arXiv subjects

Kaixing Zhao

Publications and source records attributed to Kaixing Zhao.

9 recordsLinked to original sources

arXiv2025

AG-MPBS: a Mobility-Aware Prediction and Behavior-Based Scheduling Framework for Air-Ground Unmanned Systems

As unmanned systems such as Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) become increasingly important to applications like urban sensing and emergency response, efficiently recruiting these autonomous devices to perform time-sensitive tasks has become a critical challenge. This paper presents MPBS (Mobility-aware Prediction and Behavior-based Scheduling), a scalable task recruitment framework that treats each device as a recruitable "user". MPBS integrates three key modules: a behavior-aware KNN classifier, a time-varying Markov prediction model for forecasting device mobility, and a dynamic priority scheduling mechanism that considers task urgency and base station performance. By combining behavioral classification with spatiotemporal prediction, MPBS adaptively assigns tasks to the most suitable devices in real time. Experimental evaluations on the real-world GeoLife dataset show that MPBS significantly improves task completion efficiency and resource utilization. The proposed framework offers a predictive, behavior-aware solution for intelligent and collaborative scheduling in unmanned systems.

cs.RO↗

arXiv2025

Tri-Select: A Multi-Stage Visual Data Selection Framework for Mobile Visual Crowdsensing

Mobile visual crowdsensing enables large-scale, fine-grained environmental monitoring through the collection of images from distributed mobile devices. However, the resulting data is often redundant and heterogeneous due to overlapping acquisition perspectives, varying resolutions, and diverse user behaviors. To address these challenges, this paper proposes Tri-Select, a multi-stage visual data selection framework that efficiently filters redundant and low-quality images. Tri-Select operates in three stages: (1) metadata-based filtering to discard irrelevant samples; (2) spatial similarity-based spectral clustering to organize candidate images; and (3) a visual-feature-guided selection based on maximum independent set search to retain high-quality, representative images. Experiments on real-world and public datasets demonstrate that Tri-Select improves both selection efficiency and dataset quality, making it well-suited for scalable crowdsensing applications.

cs.RO↗

arXiv2025

LCMF: Lightweight Cross-Modality Mambaformer for Embodied Robotics VQA

Multimodal semantic learning plays a critical role in embodied intelligence, especially when robots perceive their surroundings, understand human instructions, and make intelligent decisions. However, the field faces technical challenges such as effective fusion of heterogeneous data and computational efficiency in resource-constrained environments. To address these challenges, this study proposes the lightweight LCMF cascaded attention framework, introducing a multi-level cross-modal parameter sharing mechanism into the Mamba module. By integrating the advantages of Cross-Attention and Selective parameter-sharing State Space Models (SSMs), the framework achieves efficient fusion of heterogeneous modalities and semantic complementary alignment. Experimental results show that LCMF surpasses existing multimodal baselines with an accuracy of 74.29% in VQA tasks and achieves competitive mid-tier performance within the distribution cluster of Large Language Model Agents (LLM Agents) in EQA video tasks. Its lightweight design achieves a 4.35-fold reduction in FLOPs relative to the average of comparable baselines while using only 166.51M parameters (image-text) and 219M parameters (video-text), providing an efficient solution for Human-Robot Interaction (HRI) applications in resource-constrained scenarios with strong multimodal decision generalization capabilities.

cs.RO↗

arXiv2025

M3ET: Efficient Vision-Language Learning for Robotics based on Multimodal Mamba-Enhanced Transformer

In recent years, multimodal learning has become essential in robotic vision and information fusion, especially for understanding human behavior in complex environments. However, current methods struggle to fully leverage the textual modality, relying on supervised pretrained models, which limits semantic extraction in unsupervised robotic environments, particularly with significant modality loss. These methods also tend to be computationally intensive, leading to high resource consumption in real-world applications. To address these challenges, we propose the Multi Modal Mamba Enhanced Transformer (M3ET), a lightweight model designed for efficient multimodal learning, particularly on mobile platforms. By incorporating the Mamba module and a semantic-based adaptive attention mechanism, M3ET optimizes feature fusion, alignment, and modality reconstruction. Our experiments show that M3ET improves cross-task performance, with a 2.3 times increase in pretraining inference speed. In particular, the core VQA task accuracy of M3ET remains at 0.74, while the model's parameter count is reduced by 0.67. Although performance on the EQA task is limited, M3ET's lightweight design makes it well suited for deployment on resource-constrained robotic platforms.

cs.RO↗

arXiv2025

AGCo-MATA: Air-Ground Collaborative Multi-Agent Task Allocation in Mobile Crowdsensing

Rapid progress in intelligent unmanned systems has presented new opportunities for mobile crowd sensing (MCS). Today, heterogeneous air-ground collaborative multi-agent framework, which comprise unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), have presented superior flexibility and efficiency compared to traditional homogeneous frameworks in complex sensing tasks. Within this context, task allocation among different agents always play an important role in improving overall MCS quality. In order to better allocate tasks among heterogeneous collaborative agents, in this paper, we investigated two representative complex multi-agent task allocation scenarios with dual optimization objectives: (1) For AG-FAMT (Air-Ground Few Agents More Tasks) scenario, the objectives are to maximize the task completion while minimizing the total travel distance; (2) For AG-MAFT (Air-Ground More Agents Few Tasks) scenario, where the agents are allocated based on their locations, has the optimization objectives of minimizing the total travel distance while reducing travel time cost. To achieve this, we proposed a Multi-Task Minimum Cost Maximum Flow (MT-MCMF) optimization algorithm tailored for AG-FAMT, along with a multi-objective optimization algorithm called W-ILP designed for AG-MAFT, with a particular focus on optimizing the charging path planning of UAVs. Our experiments based on a large-scale real-world dataset demonstrated that the proposed two algorithms both outperform baseline approaches under varying experimental settings, including task quantity, task difficulty, and task distribution, providing a novel way to improve the overall quality of mobile crowdsensing tasks.

cs.MA↗

arXiv2023

MMFormer: Multimodal Transformer Using Multiscale Self-Attention for Remote Sensing Image Classification

To benefit the complementary information between heterogeneous data, we introduce a new Multimodal Transformer (MMFormer) for Remote Sensing (RS) image classification using Hyperspectral Image (HSI) accompanied by another source of data such as Light Detection and Ranging (LiDAR). Compared with traditional Vision Transformer (ViT) lacking inductive biases of convolutions, we first introduce convolutional layers to our MMFormer to tokenize patches from multimodal data of HSI and LiDAR. Then we propose a Multi-scale Multi-head Self-Attention (MSMHSA) module to address the problem of compatibility which often limits to fuse HSI with high spectral resolution and LiDAR with relatively low spatial resolution. The proposed MSMHSA module can incorporate HSI to LiDAR data in a coarse-to-fine manner enabling us to learn a fine-grained representation. Extensive experiments on widely used benchmarks (e.g., Trento and MUUFL) demonstrate the effectiveness and superiority of our proposed MMFormer for RS image classification.

cs.CV↗

arXiv2023

Challenges and Opportunities of Content Optimization for Freeform User Interfaces

While recent innovations on shape technologies allow for the creation of displays with almost unlimited form factors, current graphical user interfaces still rely on rectangular layouts and contents. This rectangular legacy hinders the progress of freeform displays, which are particularly relevant for pervasive scenarios to display interactive dynamic content where and when needed. By challenging the prevailing layout tradition on rectangular displays, freeform user interfaces raise design challenges which call for exploring the interlink between computational approaches and user interface generation and adaptation. In this position paper we report on previous work on content optimization for freeform user interfaces and anticipate the upcoming challenges and opportunities.

cs.HC↗

arXiv2019

Dynamic Multi-Task Learning for Face Recognition with Facial Expression

Benefiting from the joint learning of the multiple tasks in the deep multi-task networks, many applications have shown the promising performance comparing to single-task learning. However, the performance of multi-task learning framework is highly dependant on the relative weights of the tasks. How to assign the weight of each task is a critical issue in the multi-task learning. Instead of tuning the weights manually which is exhausted and time-consuming, in this paper we propose an approach which can dynamically adapt the weights of the tasks according to the difficulty for training the task. Specifically, the proposed method does not introduce the hyperparameters and the simple structure allows the other multi-task deep learning networks can easily realize or reproduce this method. We demonstrate our approach for face recognition with facial expression and facial expression recognition from a single input image based on a deep multi-task learning Conventional Neural Networks (CNNs). Both the theoretical analysis and the experimental results demonstrate the effectiveness of the proposed dynamic multi-task learning method. This multi-task learning with dynamic weights also boosts of the performance on the different tasks comparing to the state-of-art methods with single-task learning.

cs.CV↗

arXiv2019

FaceLiveNet+: A Holistic Networks For Face Authentication Based On Dynamic Multi-task Convolutional Neural Networks

This paper proposes a holistic multi-task Convolutional Neural Networks (CNNs) with the dynamic weights of the tasks,namely FaceLiveNet+, for face authentication. FaceLiveNet+ can employ face verification and facial expression recognition as a solution of liveness control simultaneously. Comparing to the single-task learning, the proposed multi-task learning can better capture the feature representation for all of the tasks. The experimental results show the superiority of the multi-task learning to the single-task learning for both the face verification task and facial expression recognition task. Rather using a conventional multi-task learning with fixed weights for the tasks, this work proposes a so called dynamic-weight-unit to automatically learn the weights of the tasks. The experiments have shown the effectiveness of the dynamic weights for training the networks. Finally, the holistic evaluation for face authentication based on the proposed protocol has shown the feasibility to apply the FaceLiveNet+ for face authentication.

cs.CV↗