arXiv subjects

Jun Ma

Publications and source records attributed to Jun Ma.

At least 145 records · Page 8Linked to original sources

arXiv2025

SEG-Parking: Towards Safe, Efficient, and Generalizable Autonomous Parking via End-to-End Offline Reinforcement Learning

Autonomous parking is a critical component for achieving safe and efficient urban autonomous driving. However, unstructured environments and dynamic interactions pose significant challenges to autonomous parking tasks. To address this problem, we propose SEG-Parking, a novel end-to-end offline reinforcement learning (RL) framework to achieve interaction-aware autonomous parking. Notably, a specialized parking dataset is constructed for parking scenarios, which include those without interference from the opposite vehicle (OV) and complex ones involving interactions with the OV. Based on this dataset, a goal-conditioned state encoder is pretrained to map the fused perception information into the latent space. Then, an offline RL policy is optimized with a conservative regularizer that penalizes out-of-distribution actions. Extensive closed-loop experiments are conducted in the high-fidelity CARLA simulator. Comparative results demonstrate the superior performance of our framework with the highest success rate and robust generalization to out-of-distribution parking scenarios. The related dataset and source code will be made publicly available after the paper is accepted.

cs.RO↗

arXiv2025

Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning

Whole-body manipulation (WBM) for humanoid robots presents a promising approach for executing embracing tasks involving bulky objects, where traditional grasping relying on end-effectors only remains limited in such scenarios due to inherent stability and payload constraints. This paper introduces a reinforcement learning framework that integrates a pre-trained human motion prior with a neural signed distance field (NSDF) representation to achieve robust whole-body embracing. Our method leverages a teacher-student architecture to distill large-scale human motion data, generating kinematically natural and physically feasible whole-body motion patterns. This facilitates coordinated control across the arms and torso, enabling stable multi-contact interactions that enhance the robustness in manipulation and also the load capacity. The embedded NSDF further provides accurate and continuous geometric perception, improving contact awareness throughout long-horizon tasks. We thoroughly evaluate the approach through comprehensive simulations and real-world experiments. The results demonstrate improved adaptability to diverse shapes and sizes of objects and also successful sim-to-real transfer. These indicate that the proposed framework offers an effective and practical solution for multi-contact and long-horizon WBM tasks of humanoid robots.

cs.RO↗

arXiv2025

SAMP: Spatial Anchor-based Motion Policy for Collision-Aware Robotic Manipulators

Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when generating safe and feasible motions. Moreover, existing approaches often rely on simplified robot models or focus primarily on obstacle representation, which can lead to incomplete collision detection and degraded performance in cluttered scenes. To address these limitations, we propose spatial anchor-based motion policy (SAMP), a unified framework that simultaneously encodes the environment and the manipulator using signed distance field (SDF) anchored on a shared spatial grid. SAMP incorporates a dedicated robot SDF network that captures the manipulator's precise geometry, enabling collision-aware reasoning beyond coarse link approximations. These representations are fused on spatial anchors and used to train a neural motion policy that generates smooth, collision-free trajectories in the proposed efficient feature alignment strategy. Experiments conducted in both simulated and real-world environments consistently show that SAMP outperforms existing methods, delivering an 11% increase in success rate and a 7% reduction in collision rate. These results highlight the benefits of jointly modelling robot and environment geometry, demonstrating its practical value in challenging real-world environments.

cs.RO↗

arXiv2025

MGTraj: Multi-Granularity Goal-Guided Human Trajectory Prediction with Recursive Refinement Network

Accurate human trajectory prediction is crucial for robotics navigation and autonomous driving. Recent research has demonstrated that incorporating goal guidance significantly enhances prediction accuracy by reducing uncertainty and leveraging prior knowledge. Most goal-guided approaches decouple the prediction task into two stages: goal prediction and subsequent trajectory completion based on the predicted goal, which operate at extreme granularities: coarse-grained goal prediction forecasts the overall intention, while fine-grained trajectory completion needs to generate the positions for all future timesteps. The potential utility of intermediate temporal granularity remains largely unexplored, which motivates multi-granularity trajectory modeling. While prior work has shown that multi-granularity representations capture diverse scales of human dynamics and motion patterns, effectively integrating this concept into goal-guided frameworks remains challenging. In this paper, we propose MGTraj, a novel Multi-Granularity goal-guided model for human Trajectory prediction. MGTraj recursively encodes trajectory proposals from coarse to fine granularity levels. At each level, a transformer-based recursive refinement network (RRN) captures features and predicts progressive refinements. Features across different granularities are integrated using a weight-sharing strategy, and velocity prediction is employed as an auxiliary task to further enhance performance. Comprehensive experimental results in EHT/UCY and Stanford Drone Dataset indicate that MGTraj outperforms baseline methods and achieves state-of-the-art performance among goal-guided methods.

cs.CV↗

arXiv2025

Artificial Intelligence in Breast Cancer Care: Transforming Preoperative Planning and Patient Education with 3D Reconstruction

Effective preoperative planning requires accurate algorithms for segmenting anatomical structures across diverse datasets, but traditional models struggle with generalization. This study presents a novel machine learning methodology to improve algorithm generalization for 3D anatomical reconstruction beyond breast cancer applications. We processed 120 retrospective breast MRIs (January 2018-June 2023) through three phases: anonymization and manual segmentation of T1-weighted and dynamic contrast-enhanced sequences; co-registration and segmentation of whole breast, fibroglandular tissue, and tumors; and 3D visualization using ITK-SNAP. A human-in-the-loop approach refined segmentations using U-Mamba, designed to generalize across imaging scenarios. Dice similarity coefficient assessed overlap between automated segmentation and ground truth. Clinical relevance was evaluated through clinician and patient interviews. U-Mamba showed strong performance with DSC values of 0.97 ($\pm$0.013) for whole organs, 0.96 ($\pm$0.024) for fibroglandular tissue, and 0.82 ($\pm$0.12) for tumors on T1-weighted images. The model generated accurate 3D reconstructions enabling visualization of complex anatomical features. Clinician interviews indicated improved planning, intraoperative navigation, and decision support. Integration of 3D visualization enhanced patient education, communication, and understanding. This human-in-the-loop machine learning approach successfully generalizes algorithms for 3D reconstruction and anatomical segmentation across patient datasets, offering enhanced visualization for clinicians, improved preoperative planning, and more effective patient education, facilitating shared decision-making and empowering informed patient choices across medical applications.

cs.CV↗

arXiv2025

Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We propose a unified spatial-temporal-semantic fusion module to construct the visual fused features. Cross-attention components for surrounding cameras and adjacent frames are utilized to focus on metric scale information refinement and temporal feature matching. Building on this, we propose a pose estimation framework using surrounding cameras, their corresponding estimated depths, and extrinsic parameters, which effectively address the scale ambiguity in multi-camera setups. Moreover, semantic world model and monocular depth estimation world model are integrated to supervised the depth estimation, which improve the quality of depth estimation. We evaluate our algorithm on DDAD and nuScenes datasets, and the results demonstrate that our method achieves state-of-the-art performance in terms of surrounding camera based depth estimation quality. The source code will be available on https://github.com/xieyuser/Semi-SMD.

cs.RO↗

arXiv2025

MonoGlass3D: Monocular 3D Glass Detection with Plane Regression and Adaptive Feature Fusion

Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors from accurately distinguishing glass surfaces. The lack of real-world datasets focused on glass objects further impedes progress in this field. To address this issue, we introduce a new dataset featuring a wide range of glass configurations with precise 3D annotations, collected from distinct real-world scenarios. On the basis of this dataset, we propose MonoGlass3D, a novel approach tailored for monocular 3D glass detection across diverse environments. To overcome the challenges posed by the ambiguous appearance and context diversity of glass, we propose an adaptive feature fusion module that empowers the network to effectively capture contextual information in varying conditions. Additionally, to exploit the distinct planar geometry of glass surfaces, we present a plane regression pipeline, which enables seamless integration of geometric properties within our framework. Extensive experiments demonstrate that our method outperforms state-of-the-art approaches in both glass segmentation and monocular glass depth estimation. Our results highlight the advantages of combining geometric and contextual cues for transparent surface understanding.

cs.RO↗

arXiv2025

ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion

Navigating unknown environments to find a target object is a significant challenge. While semantic information is crucial for navigation, relying solely on it for decision-making may not always be efficient, especially in environments with weak semantic cues. Additionally, many methods are susceptible to misdetections, especially in environments with visually similar objects. To address these limitations, we propose ApexNav, a zero-shot object navigation framework that is both more efficient and reliable. For efficiency, ApexNav adaptively utilizes semantic information by analyzing its distribution in the environment, guiding exploration through semantic reasoning when cues are strong, and switching to geometry-based exploration when they are weak. For reliability, we propose a target-centric semantic fusion method that preserves long-term memory of the target and similar objects, enabling robust object identification even under noisy detections. We evaluate ApexNav on the HM3Dv1, HM3Dv2, and MP3D datasets, where it outperforms state-of-the-art methods in both SR and SPL metrics. Comprehensive ablation studies further demonstrate the effectiveness of each module. Furthermore, real-world experiments validate the practicality of ApexNav in physical environments. The code will be released at https://github.com/Robotics-STAR-Lab/ApexNav.

cs.RO↗

arXiv2025

NetRoller: Interfacing General and Specialized Models for End-to-End Autonomous Driving

Integrating General Models (GMs) such as Large Language Models (LLMs), with Specialized Models (SMs) in autonomous driving tasks presents a promising approach to mitigating challenges in data diversity and model capacity of existing specialized driving models. However, this integration leads to problems of asynchronous systems, which arise from the distinct characteristics inherent in GMs and SMs. To tackle this challenge, we propose NetRoller, an adapter that incorporates a set of novel mechanisms to facilitate the seamless integration of GMs and specialized driving models. Specifically, our mechanisms for interfacing the asynchronous GMs and SMs are organized into three key stages. NetRoller first harvests semantically rich and computationally efficient representations from the reasoning processes of LLMs using an early stopping mechanism, which preserves critical insights on driving context while maintaining low overhead. It then applies learnable query embeddings, nonsensical embeddings, and positional layer embeddings to facilitate robust and efficient cross-modality translation. At last, it employs computationally efficient Query Shift and Feature Shift mechanisms to enhance the performance of SMs through few-epoch fine-tuning. Based on the mechanisms formalized in these three stages, NetRoller enables specialized driving models to operate at their native frequencies while maintaining situational awareness of the GM. Experiments conducted on the nuScenes dataset demonstrate that integrating GM through NetRoller significantly improves human similarity and safety in planning tasks, and it also achieves noticeable precision improvements in detection and mapping tasks for end-to-end autonomous driving. The code and models are available at https://github.com/Rex-sys-hk/NetRoller .

cs.RO↗

arXiv2025

TopoNav: Topological Graphs as a Key Enabler for Advanced Object Navigation

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new framework that leverages topological structures as spatial memory. By building and updating a topological graph that captures scene connections, adjacency, and semantic meaning, TopoNav helps agents accumulate spatial knowledge over time, retrieve key information, and reason effectively toward distant goals. Our experiments show that TopoNav achieves state-of-the-art performance on benchmark ObjectNav datasets, with higher success rates and more efficient paths. It particularly excels in diverse and complex environments, as it connects temporary visual inputs with lasting spatial understanding.

cs.RO↗

arXiv2025

Stand on The Shoulders of Giants: Building JailExpert from Previous Attack Experience

Large language models (LLMs) generate human-aligned content under certain safety constraints. However, the current known technique ``jailbreak prompt'' can circumvent safety-aligned measures and induce LLMs to output malicious content. Research on Jailbreaking can help identify vulnerabilities in LLMs and guide the development of robust security frameworks. To circumvent the issue of attack templates becoming obsolete as models evolve, existing methods adopt iterative mutation and dynamic optimization to facilitate more automated jailbreak attacks. However, these methods face two challenges: inefficiency and repetitive optimization, as they overlook the value of past attack experiences. To better integrate past attack experiences to assist current jailbreak attempts, we propose the \textbf{JailExpert}, an automated jailbreak framework, which is the first to achieve a formal representation of experience structure, group experiences based on semantic drift, and support the dynamic updating of the experience pool. Extensive experiments demonstrate that JailExpert significantly improves both attack effectiveness and efficiency. Compared to the current state-of-the-art black-box jailbreak methods, JailExpert achieves an average increase of 17\% in attack success rate and 2.7 times improvement in attack efficiency. Our implementation is available at \href{https://github.com/xiZAIzai/JailExpert}{XiZaiZai/JailExpert}

cs.CR↗

arXiv2025

LD-Scene: LLM-Guided Diffusion for Controllable Generation of Adversarial Safety-Critical Driving Scenarios

Ensuring the safety and robustness of autonomous driving systems necessitates a comprehensive evaluation in safety-critical scenarios. However, these safety-critical scenarios are rare and difficult to collect from real-world driving data, posing significant challenges to effectively assessing the performance of autonomous vehicles. Typical existing methods often suffer from limited controllability and lack user-friendliness, as extensive expert knowledge is essentially required. To address these challenges, we propose LD-Scene, a novel framework that integrates Large Language Models (LLMs) with Latent Diffusion Models (LDMs) for user-controllable adversarial scenario generation through natural language. Our approach comprises an LDM that captures realistic driving trajectory distributions and an LLM-based guidance module that translates user queries into adversarial loss functions, facilitating the generation of scenarios aligned with user queries. The guidance module integrates an LLM-based Chain-of-Thought (CoT) code generator and an LLM-based code debugger, enhancing the controllability and robustness in generating guidance functions. Extensive experiments conducted on the nuScenes dataset demonstrate that LD-Scene achieves state-of-the-art performance in generating realistic, diverse, and effective adversarial scenarios. Furthermore, our framework provides fine-grained control over adversarial behaviors, thereby facilitating more effective testing tailored to specific driving scenarios.

cs.AI↗

arXiv2025

AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter

Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious parameter tuning and suboptimal performance in challenging conditions (e.g., sensor degeneracy and noisy observations). Therefore, we propose an Adaptive Kalman Filter (AKF) framework that dynamically estimates time-varying noise covariances of LiDAR and Inertial Measurement Unit (IMU) measurements, enabling context-aware confidence weighting between sensors. During LiDAR degeneracy, the system prioritizes IMU data while suppressing contributions from unreliable inputs like moving objects or noisy point clouds. Furthermore, a compact Gaussian-based map representation is introduced to model environmental planarity and spatial noise. A correlated registration strategy ensures accurate plane normal estimation via pseudo-merge, even in unstructured environments like forests. Extensive experiments validate the robustness of the proposed system across diverse environments, including dynamic scenes and geometrically degraded scenarios. Our method achieves reliable localization results across all MARS-LVIG sequences and ranks 8th on the KITTI Odometry Benchmark. The code will be released at https://github.com/xpxie/AKF-LIO.git.

cs.RO↗

arXiv2025

DuLoc: Life-Long Dual-Layer Localization in Changing and Dynamic Expansive Scenarios

LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration methods relying solely on offline maps often exhibit limited robustness against long-term environmental changes, leading to localization drift and reliability degradation in dynamic real-world scenarios. To address these challenges, this paper proposes DuLoc, a robust and accurate localization method that tightly couples LiDAR-inertial odometry with offline map-based localization, incorporating a constant-velocity motion model to mitigate outlier noise in real-world scenarios. Specifically, we develop a LiDAR-based localization framework that seamlessly integrates a prior global map with dynamic real-time local maps, enabling robust localization in unbounded and changing environments. Extensive real-world experiments in ultra unbounded port that involve 2,856 hours of operational data across 32 Intelligent Guided Vehicles (IGVs) are conducted and reported in this study. The results attained demonstrate that our system outperforms other state-of-the-art LiDAR localization systems in large-scale changing outdoor environments.

cs.RO↗

arXiv2025

DACA-Net: A Degradation-Aware Conditional Diffusion Network for Underwater Image Enhancement

Underwater images typically suffer from severe colour distortions, low visibility, and reduced structural clarity due to complex optical effects such as scattering and absorption, which greatly degrade their visual quality and limit the performance of downstream visual perception tasks. Existing enhancement methods often struggle to adaptively handle diverse degradation conditions and fail to leverage underwater-specific physical priors effectively. In this paper, we propose a degradation-aware conditional diffusion model to enhance underwater images adaptively and robustly. Given a degraded underwater image as input, we first predict its degradation level using a lightweight dual-stream convolutional network, generating a continuous degradation score as semantic guidance. Based on this score, we introduce a novel conditional diffusion-based restoration network with a Swin UNet backbone, enabling adaptive noise scheduling and hierarchical feature refinement. To incorporate underwater-specific physical priors, we further propose a degradation-guided adaptive feature fusion module and a hybrid loss function that combines perceptual consistency, histogram matching, and feature-level contrast. Comprehensive experiments on benchmark datasets demonstrate that our method effectively restores underwater images with superior colour fidelity, perceptual quality, and structural details. Compared with SOTA approaches, our framework achieves significant improvements in both quantitative metrics and qualitative visual assessments.

cs.CV↗

arXiv2025

Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller

Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large obstacles (which could be comparable to the size of a robot). However, they prove ineffective in narrow or constrained spaces where the robot's dimensions restrict its manipulation capabilities. This paper introduces a novel interactive navigation framework for legged manipulators, featuring an active arm-pushing mechanism that enables the robot to reposition movable obstacles in space-constrained environments. To this end, we develop a reinforcement learning-based arm-pushing controller with a two-stage reward strategy for large-object manipulation. Specifically, this strategy first directs the manipulator to a designated pushing zone to achieve a kinematically feasible contact configuration. Then, the end effector is guided to maintain its position at appropriate contact points for stable object displacement while preventing toppling. The simulations validate the robustness of the arm-pushing controller, showing that the two-stage reward strategy improves policy convergence and long-term performance. Real-world experiments further demonstrate the effectiveness of the proposed navigation framework, which achieves shorter paths and reduced traversal time. The open-source project can be found at https://github.com/Zhihaibi/Interactive-Navigation-for-legged-manipulator.git.

cs.RO↗

arXiv2025

VLM-UDMC: VLM-Enhanced Unified Decision-Making and Motion Control for Urban Autonomous Driving

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we propose a vision-language model (VLM)-enhanced unified decision-making and motion control framework, named VLM-UDMC. This framework incorporates scene reasoning and risk-aware insights into an upper-level slow system, which dynamically reconfigures the optimal motion planning for the downstream fast system. The reconfiguration is based on real-time environmental changes, which are encoded through context-aware potential functions. More specifically, the upper-level slow system employs a two-step reasoning policy with Retrieval-Augmented Generation (RAG), leveraging foundation models to process multimodal inputs and retrieve contextual knowledge, thereby generating risk-aware insights. Meanwhile, a lightweight multi-kernel decomposed LSTM provides real-time trajectory predictions for heterogeneous traffic participants by extracting smoother trend representations for short-horizon trajectory prediction. The effectiveness of the proposed VLM-UDMC framework is verified via both simulations and real-world experiments with a full-size autonomous vehicle. It is demonstrated that the presented VLM-UDMC effectively leverages scene understanding and attention decomposition for rational driving decisions, thus improving the overall urban driving performance. Our open-source project is available at https://github.com/henryhcliu/vlmudmc.git.

cs.RO↗

arXiv2025

Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties

Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions among agents. While game-theoretic methods are widely acknowledged for their effectiveness in managing multi-agent interactions, significant impediments persist when it comes to accommodating the intentional uncertainties of agents. In the context of intentional uncertainties, the heavy computational burdens associated with existing game-theoretic methods are induced, leading to inefficiencies and poor scalability. In this paper, we propose a novel game-theoretic interactive trajectory planning method to effectively address the intentional uncertainties of agents, and it demonstrates both high efficiency and enhanced scalability. As the underpinning basis, we model the interactions between agents under intentional uncertainties as a general Bayesian game, and we show that its agent-form equivalence can be represented as a potential game under certain minor assumptions. The existence and attainability of the optimal interactive trajectories are illustrated, as the corresponding Bayesian Nash equilibrium can be attained by optimizing a unified optimization problem. Additionally, we present a distributed algorithm based on the dual consensus alternating direction method of multipliers (ADMM) tailored to the parallel solving of the problem, thereby significantly improving the scalability. The attendant outcomes from simulations and experiments demonstrate that the proposed method is effective across a range of scenarios characterized by general forms of intentional uncertainties. Its scalability surpasses that of existing centralized and decentralized baselines, allowing for real-time interactive trajectory planning in uncertain game settings.

cs.RO↗