arXiv subjects

Jifeng Guo

Publications and source records attributed to Jifeng Guo.

13 recordsLinked to original sources

arXiv2026

TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion

Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints significantly reduce the feasible configuration space, making it difficult for existing planners to efficiently generate collision-free motions, especially in cluttered environments. To address this issue, this paper proposes a task-space constrained bidirectional rapidly-exploring random tree algorithm, termed TCBiRRT. Unlike conventional methods that operate in the high-dimensional configuration space, the proposed approach performs random sampling and node expansion directly in the task space defined by the manipulated object pose. A task-space node expansion strategy is developed to generate candidate object motions, which are then mapped to continuous joint paths using a path inverse kinematics algorithm. The method is further integrated with a bidirectional RRT framework and a regrasp mechanism to efficiently connect two random trees. Extensive simulations are conducted in representative on-orbit assembly scenarios with varying levels of environmental complexity. The results demonstrate that TCBiRRT achieves significantly higher success rates and orders-of-magnitude improvements in planning time compared to state-of-the-art planners. The proposed method provides an efficient and robust solution for motion planning of tightly coupled dual-arm space manipulators.

cs.RO↗

arXiv2026

Observation Modeling of Reference--Background Residuals in Single-Snapshot FDA-MIMO-GPR

Reference media are widely used in distorted-Born-approximation-based GPR imaging to represent partially known propagation effects. When the true host background differs from the chosen reference medium, the difference enters the observations and propagates into anomaly estimates. For single-snapshot FDA-MIMO-GPR, this paper establishes a reference-state observation model under the distorted Born approximation and defines that difference as the reference--background medium residual, namely, the effective residual between the reference medium and the physical background medium. Hereafter, this quantity is abbreviated as the reference--background residual. Its response is derived from the Cole--Cole dispersive mapping, the reference propagation kernels, and the FDA frequency--transmit organization. The paper then constructs its observation-domain covariance, analyzes the off-diagonal channel-block structure, and uses a standard Tikhonov estimator to show how the response transfers to reconstruction error and covariance over an anomaly candidate region. Numerical results show pronounced cross-frequency and cross-channel covariance under mismatched reference states. After Tikhonov reconstruction, these structures appear as low-dimensional, concentrated pseudo-anomaly errors. Right-hand-side coherence and inter-channel correlation arise mainly because multiple transmit--receive channels jointly observe the same residual field, while FDA space-frequency coding determines their organization in the observation and reconstruction domains. The reference--background residual should therefore be modeled explicitly in reference-state selection, background suppression, and channel-covariance analysis for single-snapshot FDA-MIMO-GPR.

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arXiv2026

Weak-Fluctuation-Induced Clutter Covariance and Subspace Structure in Single-Snapshot FDA-MIMO GPR

Weak constitutive fluctuations in dispersive subsurface media can induce distributed clutter that reshapes the observation structure of ground-penetrating radar (GPR). This paper analyzes this effect for single-snapshot frequency-diverse array multiple-input multiple-output GPR. Focusing on medium-induced clutter, rather than on general target--clutter joint modeling, it establishes a statistical propagation chain from Cole--Cole parameter perturbations to electromagnetic contrast, first-order Born channel snapshots, clutter covariance, and subspace descriptors. A medium-aware snapshot model and a covariance propagation framework are then derived to characterize how constitutive uncertainty alters observation-domain spectral structure under a local weak-fluctuation regime. Numerical experiments verify the consistency of the proposed propagation relation under the adopted first-order Born and constitutive-linearization approximations. Within the tested setting, medium-induced clutter reshapes the eigenspectrum and changes target--clutter overlap metrics. Spatial correlation length and background-scene variation act as consistently strong structural drivers, while the FDA frequency increment also produces measurable changes in the normalized covariance geometry.

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arXiv2026

Medium-Induced Cross-Frequency Clutter Structure in Single-Snapshot FDA-MIMO-GPR With a Weak-Dispersion Criterion

This paper investigates the cross-frequency structure of background clutter induced by random dispersive media in single-snapshot FDA-MIMO-GPR. Representative media are modeled by the Cole--Cole formulation to relate dispersive constitutive behavior to the reference propagation environment and observation-domain statistics. A normalized incremental contrast function is introduced under a reference-medium framework, and a single-snapshot background-response expression with first-order propagation-kernel feedback is derived. Based on this expression, a cross-frequency coupling strength of the leading-order background covariance is defined. Numerical results show that, in weakly dispersive scenes, the proposed analysis remains consistent across constitutive mapping, the zeroth-order propagation skeleton, first-order distorted-Born truncation, propagation-kernel feedback, and single-channel response closure. The proposed metric distinguishes uncoupled and explicitly coupled constructions, remains stable under pure energy scaling, responds clearly to correlation length and relaxation-location parameters, and corresponds directly to the error of the frequency block-diagonal approximation. Additional experiments show that the resulting cross-frequency structure affects whitening and principal-subspace extraction. In scenes with pronounced relaxation, abrupt breakdown under strong perturbations and high-error plateaus indicate that the present theory is mainly applicable within the validity range of first-order feedback.

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arXiv2026

Z-Erase: Enabling Concept Erasure in Single-Stream Diffusion Transformers

Concept erasure serves as a vital safety mechanism for removing unwanted concepts from text-to-image (T2I) models. While extensively studied in U-Net and dual-stream architectures (e.g., Flux), this task remains under-explored in the recent emerging paradigm of single-stream diffusion transformers (e.g., Z-Image). In this new paradigm, text and image tokens are processed as a single unified sequence via shared parameters. Consequently, directly applying prior erasure methods typically leads to generation collapse. To bridge this gap, we introduce Z-Erase, the first concept erasure method tailored for single-stream T2I models. To guarantee stable image generation, Z-Erase first proposes a Stream Disentangled Concept Erasure Framework that decouples updates and enables existing methods on single-stream models. Subsequently, within this framework, we introduce Lagrangian-Guided Adaptive Erasure Modulation, a constrained algorithm that further balances the sensitive erasure-preservation trade-off. Moreover, we provide a rigorous convergence analysis proving that Z-Erase can converge to a Pareto stationary point. Experiments demonstrate that Z-Erase successfully overcomes the generation collapse issue, achieving state-of-the-art performance across a wide range of tasks.

cs.CV↗

arXiv2026

Linking Dispersive-Medium Uncertainty to Clutter Analysis in Single-Snapshot FDA-MIMO-GPR

Single-snapshot FDA-MIMO-GPR requires clutter models that account for dispersive-medium uncertainty, yet the statistical link between complex-medium characterization and clutter covariance analysis has remained unclear. This paper develops a propagation-side statistical framework that maps random perturbations of the relaxation spectrum to complex permittivity, complex wavenumber, steering-vector perturbation, medium-induced clutter covariance, and total clutter covariance. Within this framework, the effects of medium uncertainty on effective rank, effective clutter-subspace dimension, and target--clutter separability are characterized through a KL-based modal decomposition and a subspace-projection analysis. Numerical validation uses five literature-informed dielectric families to define physically traceable prior scenarios, a controlled random-field model to exercise the main propagation chain, and gprMax-based full-wave FDTD snapshots for an independent solver-level consistency check. Monte Carlo closure shows stage-wise numerical consistency, identifies steering linearization as the dominant approximation-sensitive step, and supports a weak perturbation regime with a bounded extension into a moderate regime. In a representative whitening-and-detection benchmark, the structured covariance model raises AUC from 0.593 for a diagonal baseline to 0.753, while prior-mismatch experiments indicate gradual rather than abrupt degradation. These results provide an explicit and interpretable interface for embedding complex-medium uncertainty into FDA-MIMO-GPR clutter analysis within a first-order, propagation-dominated setting.

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arXiv2026

Lyapunov Probes for Hallucination Detection in Large Foundation Models

We address hallucination detection in Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) by framing the problem through the lens of dynamical systems stability theory. Rather than treating hallucination as a straightforward classification task, we conceptualize (M)LLMs as dynamical systems, where factual knowledge is represented by stable equilibrium points within the representation space. Our main insight is that hallucinations tend to arise at the boundaries of knowledge-transition regions separating stable and unstable zones. To capture this phenomenon, we propose Lyapunov Probes: lightweight networks trained with derivative-based stability constraints that enforce a monotonic decay in confidence under input perturbations. By performing systematic perturbation analysis and applying a two-stage training process, these probes reliably distinguish between stable factual regions and unstable, hallucination-prone regions. Experiments on diverse datasets and models demonstrate consistent improvements over existing baselines.

cs.CV↗

arXiv2025

Local Path Optimization in The Latent Space Using Learned Distance Gradient

Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent motion method based on manifold approximation is the most efficient planning algorithm. Due to errors in manifold approximation and the difficulty in accurately identifying collision conflicts within the latent space, time-consuming path validity checks and path replanning are required. In this paper, we propose a method that trains a neural network to predict the minimum distance between the robot and obstacles using latent vectors as inputs. The learned distance gradient is then used to calculate the direction of movement in the latent space to move the robot away from obstacles. Based on this, a local path optimization algorithm in the latent space is proposed, and it is integrated with the path validity checking process to reduce the time of replanning. The proposed method is compared with state-of-the-art algorithms in multiple planning scenarios, demonstrating the fastest planning speed

cs.RO↗

arXiv2024

Virtual-force Based Visual Servo for Multiple Peg-in-Hole Assembly with Tightly Coupled Multi-Manipulator

Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simultaneously align multiple distant pegs and holes, necessitating tightly coupled multi-manipulator systems. For such MPiH tasks using tightly coupled multiple manipulators, we propose a collaborative visual servo control framework that uses only the monocular in-hand cameras of each manipulator to reduce positioning errors. Initially, we train a state classification neural network and a positioning neural network. The former divides the states of the peg and hole in the image into three categories: obscured, separated, and overlapped, while the latter determines the position of the peg and hole in the image. Based on these findings, we propose a method to integrate the visual features of multiple manipulators using virtual forces, which can naturally combine with the cooperative controller of the multi-manipulator system. To generalize our approach to holes of different appearances, we varied the appearance of the holes during the dataset generation process. The results confirm that by considering the appearance of the holes, classification accuracy and positioning precision can be improved. Finally, the results show that our method achieves 100\% success rate in dual-manipulator dual peg-in-hole tasks with a clearance of 0.2 mm, while robust to camera calibration errors.

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arXiv2024

Incremental Self-training for Semi-supervised Learning

Semi-supervised learning provides a solution to reduce the dependency of machine learning on labeled data. As one of the efficient semi-supervised techniques, self-training (ST) has received increasing attention. Several advancements have emerged to address challenges associated with noisy pseudo-labels. Previous works on self-training acknowledge the importance of unlabeled data but have not delved into their efficient utilization, nor have they paid attention to the problem of high time consumption caused by iterative learning. This paper proposes Incremental Self-training (IST) for semi-supervised learning to fill these gaps. Unlike ST, which processes all data indiscriminately, IST processes data in batches and priority assigns pseudo-labels to unlabeled samples with high certainty. Then, it processes the data around the decision boundary after the model is stabilized, enhancing classifier performance. Our IST is simple yet effective and fits existing self-training-based semi-supervised learning methods. We verify the proposed IST on five datasets and two types of backbone, effectively improving the recognition accuracy and learning speed. Significantly, it outperforms state-of-the-art competitors on three challenging image classification tasks.

cs.LG↗

arXiv2023

STS-GAN: Can We Synthesize Solid Texture with High Fidelity from Arbitrary 2D Exemplar?

Solid texture synthesis (STS), an effective way to extend a 2D exemplar to a 3D solid volume, exhibits advantages in computational photography. However, existing methods generally fail to accurately learn arbitrary textures, which may result in the failure to synthesize solid textures with high fidelity. In this paper, we propose a novel generative adversarial nets-based framework (STS-GAN) to extend the given 2D exemplar to arbitrary 3D solid textures. In STS-GAN, multi-scale 2D texture discriminators evaluate the similarity between the given 2D exemplar and slices from the generated 3D texture, promoting the 3D texture generator synthesizing realistic solid textures. Finally, experiments demonstrate that the proposed method can generate high-fidelity solid textures with similar visual characteristics to the 2D exemplar.

cs.CV↗

arXiv2023

ConvBLS: An Effective and Efficient Incremental Convolutional Broad Learning System for Image Classification

Deep learning generally suffers from enormous computational resources and time-consuming training processes. Broad Learning System (BLS) and its convolutional variants have been proposed to mitigate these issues and have achieved superb performance in image classification. However, the existing convolutional-based broad learning system (C-BLS) either lacks an efficient training method and incremental learning capability or suffers from poor performance. To this end, we propose a convolutional broad learning system (ConvBLS) based on the spherical K-means (SKM) algorithm and two-stage multi-scale (TSMS) feature fusion, which consists of the convolutional feature (CF) layer, convolutional enhancement (CE) layer, TSMS feature fusion layer, and output layer. First, unlike the current C-BLS, the simple yet efficient SKM algorithm is utilized to learn the weights of CF layers. Compared with random filters, the SKM algorithm makes the CF layer learn more comprehensive spatial features. Second, similar to the vanilla BLS, CE layers are established to expand the feature space. Third, the TSMS feature fusion layer is proposed to extract more effective multi-scale features through the integration of CF layers and CE layers. Thanks to the above design and the pseudo-inverse calculation of the output layer weights, our proposed ConvBLS method is unprecedentedly efficient and effective. Finally, the corresponding incremental learning algorithms are presented for rapid remodeling if the model deems to expand. Experiments and comparisons demonstrate the superiority of our method.

cs.LG↗

arXiv2021

Continuous-time Gaussian Process Trajectory Generation for Multi-robot Formation via Probabilistic Inference

In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the continuous-time trajectories of all robots as a limited number of states, which improves computational efficiency due to the sparsity. We add constraints to guarantee collision avoidance between individuals as well as formation maintenance, then all constraints and kinematics are formulated on a factor graph. By introducing a global planner, our proposed method can generate trajectories efficiently for a team of robots which have to get through a width-varying area by adaptive formation change. Finally, we provide the implementation of an incremental replanning algorithm to demonstrate the online operation potential of our proposed framework. The experiments in simulation and real world illustrate the feasibility, efficiency and scalability of our approach.

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