arXiv subjects

Jing Lin

Publications and source records attributed to Jing Lin.

At least 37 records · Page 2Linked to original sources

arXiv2026

Multi-function Robotized Surgical Dissector for Endoscopic Pulmonary Thromboendarterectomy: Preclinical Study and Evaluation

Patients suffering chronic severe pulmonary thromboembolism need Pulmonary Thromboendarterectomy (PTE) to remove the thromb and intima located inside pulmonary artery (PA). During the surgery, a surgeon holds tweezers and a dissector to delicately strip the blockage, but available tools for this surgery are rigid and straight, lacking distal dexterity to access into thin branches of PA. Therefore, this work presents a novel robotized dissector based on concentric push/pull robot (CPPR) structure, enabling entering deep thin branch of tortuous PA. Compared with conventional rigid dissectors, our design characterizes slenderness and dual-segment-bending dexterity. Owing to the hollow and thin-walled structure of the CPPR-based dissector as it has a slender body of 3.5mm in diameter, the central lumen accommodates two channels for irrigation and tip tool, and space for endoscopic camera's signal wire. To provide accurate surgical manipulation, optimization-based kinematics model was established, realizing a 2mm accuracy in positioning the tip tool (60mm length) under open-loop control strategy. As such, with the endoscopic camera, traditional PTE is possible to be upgraded as endoscopic PTE. Basic physic performance of the robotized dissector including stiffness, motion accuracy and maneuverability was evaluated through experiments. Surgery simulation on ex vivo porcine lung also demonstrates its dexterity and notable advantages in PTE.

cs.RO↗

arXiv2026

UniMo: Unified Motion Generation and Understanding with Chain of Thought

Existing 3D human motion generation and understanding methods often exhibit limited interpretability, restricting effective mutual enhancement between these inherently related tasks. While current unified frameworks based on large language models (LLMs) leverage linguistic priors, they frequently encounter challenges in semantic alignment and task coherence. Moreover, the next-token prediction paradigm in LLMs is ill-suited for motion sequences, causing cumulative prediction errors. To address these limitations, we propose UniMo, a novel framework that integrates motion-language information and interpretable chain of thought (CoT) reasoning into the LLM via supervised fine-tuning (SFT). We further introduce reinforcement learning with Group Relative Policy Optimization (GRPO) as a post-training strategy that optimizes over groups of tokens to enforce structural correctness and semantic alignment, mitigating cumulative errors in motion token prediction. Extensive experiments demonstrate that UniMo significantly outperforms existing unified and task-specific models, achieving state-of-the-art performance in both motion generation and understanding.

cs.AI↗

arXiv2026

Geometry-induced Exceptional Point Detached from Fermi Arcs

Exceptional points (EPs), ubiquitous non-Hermitian degeneracies, are central features in band structures where non-Hermitian Fermi arcs connect EPs and eigenvalue knots encircle them. Under open boundary conditions (OBCs), non-Hermitian skin effects enforce complex momenta and yield non-Bloch band structures, introducing EPs unique to OBCs whose origins depend on boundary-driven mechanisms. Here, we reveal both theoretically and experimentally that geometry itself can induce such non-Bloch EPs in a reciprocal non-Hermitian Lieb lattice supporting geometry-dependent skin effects. By analyzing non-Bloch band structures, we find that geometry-induced EPs correspond to saddle points rather than branch points. Branch points, even while carrying OBC eigenenergies, do not yield EPs but manifest as Whitney cusps, a characteristic type of geometric singularity, and Fermi arcs connecting them remain crucial in determining eigenvalue knots. Our measurements of these knots confirm that geometry-induced EPs are detached from the branch points of Fermi arcs, contrasting with their unified counterparts in Bloch systems. Our results establish geometry as an additional degree of freedom for engineering EP-based devices and reveal its fundamental role in shaping non-Bloch band structures.

cond-mat.other↗

arXiv2025

EchoMotion: Unified Human Video and Motion Generation via Dual-Modality Diffusion Transformer

Video generation models have advanced significantly, yet they still struggle to synthesize complex human movements due to the high degrees of freedom in human articulation. This limitation stems from the intrinsic constraints of pixel-only training objectives, which inherently bias models toward appearance fidelity at the expense of learning underlying kinematic principles. To address this, we introduce EchoMotion, a framework designed to model the joint distribution of appearance and human motion, thereby improving the quality of complex human action video generation. EchoMotion extends the DiT (Diffusion Transformer) framework with a dual-branch architecture that jointly processes tokens concatenated from different modalities. Furthermore, we propose MVS-RoPE (Motion-Video Syncronized RoPE), which offers unified 3D positional encoding for both video and motion tokens. By providing a synchronized coordinate system for the dual-modal latent sequence, MVS-RoPE establishes an inductive bias that fosters temporal alignment between the two modalities. We also propose a Motion-Video Two-Stage Training Strategy. This strategy enables the model to perform both the joint generation of complex human action videos and their corresponding motion sequences, as well as versatile cross-modal conditional generation tasks. To facilitate the training of a model with these capabilities, we construct HuMoVe, a large-scale dataset of approximately 80,000 high-quality, human-centric video-motion pairs. Our findings reveal that explicitly representing human motion is complementary to appearance, significantly boosting the coherence and plausibility of human-centric video generation.

cs.CV↗

arXiv2025

Studying Various Activation Functions and Non-IID Data for Machine Learning Model Robustness

Adversarial training is an effective method to improve the machine learning (ML) model robustness. Most existing studies typically consider the Rectified linear unit (ReLU) activation function and centralized training environments. In this paper, we study the ML model robustness using ten different activation functions through adversarial training in centralized environments and explore the ML model robustness in federal learning environments. In the centralized environment, we first propose an advanced adversarial training approach to improving the ML model robustness by incorporating model architecture change, soft labeling, simplified data augmentation, and varying learning rates. Then, we conduct extensive experiments on ten well-known activation functions in addition to ReLU to better understand how they impact the ML model robustness. Furthermore, we extend the proposed adversarial training approach to the federal learning environment, where both independent and identically distributed (IID) and non-IID data settings are considered. Our proposed centralized adversarial training approach achieves a natural and robust accuracy of 77.08% and 67.96%, respectively on CIFAR-10 against the fast gradient sign attacks. Experiments on ten activation functions reveal ReLU usually performs best. In the federated learning environment, however, the robust accuracy decreases significantly, especially on non-IID data. To address the significant performance drop in the non-IID data case, we introduce data sharing and achieve the natural and robust accuracy of 70.09% and 54.79%, respectively, surpassing the CalFAT algorithm, when 40% data sharing is used. That is, a proper percentage of data sharing can significantly improve the ML model robustness, which is useful to some real-world applications.

cs.LG↗

arXiv2025

DartQuant: Efficient Rotational Distribution Calibration for LLM Quantization

Quantization plays a crucial role in accelerating the inference of large-scale models, and rotational matrices have been shown to effectively improve quantization performance by smoothing outliers. However, end-to-end fine-tuning of rotational optimization algorithms incurs high computational costs and is prone to overfitting. To address this challenge, we propose an efficient distribution-aware rotational calibration method, DartQuant, which reduces the complexity of rotational optimization by constraining the distribution of the activations after rotation. This approach also effectively reduces reliance on task-specific losses, thereby mitigating the risk of overfitting. Additionally, we introduce the QR-Orth optimization scheme, which replaces expensive alternating optimization with a more efficient solution. In a variety of model quantization experiments, DartQuant demonstrates superior performance. Compared to existing methods, it achieves 47$\times$ acceleration and 10$\times$ memory savings for rotational optimization on a 70B model. Furthermore, it is the first to successfully complete rotational calibration for a 70B model on a single 3090 GPU, making quantization of large language models feasible in resource-constrained environments. Code is available at https://github.com/CAS-CLab/DartQuant.git.

cs.LG↗

arXiv2025

Towards Fine-Grained Human Motion Video Captioning

Generating accurate descriptions of human actions in videos remains a challenging task for video captioning models. Existing approaches often struggle to capture fine-grained motion details, resulting in vague or semantically inconsistent captions. In this work, we introduce the Motion-Augmented Caption Model (M-ACM), a novel generative framework that enhances caption quality by incorporating motion-aware decoding. At its core, M-ACM leverages motion representations derived from human mesh recovery to explicitly highlight human body dynamics, thereby reducing hallucinations and improving both semantic fidelity and spatial alignment in the generated captions. To support research in this area, we present the Human Motion Insight (HMI) Dataset, comprising 115K video-description pairs focused on human movement, along with HMI-Bench, a dedicated benchmark for evaluating motion-focused video captioning. Experimental results demonstrate that M-ACM significantly outperforms previous methods in accurately describing complex human motions and subtle temporal variations, setting a new standard for motion-centric video captioning.

cs.CV↗

arXiv2025

Unveiling non-Hermitian band structures with non-Bloch supercells

Real-valued band structures are foundational to analyzing periodic systems within the Hermitian description and have been experimentally well-established over recent decades. In contrast, non-Hermitian systems exhibit complex band structures where both energy and momentum have imaginary parts, underpinning phenomena like the non-Hermitian skin effect and anomalous bulk-boundary correspondence that defy conventional Bloch theory. Experimentally mapping these complex bands-relating complex momentum to complex energy-and identifying their associated eigenstates is crucial for understanding these systems but remains a significant challenge. Here, we introduce a non-Bloch supercell framework designed to overcome this challenge by decoupling Bloch phase control from the imaginary part of momentum. Our method combines an exponent-flattening protocol with twisted boundary conditions, enabling system-size-independent control of imaginary momentum while preserving high-resolution Bloch phase sampling. Implemented in programmable one- and two-dimensional acoustic crystals, our approach acquires momentum-resolved complex energy surfaces and biorthogonal eigenmodes by Green's function measurements.Data obtained using this framework accurately predict open-boundary spectra and eigenstates, findings we verify through separate open-geometry experiments. Our work provides a broadly applicable experimental toolkit for exploring non-Hermitian band geometry and topology in diverse engineered classical and quantum platforms.

quant-ph↗

arXiv2025

Seed3D 1.0: From Images to High-Fidelity Simulation-Ready 3D Assets

Developing embodied AI agents requires scalable training environments that balance content diversity with physics accuracy. World simulators provide such environments but face distinct limitations: video-based methods generate diverse content but lack real-time physics feedback for interactive learning, while physics-based engines provide accurate dynamics but face scalability limitations from costly manual asset creation. We present Seed3D 1.0, a foundation model that generates simulation-ready 3D assets from single images, addressing the scalability challenge while maintaining physics rigor. Unlike existing 3D generation models, our system produces assets with accurate geometry, well-aligned textures, and realistic physically-based materials. These assets can be directly integrated into physics engines with minimal configuration, enabling deployment in robotic manipulation and simulation training. Beyond individual objects, the system scales to complete scene generation through assembling objects into coherent environments. By enabling scalable simulation-ready content creation, Seed3D 1.0 provides a foundation for advancing physics-based world simulators. Seed3D 1.0 is now available on https://console.volcengine.com/ark/region:ark+cn-beijing/experience/vision?modelId=doubao-seed3d-1-0-250928&tab=Gen3D

eess.IV↗

arXiv2025

Astraea: A Token-wise Acceleration Framework for Video Diffusion Transformers

Video diffusion transformers (vDiTs) have made tremendous progress in text-to-video generation, but their high compute demands pose a major challenge for practical deployment. While studies propose acceleration methods to reduce workload at various granularities, they often rely on heuristics, limiting their applicability. We introduce Astraea, a framework that searches for near-optimal configurations for vDiT-based video generation under a performance target. At its core, Astraea proposes a lightweight token selection mechanism and a memory-efficient, GPU-friendly sparse attention strategy, enabling linear savings on execution time with minimal impact on generation quality. Meanwhile, to determine optimal token reduction for different timesteps, we further design a search framework that leverages a classic evolutionary algorithm to automatically determine the distribution of the token budget effectively. Together, Astraea achieves up to 2.4$\times$ inference speedup on a single GPU with great scalability (up to 13.2$\times$ speedup on 8 GPUs) while achieving up to over 10~dB video quality compared to the state-of-the-art methods ($<$0.5\% loss on VBench compared to baselines).

cs.CV↗

arXiv2025

DPoser-X: Diffusion Model as Robust 3D Whole-body Human Pose Prior

We present DPoser-X, a diffusion-based prior model for 3D whole-body human poses. Building a versatile and robust full-body human pose prior remains challenging due to the inherent complexity of articulated human poses and the scarcity of high-quality whole-body pose datasets. To address these limitations, we introduce a Diffusion model as body Pose prior (DPoser) and extend it to DPoser-X for expressive whole-body human pose modeling. Our approach unifies various pose-centric tasks as inverse problems, solving them through variational diffusion sampling. To enhance performance on downstream applications, we introduce a novel truncated timestep scheduling method specifically designed for pose data characteristics. We also propose a masked training mechanism that effectively combines whole-body and part-specific datasets, enabling our model to capture interdependencies between body parts while avoiding overfitting to specific actions. Extensive experiments demonstrate DPoser-X's robustness and versatility across multiple benchmarks for body, hand, face, and full-body pose modeling. Our model consistently outperforms state-of-the-art alternatives, establishing a new benchmark for whole-body human pose prior modeling.

cs.CV↗

arXiv2025

Soliton Transitions Mediated by Skin-Mode Localization and Band Nonreciprocity

Solitons, typically resulting from a competition between band dispersion and nonlinearity, occur in lattices featuring the non-Hermitian skin effect as nonlinearity increases, accompanied by a transition in localization from linear skin modes to solitons. However, localization does not disentangle the role of skin modes in the soliton formation from that of band dispersion. Here, in such lattices, we uncover two distinct soliton phases, skin-mode-assisted solitons (SMASs) and nonreciprocity-dressed solitons (NRDSs). Rooted in fundamentally different mechanisms, SMASs originate from skin effect, while NRDSs stem from band nonreciprocity, each exhibiting unique spatial profiles. Using a stacked Su-Schrieffer-Heeger-like model as a prototype, we delineate the phase diagram of SMASs and NRDSs, each having clear phase boundaries. To interpret them, we formulate a Wannier-function-based nonlinear Hamiltonian, showing that soliton formation depends critically on how skin-mode localization and band nonreciprocity suppress or enhance wave dispersion. For SMASs, skin-mode localization reduces wave broadening at the localization sites, thereby lowering the formation threshold. This soliton phase is observable from edge dynamics and accompanied by a dynamical stability reentrance when transitioning from linear skin modes. In contrast, NRDSs, as well as their thresholds, originate from bulk band nonreciprocity and persist under periodic boundary conditions. Our framework offers predictive tools for characterizing and engineering solitons in experimentally realizable non-Hermitian systems, spanning optics to mechanics.

nlin.PS↗

arXiv2025

RainFusion: Adaptive Video Generation Acceleration via Multi-Dimensional Visual Redundancy

Video generation using diffusion models is highly computationally intensive, with 3D attention in Diffusion Transformer (DiT) models accounting for over 80\% of the total computational resources. In this work, we introduce {\bf RainFusion}, a novel training-free sparse attention method that exploits inherent sparsity nature in visual data to accelerate attention computation while preserving video quality. Specifically, we identify three unique sparse patterns in video generation attention calculations--Spatial Pattern, Temporal Pattern and Textural Pattern. The sparse pattern for each attention head is determined online with negligible overhead (\textasciitilde\,0.2\%) with our proposed {\bf ARM} (Adaptive Recognition Module) during inference. Our proposed {\bf RainFusion} is a plug-and-play method, that can be seamlessly integrated into state-of-the-art 3D-attention video generation models without additional training or calibration. We evaluate our method on leading open-sourced models including HunyuanVideo, OpenSoraPlan-1.2 and CogVideoX-5B, demonstrating its broad applicability and effectiveness. Experimental results show that RainFusion achieves over {\bf 2$\times$} speedup in attention computation while maintaining video quality, with only a minimal impact on VBench scores (-0.2\%).

cs.CV↗

arXiv2025

ChatHuman: Chatting about 3D Humans with Tools

Numerous methods have been proposed to detect, estimate, and analyze properties of people in images, including 3D pose, shape, contact, human-object interaction, and emotion. While widely applicable in vision and other areas, such methods require expert knowledge to select, use, and interpret the results. To address this, we introduce ChatHuman, a language-driven system that integrates the capabilities of specialized methods into a unified framework. ChatHuman functions as an assistant proficient in utilizing, analyzing, and interacting with tools specific to 3D human tasks, adeptly discussing and resolving related challenges. Built on a Large Language Model (LLM) framework, ChatHuman is trained to autonomously select, apply, and interpret a diverse set of tools in response to user inputs. Our approach overcomes significant hurdles in adapting LLMs to 3D human tasks, including the need for domain-specific knowledge and the ability to interpret complex 3D outputs. The innovations of ChatHuman include leveraging academic publications to instruct the LLM on tool usage, employing a retrieval-augmented generation model to create in-context learning examples for managing new tools, and effectively discriminating between and integrating tool results by transforming specialized 3D outputs into comprehensible formats. Experiments demonstrate that ChatHuman surpasses existing models in both tool selection accuracy and overall performance across various 3D human tasks, and it supports interactive chatting with users. ChatHuman represents a significant step toward consolidating diverse analytical methods into a unified, robust system for 3D human tasks.

cs.CV↗

arXiv2025

SkillMimic: Learning Basketball Interaction Skills from Demonstrations

Traditional reinforcement learning methods for human-object interaction (HOI) rely on labor-intensive, manually designed skill rewards that do not generalize well across different interactions. We introduce SkillMimic, a unified data-driven framework that fundamentally changes how agents learn interaction skills by eliminating the need for skill-specific rewards. Our key insight is that a unified HOI imitation reward can effectively capture the essence of diverse interaction patterns from HOI datasets. This enables SkillMimic to learn a single policy that not only masters multiple interaction skills but also facilitates skill transitions, with both diversity and generalization improving as the HOI dataset grows. For evaluation, we collect and introduce two basketball datasets containing approximately 35 minutes of diverse basketball skills. Extensive experiments show that SkillMimic successfully masters a wide range of basketball skills including stylistic variations in dribbling, layup, and shooting. Moreover, these learned skills can be effectively composed by a high-level controller to accomplish complex and long-horizon tasks such as consecutive scoring, opening new possibilities for scalable and generalizable interaction skill learning. Project page: https://ingrid789.github.io/SkillMimic/

cs.CV↗

arXiv2025

HumanMM: Global Human Motion Recovery from Multi-shot Videos

In this paper, we present a novel framework designed to reconstruct long-sequence 3D human motion in the world coordinates from in-the-wild videos with multiple shot transitions. Such long-sequence in-the-wild motions are highly valuable to applications such as motion generation and motion understanding, but are of great challenge to be recovered due to abrupt shot transitions, partial occlusions, and dynamic backgrounds presented in such videos. Existing methods primarily focus on single-shot videos, where continuity is maintained within a single camera view, or simplify multi-shot alignment in camera space only. In this work, we tackle the challenges by integrating an enhanced camera pose estimation with Human Motion Recovery (HMR) by incorporating a shot transition detector and a robust alignment module for accurate pose and orientation continuity across shots. By leveraging a custom motion integrator, we effectively mitigate the problem of foot sliding and ensure temporal consistency in human pose. Extensive evaluations on our created multi-shot dataset from public 3D human datasets demonstrate the robustness of our method in reconstructing realistic human motion in world coordinates.

cs.CV↗

arXiv2025

LLM-based MOFs Synthesis Condition Extraction using Few-Shot Demonstrations

The extraction of Metal-Organic Frameworks (MOFs) synthesis route from literature has been crucial for the logical MOFs design with desirable functionality. The recent advent of large language models (LLMs) provides disruptively new solution to this long-standing problem. While the latest researches mostly stick to primitive zero-shot LLMs lacking specialized material knowledge, we introduce in this work the few-shot LLM in-context learning paradigm. First, a human-AI interactive data curation approach is proposed to secure high-quality demonstrations. Second, an information retrieval algorithm is applied to pick and quantify few-shot demonstrations for each extraction. Over three datasets randomly sampled from nearly 90,000 well-defined MOFs, we conduct triple evaluations to validate our method. The synthesis extraction, structure inference, and material design performance of the proposed few-shot LLMs all significantly outplay zero-shot LLM and baseline methods. The lab-synthesized material guided by LLM surpasses 91.1% high-quality MOFs of the same class reported in the literature, on the key physical property of specific surface area.

cs.CL↗

arXiv2025

Dynamic Low-Rank Sparse Adaptation for Large Language Models

Despite the efficacy of network sparsity in alleviating the deployment strain of Large Language Models (LLMs), it endures significant performance degradation. Applying Low-Rank Adaptation (LoRA) to fine-tune the sparse LLMs offers an intuitive approach to counter this predicament, while it holds shortcomings include: 1) The inability to integrate LoRA weights into sparse LLMs post-training, and 2) Insufficient performance recovery at high sparsity ratios. In this paper, we introduce dynamic Low-rank Sparse Adaptation (LoSA), a novel method that seamlessly integrates low-rank adaptation into LLM sparsity within a unified framework, thereby enhancing the performance of sparse LLMs without increasing the inference latency. In particular, LoSA dynamically sparsifies the LoRA outcomes based on the corresponding sparse weights during fine-tuning, thus guaranteeing that the LoRA module can be integrated into the sparse LLMs post-training. Besides, LoSA leverages Representation Mutual Information (RMI) as an indicator to determine the importance of layers, thereby efficiently determining the layer-wise sparsity rates during fine-tuning. Predicated on this, LoSA adjusts the rank of the LoRA module based on the variability in layer-wise reconstruction errors, allocating an appropriate fine-tuning for each layer to reduce the output discrepancies between dense and sparse LLMs. Extensive experiments tell that LoSA can efficiently boost the efficacy of sparse LLMs within a few hours, without introducing any additional inferential burden. For example, LoSA reduced the perplexity of sparse LLaMA-2-7B by 68.73 and increased zero-shot accuracy by 16.32$\%$, achieving a 2.60$\times$ speedup on CPU and 2.23$\times$ speedup on GPU, requiring only 45 minutes of fine-tuning on a single NVIDIA A100 80GB GPU. Code is available at https://github.com/wzhuang-xmu/LoSA.

cs.LG↗