arXiv subjects

Jinwei Li

Publications and source records attributed to Jinwei Li.

8 recordsLinked to original sources

arXiv2026

DART: Dual-Axis Airborne Reachability-Gated Torque-Reaction for Off-Road Vehicle Jumps

Traversing crests, ledges, and ditches at high speed often launches vehicles into the air, and a mishandled landing presents a substantial crash hazard. We show that the airborne phase is barely controllable: on a 1383 kg platform the wheel angular-momentum budget caps the recoverable pitch-rate change at roughly $9$-$13^\circ$/s in the tighter nose-up direction under drive at typical takeoff wheel speeds, and at about twice that in the reverse-inclusive braking direction; driving the wheels to their drivetrain hard limit raises the measured nose-up ceiling to only $16$-$18^\circ$/s. Takeoff pitch-rate disturbances beyond this directional budget are physically unrecoverable in flight, so the decisive leverage lies before takeoff. DART (Dual-Axis Airborne Reachability-Gated Torque-Reaction) back-propagates the landing constraint into a closed-form certified feasible-takeoff set, which supplies a conservative go/no-go condition and a pre-takeoff speed-shaping law. In flight, DART regulates pitch and roll via steer-resolved wheel-reaction torque, governed by a per-flight roll latch derived from the yaw-coupling analysis. In deterministic full-scale simulation in BeamNG.tech, a calibrated pre-takeoff speed regulator reduces touchdown speed by 36% and raises on-target landings from 0/30 to 30/30. Under the same steep-lip approach the airborne law completes 29/30 safe landings under crash-avoidance bounds versus 0/30 for reaction-wheel-style PD (RW-PD) and time-optimal bang-bang (TOBB). On banked run-ups DART holds the median pitch error at or below $2^\circ$ at every cross-slope, with the largest baseline separation at $\gamma=12^\circ$. Across disturbance regimes, the latch preserves pitch-only allocation on low-disturbance entries and enables dual-axis control when roll becomes binding. All results are from simulation; hardware validation remains open.

cs.RO↗

arXiv2026

RISE: Self-Improving Robot Policy with Compositional World Model

Despite the sustained scaling on model capacity and data acquisition, Vision-Language-Action (VLA) models remain brittle in contact-rich and dynamic manipulation tasks, where minor execution deviations can compound into failures. While reinforcement learning (RL) offers a principled path to robustness, on-policy RL in the physical world is constrained by safety risk, hardware cost, and environment reset. To bridge this gap, we present RISE, a scalable framework of robotic reinforcement learning via imagination. At its core is a Compositional World Model that (i) predicts multi-view future via a controllable dynamics model, and (ii) evaluates imagined outcomes with a progress value model, producing informative advantages for the policy improvement. Such compositional design allows state and value to be tailored by best-suited yet distinct architectures and objectives. These components are integrated into a closed-loop self-improving pipeline that continuously generates imaginary rollouts, estimates advantages, and updates the policy in imaginary space without costly physical interaction. Across three challenging real-world tasks, RISE yields significant improvement over prior art, with more than +35% absolute performance increase in dynamic brick sorting, +45% for backpack packing, and +35% for box closing, respectively.

cs.RO↗

arXiv2025

Impromptu VLA: Open Weights and Open Data for Driving Vision-Language-Action Models

Vision-Language-Action (VLA) models for autonomous driving show promise but falter in unstructured corner case scenarios, largely due to a scarcity of targeted benchmarks. To address this, we introduce Impromptu VLA. Our core contribution is the Impromptu VLA Dataset: over 80,000 meticulously curated video clips, distilled from over 2M source clips sourced from 8 open-source large-scale datasets. This dataset is built upon our novel taxonomy of four challenging unstructured categories and features rich, planning-oriented question-answering annotations and action trajectories. Crucially, experiments demonstrate that VLAs trained with our dataset achieve substantial performance gains on established benchmarks--improving closed-loop NeuroNCAP scores and collision rates, and reaching near state-of-the-art L2 accuracy in open-loop nuScenes trajectory prediction. Furthermore, our Q&A suite serves as an effective diagnostic, revealing clear VLM improvements in perception, prediction, and planning. Our code, data and models are available at https://github.com/ahydchh/Impromptu-VLA.

cs.CV↗

arXiv2025

FB-4D: Spatial-Temporal Coherent Dynamic 3D Content Generation with Feature Banks

With the rapid advancements in diffusion models and 3D generation techniques, dynamic 3D content generation has become a crucial research area. However, achieving high-fidelity 4D (dynamic 3D) generation with strong spatial-temporal consistency remains a challenging task. Inspired by recent findings that pretrained diffusion features capture rich correspondences, we propose FB-4D, a novel 4D generation framework that integrates a Feature Bank mechanism to enhance both spatial and temporal consistency in generated frames. In FB-4D, we store features extracted from previous frames and fuse them into the process of generating subsequent frames, ensuring consistent characteristics across both time and multiple views. To ensure a compact representation, the Feature Bank is updated by a proposed dynamic merging mechanism. Leveraging this Feature Bank, we demonstrate for the first time that generating additional reference sequences through multiple autoregressive iterations can continuously improve generation performance. Experimental results show that FB-4D significantly outperforms existing methods in terms of rendering quality, spatial-temporal consistency, and robustness. It surpasses all multi-view generation tuning-free approaches by a large margin and achieves performance on par with training-based methods.

cs.CV↗

arXiv2024

Switchable deep beamformer for high-quality and real-time passive acoustic mapping

Passive acoustic mapping (PAM) is a promising tool for monitoring acoustic cavitation activities in the applications of ultrasound therapy. Data-adaptive beamformers for PAM have better image quality compared to the time exposure acoustics (TEA) algorithms. However, the computational cost of data-adaptive beamformers is considerably expensive. In this work, we develop a deep beamformer based on a generative adversarial network, which can switch between different transducer arrays and reconstruct high-quality PAM images directly from radio frequency ultrasound signals with low computational cost. The deep beamformer was trained on the dataset consisting of simulated and experimental cavitation signals of single and multiple microbubble clouds measured by different (linear and phased) arrays covering 1-15 MHz. We compared the performance of the deep beamformer to TEA and three different data-adaptive beamformers using the simulated and experimental test dataset. Compared with TEA, the deep beamformer reduced the energy spread area by 18.9%-65.0% and improved the image signal-to-noise ratio by 9.3-22.9 dB in average for the different arrays in our data. Compared to the data-adaptive beamformers, the deep beamformer reduced the computational cost by three orders of magnitude achieving 10.5 ms image reconstruction speed in our data, while the image quality was as good as that of the data-adaptive beamformers. These results demonstrated the potential of the deep beamformer for high-resolution monitoring of microbubble cavitation activities for ultrasound therapy.

cs.AI↗

arXiv2024

High-Quality Passive Acoustic Mapping with the Cross-Correlated Angular Spectrum Method

While passive acoustic mapping (PAM) has been advanced for monitoring acoustic cavitation activity in focused ultrasound (FUS) therapy, achieving both real-time and high-quality imaging capabilities is still challenging. The angular spectrum (AS) method presents the most efficient algorithm for PAM, but it suffers from artifacts and low resolution due to the diffraction pattern of the imaging array. Data-adaptive beamformers suppress artifacts well, but their overwhelming computational complexity, more than two orders of magnitude higher than the classical time exposure acoustic (TEA) method, hinders their application in real-time. In this work, we introduce the cross-correlated AS method to address the challenge. This method is based on cross-correlating the AS back-propagated wave fields, in the frequency domain, measured by different apodized sub-apertures of the transducer array to provide the normalized correlation coefficient (NCC) matrix for artifacts suppression. We observed that the spatial pattern of NCC matrix is variable which can be utilized by the triple apodization with cross-correlation (TAX) with AS scheme, namely the AS-TAX method, for optimal artifacts suppression outcomes. Both the phantom and mouse tumor experiments showed that: 1) the AS-TAX method has comparable image quality as the data-adaptive beamformers, reducing the energy spread area by 34.8-66.6% and improving image signal-to-noise ratio by 10.7-14.5 dB compared to TEA; 2) it reduces the computational complexity by two orders of magnitude compared to TEA allowing millisecond-level image reconstruction speed with a parallel implementation; 3) it can well map microbubble cavitation activity of different status (stable or inertial). The AS-TAX method represents a real-time approach to monitor cavitation-based FUS therapy with high image quality.

physics.med-ph↗

arXiv2020

InSAR Phase Denoising: A Review of Current Technologies and Future Directions

Nowadays, interferometric synthetic aperture radar (InSAR) has been a powerful tool in remote sensing by enhancing the information acquisition. During the InSAR processing, phase denoising of interferogram is a mandatory step for topography mapping and deformation monitoring. Over the last three decades, a large number of effective algorithms have been developed to do efforts on this topic. In this paper, we give a comprehensive overview of InSAR phase denoising methods, classifying the established and emerging algorithms into four main categories. The first two parts refer to the categories of traditional local filters and transformed-domain filters, respectively. The third part focuses on the category of nonlocal (NL) filters, considering their outstanding performances. Latter, some advanced methods based on new concept of signal processing are also introduced to show their potentials in this field. Moreover, several popular phase denoising methods are illustrated and compared by performing the numerical experiments using both simulated and measured data. The purpose of this paper is intended to provide necessary guideline and inspiration to related researchers by promoting the architecture development of InSAR signal processing.

eess.IV↗

arXiv2020

Portable probe design for photoacoustic imaging in vivo

A low-cost adjustable illumination scheme for hand-held photoacoustic imaging probe is presented, manufactured and tested in this paper. Compared with traditional photoacoustic probe design, it has the following advantages: (1) Different excitation modes can be selected as needed. By tuning control parameters, it can achieve bright-field, dark-field, and hybrid field light illumination schemes. (2) The spot-adjustable unit (SAU) specifically designed for beam expansion, together with a water tank for transmitting ultrasonic waves, enable the device to break through the constraints of the transfer medium and is more widely used. The beam-expansion experiment is conducted to verify the function of SAU. After that, we built a PAT system based on our newly designed apparatus. Phantom and in vivo experimental results show different performance in different illumination schemes

eess.IV↗