head to refine features within the embedding space, adapting to local deformations in medical images. Additionally, we introduce a Hierarchical Feature Consistency Loss to guide coarse-to-fine feature matching and improve anatomical alignment. Extensive experiments demonstrate that SAMIR significantly outperforms state-of-the-art methods on benchmark datasets for both intra-subject cardiac image registration and inter-subject abdomen CT image registration, achieving performance improvements of 2.68% on ACDC and 6.44% on the abdomen dataset. The source code will be publicly available on GitHub following the acceptance of this paper.

cs.CV↗

arXiv2025

Gaussian Primitive Optimized Deformable Retinal Image Registration

Deformable retinal image registration is notoriously difficult due to large homogeneous regions and sparse but critical vascular features, which cause limited gradient signals in standard learning-based frameworks. In this paper, we introduce Gaussian Primitive Optimization (GPO), a novel iterative framework that performs structured message passing to overcome these challenges. After an initial coarse alignment, we extract keypoints at salient anatomical structures (e.g., major vessels) to serve as a minimal set of descriptor-based control nodes (DCN). Each node is modelled as a Gaussian primitive with trainable position, displacement, and radius, thus adapting its spatial influence to local deformation scales. A K-Nearest Neighbors (KNN) Gaussian interpolation then blends and propagates displacement signals from these information-rich nodes to construct a globally coherent displacement field; focusing interpolation on the top (K) neighbors reduces computational overhead while preserving local detail. By strategically anchoring nodes in high-gradient regions, GPO ensures robust gradient flow, mitigating vanishing gradient signal in textureless areas. The framework is optimized end-to-end via a multi-term loss that enforces both keypoint consistency and intensity alignment. Experiments on the FIRE dataset show that GPO reduces the target registration error from 6.2\,px to ~2.4\,px and increases the AUC at 25\,px from 0.770 to 0.938, substantially outperforming existing methods. The source code can be accessed via https://github.com/xintian-99/GPOreg.

cs.CV↗

arXiv2025

Geo-RepNet: Geometry-Aware Representation Learning for Surgical Phase Recognition in Endoscopic Submucosal Dissection

Surgical phase recognition plays a critical role in developing intelligent assistance systems for minimally invasive procedures such as Endoscopic Submucosal Dissection (ESD). However, the high visual similarity across different phases and the lack of structural cues in RGB images pose significant challenges. Depth information offers valuable geometric cues that can complement appearance features by providing insights into spatial relationships and anatomical structures. In this paper, we pioneer the use of depth information for surgical phase recognition and propose Geo-RepNet, a geometry-aware convolutional framework that integrates RGB image and depth information to enhance recognition performance in complex surgical scenes. Built upon a re-parameterizable RepVGG backbone, Geo-RepNet incorporates the Depth-Guided Geometric Prior Generation (DGPG) module that extracts geometry priors from raw depth maps, and the Geometry-Enhanced Multi-scale Attention (GEMA) to inject spatial guidance through geometry-aware cross-attention and efficient multi-scale aggregation. To evaluate the effectiveness of our approach, we construct a nine-phase ESD dataset with dense frame-level annotations from real-world ESD videos. Extensive experiments on the proposed dataset demonstrate that Geo-RepNet achieves state-of-the-art performance while maintaining robustness and high computational efficiency under complex and low-texture surgical environments.

cs.CV↗

arXiv2025

Enhancing Transformers for Generalizable First-Order Logical Entailment

Transformers, as the fundamental deep learning architecture, have demonstrated great capability in reasoning. This paper studies the generalizable first-order logical reasoning ability of transformers with their parameterized knowledge and how to improve it. Transformers' capability of first-order reasoning is further captured by whether they can conduct first-order logical entailment, which is quantitatively measured by their performance in answering knowledge graph queries. We establish the connections between (1) two types of distribution shifts studied in out-of-distribution generalization and (2) unseen knowledge and query settings discussed in the task of knowledge graph query answering, which makes it possible to characterize the fine-grained generalizability. Results on our comprehensive dataset showed that transformers \textit{outperform} previous methods designed particularly for this task and provided detailed empirical evidence about the impact of the input query syntax, token embedding, and transformer architectures on their reasoning capability. Interestingly, our results revealed the mismatch of positional encoding and other design choices of transformer architectures in previous practices. Motivated by this, we propose TEGA, a logic-aware architecture that significantly improves the performance in generalizable first-order logical entailment.

cs.CL↗

arXiv2025

VoxelOpt: Voxel-Adaptive Message Passing for Discrete Optimization in Deformable Abdominal CT Registration

Recent developments in neural networks have improved deformable image registration (DIR) by amortizing iterative optimization, enabling fast and accurate DIR results. However, learning-based methods often face challenges with limited training data, large deformations, and tend to underperform compared to iterative approaches when label supervision is unavailable. While iterative methods can achieve higher accuracy in such scenarios, they are considerably slower than learning-based methods. To address these limitations, we propose VoxelOpt, a discrete optimization-based DIR framework that combines the strengths of learning-based and iterative methods to achieve a better balance between registration accuracy and runtime. VoxelOpt uses displacement entropy from local cost volumes to measure displacement signal strength at each voxel, which differs from earlier approaches in three key aspects. First, it introduces voxel-wise adaptive message passing, where voxels with lower entropy receives less influence from their neighbors. Second, it employs a multi-level image pyramid with 27-neighbor cost volumes at each level, avoiding exponential complexity growth. Third, it replaces hand-crafted features or contrastive learning with a pretrained foundational segmentation model for feature extraction. In abdominal CT registration, these changes allow VoxelOpt to outperform leading iterative in both efficiency and accuracy, while matching state-of-the-art learning-based methods trained with label supervision. The source code will be available at https://github.com/tinymilky/VoxelOpt

eess.IV↗

arXiv2025

Physics-informed Deep Diffusion MRI Reconstruction with Synthetic Data: Break Training Data Bottleneck in Artificial Intelligence

Diffusion magnetic resonance imaging (MRI) is the only imaging modality for non-invasive movement detection of in vivo water molecules, with significant clinical and research applications. Diffusion weighted imaging (DWI) MRI acquired by multi-shot techniques can achieve higher resolution, better signal-to-noise ratio, and lower geometric distortion than single-shot, but suffers from inter-shot motion-induced artifacts. These artifacts cannot be removed prospectively, leading to the absence of artifact-free training labels. Thus, the potential of deep learning in multi-shot DWI reconstruction remains largely untapped. To break the training data bottleneck, here, we propose a Physics-Informed Deep DWI reconstruction method (PIDD) to synthesize high-quality paired training data by leveraging the physical diffusion model (magnitude synthesis) and inter-shot motion-induced phase model (motion phase synthesis). The network is trained only once with 100,000 synthetic samples, achieving encouraging results on multiple realistic in vivo data reconstructions. Advantages over conventional methods include: (a) Better motion artifact suppression and reconstruction stability; (b) Outstanding generalization to multi-scenario reconstructions, including multi-resolution, multi-b-value, multi-under-sampling, multi-vendor, and multi-center; (c) Excellent clinical adaptability to patients with verifications by seven experienced doctors (p<0.001). In conclusion, PIDD presents a novel deep learning framework by exploiting the power of MRI physics, providing a cost-effective and explainable way to break the data bottleneck in deep learning medical imaging.

eess.IV↗

arXiv2025

Fidelity-Imposed Displacement Editing for the Learn2Reg 2024 SHG-BF Challenge

Co-examination of second-harmonic generation (SHG) and bright-field (BF) microscopy enables the differentiation of tissue components and collagen fibers, aiding the analysis of human breast and pancreatic cancer tissues. However, large discrepancies between SHG and BF images pose challenges for current learning-based registration models in aligning SHG to BF. In this paper, we propose a novel multi-modal registration framework that employs fidelity-imposed displacement editing to address these challenges. The framework integrates batch-wise contrastive learning, feature-based pre-alignment, and instance-level optimization. Experimental results from the Learn2Reg COMULISglobe SHG-BF Challenge validate the effectiveness of our method, securing the 1st place on the online leaderboard.

cs.CV↗