arXiv subjects

Jin Wu

Publications and source records attributed to Jin Wu.

At least 37 records · Page 2Linked to original sources

arXiv2026

TeamLLM: A Human-Like Team-Oriented Collaboration Framework for Multi-Step Contextualized Tasks

Recently, multi-Large Language Model (LLM) frameworks have been proposed to solve contextualized tasks. However, these frameworks do not explicitly emulate human team role division, which may lead to a single perspective, thereby weakening performance on multi-step contextualized tasks. To address this issue, we propose TeamLLM, a human-like Team-Oriented Multi-LLM Collaboration Framework. TeamLLM adopts four team roles with distinct division and employs a three-phase multi-LLM collaboration for multi-step contextualized tasks. To evaluate the effectiveness of TeamLLM on multi-step contextualized tasks, we propose Contextually-Grounded and Procedurally-Structured tasks (CGPST) and construct the CGPST benchmark. This benchmark has four core features: contextual grounding, procedural structure, process-oriented evaluation and multi-dimensional assessment. We evaluate ten popular LLMs on CGPST at overall-level, step-level, and dimension-level. Results show that TeamLLM substantially improves performance on CGPST. We release the benchmark with scenarios, full-process responses and human scores from ten LLMs. The code and data are available at https://anonymous.4open.science/r/TeamLLM-anonymous-C50E/.

cs.CL↗

arXiv2026

Model Study of Eigen-Microstate Signatures of Criticality in Relativistic Heavy-Ion Collisions

We present a comprehensive model study of the eigen-microstate approach (EMA) for identifying critical fluctuations in relativistic heavy-ion collisions. Using UrQMD and two stochastic baseline models, we demonstrate that EMA is insensitive to conventional short-range correlations and effectively filters out non-critical backgrounds. Critical fluctuations embedded via event-level or particle-level replacement with CMC events generate characteristic cluster-like eigen-microstate patterns and enhanced leading eigenvalues, with event-level criticality producing stronger responses. The eigen microstates exhibit the same pattern across different scales, demonstrating that the fractal nature of critical fluctuations is captured by the eigen microstates. Finite-size scaling of eigenvalue ratios exhibits fixed-point behavior, confirming the largest eigenvalue as an effective order-parameter-like quantity. These results demonstrate that EMA offers a robust and background-independent method for critical-point searches in the RHIC Beam Energy Scan and future heavy-ion experiments.

nucl-th↗

arXiv2025

Eigen-microstate Signatures of Criticality in Relativistic Heavy-Ion Collisions

We develop the eigen-microstate framework as a new approach to identify criticality in relativistic heavy-ion collisions. We construct the original microstate, defined as the final-state particle fluctuations of a single event. By examining ensembles of such original microstates with and without critical signals, we demonstrate that the corresponding eigen-microstate can extract and reveal the dominant critical mode, with the largest eigenvalue serving as a robust order parameter. This framework avoids equilibrium assumptions and is insensitive to non-critical background, and the approach is directly applicable to RHIC Beam Energy Scan data, offering a powerful new tool in the search for the QCD critical point.

hep-ph↗

arXiv2025

MetaCD: A Meta Learning Framework for Cognitive Diagnosis based on Continual Learning

Cognitive diagnosis is an essential research topic in intelligent education, aimed at assessing the level of mastery of different skills by students. So far, many research works have used deep learning models to explore the complex interactions between students, questions, and skills. However, the performance of existing method is frequently limited by the long-tailed distribution and dynamic changes in the data. To address these challenges, we propose a meta-learning framework for cognitive diagnosis based on continual learning (MetaCD). This framework can alleviate the long-tailed problem by utilizing meta-learning to learn the optimal initialization state, enabling the model to achieve good accuracy on new tasks with only a small amount of data. In addition, we utilize a continual learning method named parameter protection mechanism to give MetaCD the ability to adapt to new skills or new tasks, in order to adapt to dynamic changes in data. MetaCD can not only improve the plasticity of our model on a single task, but also ensure the stability and generalization of the model on sequential tasks. Comprehensive experiments on five real-world datasets show that MetaCD outperforms other baselines in both accuracy and generalization.

cs.LG↗

arXiv2025

MA-SLAM: Active SLAM in Large-Scale Unknown Environment using Map Aware Deep Reinforcement Learning

Active Simultaneous Localization and Mapping (Active SLAM) involves the strategic planning and precise control of a robotic system's movement in order to construct a highly accurate and comprehensive representation of its surrounding environment, which has garnered significant attention within the research community. While the current methods demonstrate efficacy in small and controlled settings, they face challenges when applied to large-scale and diverse environments, marked by extended periods of exploration and suboptimal paths of discovery. In this paper, we propose MA-SLAM, a Map-Aware Active SLAM system based on Deep Reinforcement Learning (DRL), designed to address the challenge of efficient exploration in large-scale environments. In pursuit of this objective, we put forward a novel structured map representation. By discretizing the spatial data and integrating the boundary points and the historical trajectory, the structured map succinctly and effectively encapsulates the visited regions, thereby serving as input for the deep reinforcement learning based decision module. Instead of sequentially predicting the next action step within the decision module, we have implemented an advanced global planner to optimize the exploration path by leveraging long-range target points. We conducted experiments in three simulation environments and deployed in a real unmanned ground vehicle (UGV), the results demonstrate that our approach significantly reduces both the duration and distance of exploration compared with state-of-the-art methods.

cs.RO↗

arXiv2025

Compose Yourself: Average-Velocity Flow Matching for One-Step Speech Enhancement

Diffusion and flow matching (FM) models have achieved remarkable progress in speech enhancement (SE), yet their dependence on multi-step generation is computationally expensive and vulnerable to discretization errors. Recent advances in one-step generative modeling, particularly MeanFlow, provide a promising alternative by reformulating dynamics through average velocity fields. In this work, we present COSE, a one-step FM framework tailored for SE. To address the high training overhead of Jacobian-vector product (JVP) computations in MeanFlow, we introduce a velocity composition identity to compute average velocity efficiently, eliminating expensive computation while preserving theoretical consistency and achieving competitive enhancement quality. Extensive experiments on standard benchmarks show that COSE delivers up to 5x faster sampling and reduces training cost by 40%, all without compromising speech quality. Code is available at https://github.com/ICDM-UESTC/COSE.

cs.SD↗

arXiv2025

Scale, Don't Fine-tune: Guiding Multimodal LLMs for Efficient Visual Place Recognition at Test-Time

Visual Place Recognition (VPR) has evolved from handcrafted descriptors to deep learning approaches, yet significant challenges remain. Current approaches, including Vision Foundation Models (VFMs) and Multimodal Large Language Models (MLLMs), enhance semantic understanding but suffer from high computational overhead and limited cross-domain transferability when fine-tuned. To address these limitations, we propose a novel zero-shot framework employing Test-Time Scaling (TTS) that leverages MLLMs' vision-language alignment capabilities through Guidance-based methods for direct similarity scoring. Our approach eliminates two-stage processing by employing structured prompts that generate length-controllable JSON outputs. The TTS framework with Uncertainty-Aware Self-Consistency (UASC) enables real-time adaptation without additional training costs, achieving superior generalization across diverse environments. Experimental results demonstrate significant improvements in cross-domain VPR performance with up to 210$\times$ computational efficiency gains.

cs.LG↗

arXiv2025

A Pseudo Global Fusion Paradigm-Based Cross-View Network for LiDAR-Based Place Recognition

LiDAR-based Place Recognition (LPR) remains a critical task in Embodied Artificial Intelligence (AI) and Autonomous Driving, primarily addressing localization challenges in GPS-denied environments and supporting loop closure detection. Existing approaches reduce place recognition to a Euclidean distance-based metric learning task, neglecting the feature space's intrinsic structures and intra-class variances. Such Euclidean-centric formulation inherently limits the model's capacity to capture nonlinear data distributions, leading to suboptimal performance in complex environments and temporal-varying scenarios. To address these challenges, we propose a novel cross-view network based on an innovative fusion paradigm. Our framework introduces a pseudo-global information guidance mechanism that coordinates multi-modal branches to perform feature learning within a unified semantic space. Concurrently, we propose a Manifold Adaptation and Pairwise Variance-Locality Learning Metric that constructs a Symmetric Positive Definite (SPD) matrix to compute Mahalanobis distance, superseding traditional Euclidean distance metrics. This geometric formulation enables the model to accurately characterize intrinsic data distributions and capture complex inter-class dependencies within the feature space. Experimental results demonstrate that the proposed algorithm achieves competitive performance, particularly excelling in complex environmental conditions.

cs.CV↗

arXiv2025

A Forced-Choice Neural Cognitive Diagnostic Model of Personality Testing

In the smart era, psychometric tests are becoming increasingly important for personnel selection, career development, and mental health assessment. Forced-choice tests are common in personality assessments because they require participants to select from closely related options, lowering the risk of response distortion. This study presents a deep learning-based Forced-Choice Neural Cognitive Diagnostic Model (FCNCD) that overcomes the limitations of traditional models and is applicable to the three most common item block types found in forced-choice tests. To account for the unidimensionality of items in forced-choice tests, we create interpretable participant and item parameters. We model the interactions between participant and item features using multilayer neural networks after mining them using nonlinear mapping. In addition, we use the monotonicity assumption to improve the interpretability of the diagnostic results. The FCNCD's effectiveness is validated by experiments on real-world and simulated datasets that show its accuracy, interpretability, and robustness.

cs.AI↗

arXiv2025

Real-Time AIoT for AAV Antenna Interference Detection via Edge-Cloud Collaboration

In the fifth-generation (5G) era, eliminating communication interference sources is crucial for maintaining network performance. Interference often originates from unauthorized or malfunctioning antennas, and radio monitoring agencies must address numerous sources of such antennas annually. Unmanned aerial vehicles (UAVs) can improve inspection efficiency. However, the data transmission delay in the existing cloud-only (CO) artificial intelligence (AI) mode fails to meet the low latency requirements for real-time performance. Therefore, we propose a computer vision-based AI of Things (AIoT) system to detect antenna interference sources for UAVs. The system adopts an optimized edge-cloud collaboration (ECC+) mode, combining a keyframe selection algorithm (KSA), focusing on reducing end-to-end latency (E2EL) and ensuring reliable data transmission, which aligns with the core principles of ultra-reliable low-latency communication (URLLC). At the core of our approach is an end-to-end antenna localization scheme based on the tracking-by-detection (TBD) paradigm, including a detector (EdgeAnt) and a tracker (AntSort). EdgeAnt achieves state-of-the-art (SOTA) performance with a mean average precision (mAP) of 42.1% on our custom antenna interference source dataset, requiring only 3 million parameters and 14.7 GFLOPs. On the COCO dataset, EdgeAnt achieves 38.9% mAP with 5.4 GFLOPs. We deployed EdgeAnt on Jetson Xavier NX (TRT) and Raspberry Pi 4B (NCNN), achieving real-time inference speeds of 21.1 (1088) and 4.8 (640) frames per second (FPS), respectively. Compared with CO mode, the ECC+ mode reduces E2EL by 88.9%, increases accuracy by 28.2%. Additionally, the system offers excellent scalability for coordinated multiple UAVs inspections. The detector code is publicly available at https://github.com/SCNU-RISLAB/EdgeAnt.

eess.SP↗

arXiv2025

SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking

Despite advancements in robotic-assisted surgery, automating complex tasks like suturing remain challenging due to the need for adaptability and precision. Learning-based approaches, particularly reinforcement learning (RL) and imitation learning (IL), require realistic simulation environments for efficient data collection. However, current platforms often include only relatively simple, non-dexterous manipulations and lack the flexibility required for effective learning and generalization. We introduce SurgicAI, a novel platform for development and benchmarking addressing these challenges by providing the flexibility to accommodate both modular subtasks and more importantly task decomposition in RL-based surgical robotics. Compatible with the da Vinci Surgical System, SurgicAI offers a standardized pipeline for collecting and utilizing expert demonstrations. It supports deployment of multiple RL and IL approaches, and the training of both singular and compositional subtasks in suturing scenarios, featuring high dexterity and modularization. Meanwhile, SurgicAI sets clear metrics and benchmarks for the assessment of learned policies. We implemented and evaluated multiple RL and IL algorithms on SurgicAI. Our detailed benchmark analysis underscores SurgicAI's potential to advance policy learning in surgical robotics. Details: https://github.com/surgical-robotics-ai/SurgicAI

cs.RO↗

arXiv2025

MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework

Evaluating massive-scale point cloud maps in Simultaneous Localization and Mapping (SLAM) remains challenging, primarily due to the absence of unified, robust and efficient evaluation frameworks. We present MapEval, an open-source framework for comprehensive quality assessment of point cloud maps, specifically addressing SLAM scenarios where ground truth map is inherently sparse compared to the mapped environment. Through systematic analysis of existing evaluation metrics in SLAM applications, we identify their fundamental limitations and establish clear guidelines for consistent map quality assessment. Building upon these insights, we propose a novel Gaussian-approximated Wasserstein distance in voxelized space, enabling two complementary metrics under the same error standard: Voxelized Average Wasserstein Distance (AWD) for global geometric accuracy and Spatial Consistency Score (SCS) for local consistency evaluation. This theoretical foundation leads to significant improvements in both robustness against noise and computational efficiency compared to conventional metrics. Extensive experiments on both simulated and real-world datasets demonstrate that MapEval achieves at least \SI{100}{}-\SI{500}{} times faster while maintaining evaluation integrity. The MapEval library\footnote{\texttt{https://github.com/JokerJohn/Cloud\_Map\_Evaluation}} will be publicly available to promote standardized map evaluation practices in the robotics community.

cs.RO↗

arXiv2024

Efficient Camera Exposure Control for Visual Odometry via Deep Reinforcement Learning

The stability of visual odometry (VO) systems is undermined by degraded image quality, especially in environments with significant illumination changes. This study employs a deep reinforcement learning (DRL) framework to train agents for exposure control, aiming to enhance imaging performance in challenging conditions. A lightweight image simulator is developed to facilitate the training process, enabling the diversification of image exposure and sequence trajectory. This setup enables completely offline training, eliminating the need for direct interaction with camera hardware and the real environments. Different levels of reward functions are crafted to enhance the VO systems, equipping the DRL agents with varying intelligence. Extensive experiments have shown that our exposure control agents achieve superior efficiency-with an average inference duration of 1.58 ms per frame on a CPU-and respond more quickly than traditional feedback control schemes. By choosing an appropriate reward function, agents acquire an intelligent understanding of motion trends and anticipate future illumination changes. This predictive capability allows VO systems to deliver more stable and precise odometry results. The codes and datasets are available at https://github.com/ShuyangUni/drl_exposure_ctrl.

cs.RO↗

arXiv2024

Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the attainment of real-time mapping performance, and the preservation of structural and semantic information consistency. In this paper, we introduce an online metric-semantic mapping system that utilizes LiDAR-Visual-Inertial sensing to generate a global metric-semantic mesh map of large-scale outdoor environments. Leveraging GPU acceleration, our mapping process achieves exceptional speed, with frame processing taking less than 7ms, regardless of scenario scale. Furthermore, we seamlessly integrate the resultant map into a real-world navigation system, enabling metric-semantic-based terrain assessment and autonomous point-to-point navigation within a campus environment. Through extensive experiments conducted on both publicly available and self-collected datasets comprising 24 sequences, we demonstrate the effectiveness of our mapping and navigation methodologies. Code has been publicly released: https://github.com/gogojjh/cobra

cs.RO↗

arXiv2024

FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments

Simultaneous Localization and Mapping (SLAM) technology has been widely applied in various robotic scenarios, from rescue operations to autonomous driving. However, the generalization of SLAM algorithms remains a significant challenge, as current datasets often lack scalability in terms of platforms and environments. To address this limitation, we present FusionPortableV2, a multi-sensor SLAM dataset featuring sensor diversity, varied motion patterns, and a wide range of environmental scenarios. Our dataset comprises $27$ sequences, spanning over $2.5$ hours and collected from four distinct platforms: a handheld suite, a legged robots, a unmanned ground vehicle (UGV), and a vehicle. These sequences cover diverse settings, including buildings, campuses, and urban areas, with a total length of $38.7km$. Additionally, the dataset includes ground-truth (GT) trajectories and RGB point cloud maps covering approximately $0.3km^2$. To validate the utility of our dataset in advancing SLAM research, we assess several state-of-the-art (SOTA) SLAM algorithms. Furthermore, we demonstrate the dataset's broad application beyond traditional SLAM tasks by investigating its potential for monocular depth estimation. The complete dataset, including sensor data, GT, and calibration details, is accessible at https://fusionportable.github.io/dataset/fusionportable_v2.

cs.RO↗

arXiv2024

S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAM

The burgeoning demand for collaborative robotic systems to execute complex tasks collectively has intensified the research community's focus on advancing simultaneous localization and mapping (SLAM) in a cooperative context. Despite this interest, the scalability and diversity of existing datasets for collaborative trajectories remain limited, especially in scenarios with constrained perspectives where the generalization capabilities of Collaborative SLAM (C-SLAM) are critical for the feasibility of multi-agent missions. Addressing this gap, we introduce S3E, an expansive multimodal dataset. Captured by a fleet of unmanned ground vehicles traversing four distinct collaborative trajectory paradigms, S3E encompasses 13 outdoor and 5 indoor sequences. These sequences feature meticulously synchronized and spatially calibrated data streams, including 360-degree LiDAR point cloud, high-resolution stereo imagery, high-frequency inertial measurement units (IMU), and Ultra-wideband (UWB) relative observations. Our dataset not only surpasses previous efforts in scale, scene diversity, and data intricacy but also provides a thorough analysis and benchmarks for both collaborative and individual SLAM methodologies. For access to the dataset and the latest information, please visit our repository at https://pengyu-team.github.io/S3E.

cs.RO↗

arXiv2024

GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting

In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing methods based on Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), our approach enables real-time photo-realistic mapping while ensuring high-quality image rendering in large-scale unbounded outdoor environments. In this work, Gaussian Process Regression (GPR) is employed to mitigate the issues resulting from sparse and unevenly distributed LiDAR observations. The voxel-based 3D Gaussians map representation facilitates real-time dense mapping in large outdoor environments with acceleration governed by custom CUDA kernels. Moreover, the overall framework is designed in a covariance-centered manner, where the estimated covariance is used to initialize the scale and rotation of 3D Gaussians, as well as update the parameters of the GPR. We evaluate our algorithm on several outdoor datasets, and the results demonstrate that our method achieves state-of-the-art performance in terms of mapping efficiency and rendering quality. The source code is available on GitHub.

cs.RO↗

arXiv2024

Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios

The ability to estimate pose and generate maps using 3D LiDAR significantly enhances robotic system autonomy. However, existing open-source datasets lack representation of geometrically degenerate environments, limiting the development and benchmarking of robust LiDAR SLAM algorithms. To address this gap, we introduce GEODE, a comprehensive multi-LiDAR, multi-scenario dataset specifically designed to include real-world geometrically degenerate environments. GEODE comprises 64 trajectories spanning over 64 kilometers across seven diverse settings with varying degrees of degeneracy. The data was meticulously collected to promote the development of versatile algorithms by incorporating various LiDAR sensors, stereo cameras, IMUs, and diverse motion conditions. We evaluate state-of-the-art SLAM approaches using the GEODE dataset to highlight current limitations in LiDAR SLAM techniques. This extensive dataset will be publicly available at https://geode.github.io, supporting further advancements in LiDAR-based SLAM.

cs.RO↗