arXiv subjects

Leyuan Wang

Publications and source records attributed to Leyuan Wang.

At least 19 recordsLinked to original sources

arXiv2026

Embodied-BenchForge: A Closed-Loop Agentic Workflow for Embodied Benchmark Construction

Agentic systems offer a promising way to automate embodied benchmark construction, but existing approaches typically cover isolated stages or remain specialized to predefined environments and task families. More importantly, multi-step construction produces dependent intermediate artifacts that are often passed downstream without artifact-specific verification, allowing local defects to propagate into the final benchmark. We present Embodied-BenchForge, an agentic framework that transforms user-specified evaluation intents into complete embodied benchmark artifacts. It formulates construction as Closed-Loop Benchmark Synthesis, integrating forward artifact synthesis with backward verification and repair. Skill-Orchestrated Artifact Synthesis composes typed and reusable skills into executable workflows, while an artifact dependency graph records intermediate outputs and their dependencies. Requirement-Guided Verification and Repair applies artifact-specific contracts throughout construction and uses provenance to trigger local re-execution or upstream rollback when verification fails. Embodied-BenchForge constructs six benchmarks covering diverse embodied scenarios in the Offline EQA Track, together with one interactive benchmark containing 220 executable tasks in the Interactive Embodied Track. Evaluations of representative MLLMs and embodied agents show that the benchmarks distinguish model capabilities in both observation-based understanding and closed-loop execution. Quality assessment and ablations validate benchmark quality and the effectiveness of verification and repair, while repair and skill-reuse analyses demonstrate efficient localized recovery and cross-benchmark reusability.

cs.AI↗

arXiv2026

AirGroundBench: Probing Spatial Intelligence in Multimodal Large Models under Heterogeneous Multi-View Embodied Collaboration

In recent years, multimodal large language models (MLLMs) have shown strong potential for embodied intelligence, yet their ability to maintain geometrically consistent spatial understanding across heterogeneous views remains under-evaluated. Existing benchmarks largely focus on single-agent, single-view perception, leaving a gap in the systematic assessment of collaborative air-ground settings, where multi-scale observations are complementary but introduce scale mismatch, asymmetric occlusion, and reference-frame inconsistencies. We present AirGroundBench, a diagnostic benchmark for evaluating multi-view spatial intelligence in heterogeneous UAV-UGV collaboration. AirGroundBench is built from 11 high-fidelity simulated environments with 1,021 synchronized air-ground observation pairs, yielding approximately 62,000 dual-view, four-option single-choice visual question answering instances and 115 closed-loop vision-language navigation episodes. It covers 10 task types organized into four progressively demanding capability dimensions: spatial perception, cross-view alignment, spatial transformation and reasoning, and embodied decision-making. To support geometry-grounded evaluation and analysis, we provide structured spatial annotations, including cross-view object identities and metric 2D and 3D bounding boxes. Evaluations of 13 representative MLLMs under UAV-only, UGV-only, and dual-view input settings reveal consistent bottlenecks: models perform relatively well on spatial perception but struggle with cross-view alignment and transformation-intensive reasoning, and these deficits propagate to sequential decision-making in vision-language navigation. Although dual-view inputs provide measurable gains over single-view variants, a persistent gap from human performance remains, highlighting geometric consistency as a key limitation of current embodied MLLMs.

cs.CV↗

arXiv2026

Embodied-BenchClaw: An Autonomous Multi-Agent System for Embodied Spatial Intelligence Benchmark Construction

Benchmarks are essential for evaluating embodied spatial intelligence, yet their construction is labor-intensive, hard to reuse, and difficult to maintain. Existing embodied benchmarks are often static and may quickly become saturated as models improve, limiting their ability to distinguish new capabilities. We propose Embodied-BenchClaw, an autonomous agentic system for constructing embodied spatial intelligence benchmarks. Given a user-specified evaluation intent, Embodied-BenchClaw automatically produces a complete and continually updatable benchmark package through a five-stage pipeline: intent blueprinting, data collection, structuring and cleaning, benchmark synthesis, and evaluation reporting. The pipeline is coordinated by three agents for planning, construction, and evaluation. To improve reusability and reliability, Embodied-BenchClaw introduces an extensible Skill Library and process quality control, enabling benchmark construction to be composable, verifiable, and repairable. We instantiate multiple benchmarks covering indoor spatial reasoning, outdoor spatial reasoning, robotic manipulation, quadruped robot navigation, UAV/aerial-view understanding, and static benchmark enhancement. These benchmarks span diverse embodied carriers, data sources, and spatial capabilities. Experiments with human evaluation, judge-based assessment, consistency checks, cost analysis, and ablations show that Embodied-BenchClaw can construct verifiable, executable, maintainable, and diagnostically useful embodied spatial benchmarks with reduced manual effort.

cs.AI↗

arXiv2026

Intelligent Automation for Embodied Benchmark Construction: Pipelines, Embodiments, Simulators, and Trends

Embodied intelligence now spans navigation, household assistance, manipulation, autonomous driving, aerial agents, and multimodal large-model control. This expansion has made benchmark construction a central bottleneck for reliable evaluation. Unlike static datasets, embodied benchmarks combine task specifications, environments, robot data, demonstrations, annotations, metrics, evaluation scripts, and release policies into a single evaluation system. This survey reviews the literature through a five-stage construction pipeline: requirement and task construction, data acquisition, data cleaning and annotation, benchmark suite generation and metric definition, and evaluation execution with diagnostic feedback. For each stage, the survey analyzes the transition from manual curation to traditional automation, foundation-model assistance, and agentic closed-loop workflows. It also compares qualitative construction costs across human labor, data and asset acquisition, compute and simulation, validation and debugging, governance and maintenance, and rework risk. The main conclusion is that automation does not simply reduce benchmark cost. Instead, it often shifts cost toward validation, auditability, version control, and long-term governance. Progress in embodied evaluation will therefore depend not only on larger benchmark suites, but also on construction pipelines that are diagnosable, auditable, and responsibly refreshable.

cs.RO↗

arXiv2024

CLIP model is an Efficient Online Lifelong Learner

Online Lifelong Learning (OLL) addresses the challenge of learning from continuous and non-stationary data streams. Existing online lifelong learning methods based on image classification models often require preset conditions such as the total number of classes or maximum memory capacity, which hinders the realization of real never-ending learning and renders them impractical for real-world scenarios. In this work, we propose that vision-language models, such as Contrastive Language-Image Pretraining (CLIP), are more suitable candidates for online lifelong learning. We discover that maintaining symmetry between image and text is crucial during Parameter-Efficient Tuning (PET) for CLIP model in online lifelong learning. To this end, we introduce the Symmetric Image-Text (SIT) tuning strategy. We conduct extensive experiments on multiple lifelong learning benchmark datasets and elucidate the effectiveness of SIT through gradient analysis. Additionally, we assess the impact of lifelong learning on generalizability of CLIP and found that tuning the image encoder is beneficial for lifelong learning, while tuning the text encoder aids in zero-shot learning.

cs.CV↗

arXiv2024

Rethinking Class-Incremental Learning from a Dynamic Imbalanced Learning Perspective

Deep neural networks suffer from catastrophic forgetting when continually learning new concepts. In this paper, we analyze this problem from a data imbalance point of view. We argue that the imbalance between old task and new task data contributes to forgetting of the old tasks. Moreover, the increasing imbalance ratio during incremental learning further aggravates the problem. To address the dynamic imbalance issue, we propose Uniform Prototype Contrastive Learning (UPCL), where uniform and compact features are learned. Specifically, we generate a set of non-learnable uniform prototypes before each task starts. Then we assign these uniform prototypes to each class and guide the feature learning through prototype contrastive learning. We also dynamically adjust the relative margin between old and new classes so that the feature distribution will be maintained balanced and compact. Finally, we demonstrate through extensive experiments that the proposed method achieves state-of-the-art performance on several benchmark datasets including CIFAR100, ImageNet100 and TinyImageNet.

cs.CV↗

arXiv2023

ByteTransformer: A High-Performance Transformer Boosted for Variable-Length Inputs

Transformers have become keystone models in natural language processing over the past decade. They have achieved great popularity in deep learning applications, but the increasing sizes of the parameter spaces required by transformer models generate a commensurate need to accelerate performance. Natural language processing problems are also routinely faced with variable-length sequences, as word counts commonly vary among sentences. Existing deep learning frameworks pad variable-length sequences to a maximal length, which adds significant memory and computational overhead. In this paper, we present ByteTransformer, a high-performance transformer boosted for variable-length inputs. We propose a padding-free algorithm that liberates the entire transformer from redundant computations on zero padded tokens. In addition to algorithmic-level optimization, we provide architecture-aware optimizations for transformer functional modules, especially the performance-critical algorithm Multi-Head Attention (MHA). Experimental results on an NVIDIA A100 GPU with variable-length sequence inputs validate that our fused MHA outperforms PyTorch by 6.13x. The end-to-end performance of ByteTransformer for a forward BERT transformer surpasses state-of-the-art transformer frameworks, such as PyTorch JIT, TensorFlow XLA, Tencent TurboTransformer, Microsoft DeepSpeed-Inference and NVIDIA FasterTransformer, by 87\%, 131\%, 138\%, 74\% and 55\%, respectively. We also demonstrate the general applicability of our optimization methods to other BERT-like models, including ALBERT, DistilBERT, and DeBERTa.

cs.LG↗

arXiv2022

Face Anti-Spoofing by Learning Polarization Cues in a Real-World Scenario

Face anti-spoofing is the key to preventing security breaches in biometric recognition applications. Existing software-based and hardware-based face liveness detection methods are effective in constrained environments or designated datasets only. Deep learning method using RGB and infrared images demands a large amount of training data for new attacks. In this paper, we present a face anti-spoofing method in a real-world scenario by automatic learning the physical characteristics in polarization images of a real face compared to a deceptive attack. A computational framework is developed to extract and classify the unique face features using convolutional neural networks and SVM together. Our real-time polarized face anti-spoofing (PAAS) detection method uses a on-chip integrated polarization imaging sensor with optimized processing algorithms. Extensive experiments demonstrate the advantages of the PAAS technique to counter diverse face spoofing attacks (print, replay, mask) in uncontrolled indoor and outdoor conditions by learning polarized face images of 33 people. A four-directional polarized face image dataset is released to inspire future applications within biometric anti-spoofing field.

cs.CV↗

arXiv2021

Bolt: Bridging the Gap between Auto-tuners and Hardware-native Performance

Today's auto-tuners (e.g., AutoTVM, Ansor) generate efficient tensor programs by navigating a large search space to identify effective implementations, but they do so with opaque hardware details. Thus, their performance could fall behind that of hardware-native libraries (e.g., cuBLAS, cuDNN), which are hand-optimized by device vendors to extract high performance. On the other hand, these vendor libraries have a fixed set of supported functions and lack the customization and automation support afforded by auto-tuners. Bolt is based on the recent trend that vendor libraries are increasingly modularized and reconfigurable via declarative control (e.g., CUTLASS). It enables a novel approach that bridges this gap and achieves the best of both worlds, via hardware-native templated search. Bolt provides new opportunities to rethink end-to-end tensor optimizations at the graph, operator, and model levels. Bolt demonstrates this concept by prototyping on a popular auto-tuner in TVM and a class of widely-used platforms (i.e., NVIDIA GPUs) -- both in large deployment in our production environment. Bolt improves the inference speed of common convolutional neural networks by 2.5x on average over the state of the art, and it auto-tunes these models within 20 minutes.

cs.DC↗

arXiv2021

An End-to-End Autofocus Camera for Iris on the Move

For distant iris recognition, a long focal length lens is generally used to ensure the resolution ofiris images, which reduces the depth of field and leads to potential defocus blur. To accommodate users at different distances, it is necessary to control focus quickly and accurately. While for users in motion, it is expected to maintain the correct focus on the iris area continuously. In this paper, we introduced a novel rapid autofocus camera for active refocusing ofthe iris area ofthe moving objects using a focus-tunable lens. Our end-to-end computational algorithm can predict the best focus position from one single blurred image and generate a lens diopter control signal automatically. This scene-based active manipulation method enables real-time focus tracking of the iris area ofa moving object. We built a testing bench to collect real-world focal stacks for evaluation of the autofocus methods. Our camera has reached an autofocus speed ofover 50 fps. The results demonstrate the advantages of our proposed camera for biometric perception in static and dynamic scenes. The code is available at https://github.com/Debatrix/AquulaCam.

cs.CV↗

arXiv2021

HAWQV3: Dyadic Neural Network Quantization

Current low-precision quantization algorithms often have the hidden cost of conversion back and forth from floating point to quantized integer values. This hidden cost limits the latency improvement realized by quantizing Neural Networks. To address this, we present HAWQV3, a novel mixed-precision integer-only quantization framework. The contributions of HAWQV3 are the following: (i) An integer-only inference where the entire computational graph is performed only with integer multiplication, addition, and bit shifting, without any floating point operations or even integer division; (ii) A novel hardware-aware mixed-precision quantization method where the bit-precision is calculated by solving an integer linear programming problem that balances the trade-off between model perturbation and other constraints, e.g., memory footprint and latency; (iii) Direct hardware deployment and open source contribution for 4-bit uniform/mixed-precision quantization in TVM, achieving an average speed up of $1.45\times$ for uniform 4-bit, as compared to uniform 8-bit for ResNet50 on T4 GPUs; and (iv) extensive evaluation of the proposed methods on ResNet18/50 and InceptionV3, for various model compression levels with/without mixed precision. For ResNet50, our INT8 quantization achieves an accuracy of $77.58\%$, which is $2.68\%$ higher than prior integer-only work, and our mixed-precision INT4/8 quantization can reduce INT8 latency by $23\%$ and still achieve $76.73\%$ accuracy. Our framework and the TVM implementation have been open sourced.

cs.CV↗

arXiv2021

UNIT: Unifying Tensorized Instruction Compilation

Because of the increasing demand for computation in DNN, researchers develope both hardware and software mechanisms to reduce the compute and memory burden. A widely adopted approach is to use mixed precision data types. However, it is hard to leverage mixed precision without hardware support because of the overhead of data casting. Hardware vendors offer tensorized instructions for mixed-precision tensor operations, like Intel VNNI, Tensor Core, and ARM-DOT. These instructions involve a computing idiom that reduces multiple low precision elements into one high precision element. The lack of compilation techniques for this makes it hard to utilize these instructions: Using vendor-provided libraries for computationally-intensive kernels is inflexible and prevents further optimizations, and manually writing hardware intrinsics is error-prone and difficult for programmers. Some prior works address this problem by creating compilers for each instruction. This requires excessive effort when it comes to many tensorized instructions. In this work, we develop a compiler framework to unify the compilation for these instructions -- a unified semantics abstraction eases the integration of new instructions, and reuses the analysis and transformations. Tensorized instructions from different platforms can be compiled via UNIT with moderate effort for favorable performance. Given a tensorized instruction and a tensor operation, UNIT automatically detects the applicability, transforms the loop organization of the operation,and rewrites the loop body to leverage the tensorized instruction. According to our evaluation, UNIT can target various mainstream hardware platforms. The generated end-to-end inference model achieves 1.3x speedup over Intel oneDNN on an x86 CPU, 1.75x speedup over Nvidia cuDNN on an NvidiaGPU, and 1.13x speedup over a carefully tuned TVM solution for ARM DOT on an ARM CPU.

cs.PL↗

arXiv2020

Recognition Oriented Iris Image Quality Assessment in the Feature Space

A large portion of iris images captured in real world scenarios are poor quality due to the uncontrolled environment and the non-cooperative subject. To ensure that the recognition algorithm is not affected by low-quality images, traditional hand-crafted factors based methods discard most images, which will cause system timeout and disrupt user experience. In this paper, we propose a recognition-oriented quality metric and assessment method for iris image to deal with the problem. The method regards the iris image embeddings Distance in Feature Space (DFS) as the quality metric and the prediction is based on deep neural networks with the attention mechanism. The quality metric proposed in this paper can significantly improve the performance of the recognition algorithm while reducing the number of images discarded for recognition, which is advantageous over hand-crafted factors based iris quality assessment methods. The relationship between Image Rejection Rate (IRR) and Equal Error Rate (EER) is proposed to evaluate the performance of the quality assessment algorithm under the same image quality distribution and the same recognition algorithm. Compared with hand-crafted factors based methods, the proposed method is a trial to bridge the gap between the image quality assessment and biometric recognition. The code is available at https://github.com/Debatrix/DFSNet.

eess.IV↗

arXiv2020

Fast Gunrock Subgraph Matching (GSM) on GPUs

In this paper, we propose a GPU-efficient subgraph isomorphism algorithm using the Gunrock graph analytic framework, GSM (Gunrock Subgraph Matching), to compute graph matching on GPUs. In contrast to previous approaches on the CPU which are based on depth-first traversal, GSM is BFS-based: possible matches are explored simultaneously in a breadth-first strategy. The advantage of using BFS-based traversal is that we can leverage the massively parallel processing capabilities of the GPU. The disadvantage is the generation of more intermediate results. We propose several optimization techniques to cope with the problem. Our implementation follows a filtering-and-verification strategy. While most previous work on GPUs requires one-/two-step joining, we use one-step verification to decide the candidates in current frontier of nodes. Our implementation has a speedup up to 4x over previous GPU state-of-the-art implementation.

cs.DC↗

arXiv2019

Fast BFS-Based Triangle Counting on GPUs

In this paper, we propose a novel method to compute triangle counting on GPUs. Unlike previous formulations of graph matching, our approach is BFS-based by traversing the graph in an all-source-BFS manner and thus can be mapped onto GPUs in a massively parallel fashion. Our implementation uses the Gunrock programming model and we evaluate our implementation in runtime and memory consumption compared with previous state-of-the-art work. We sustain a peak traversed-edges-per-second (TEPS) rate of nearly 10 GTEPS. Our algorithm is the most scalable and parallel among all existing GPU implementations and also outperforms all existing CPU distributed implementations. This work specifically focuses on leveraging our implementation on the triangle counting problem for the Subgraph Isomorphism Graph Challenge 2019, demonstrating a geometric mean speedup over the 2018 champion of 3.84x.

cs.DC↗

arXiv2019

A Unified Optimization Approach for CNN Model Inference on Integrated GPUs

Modern deep learning applications urge to push the model inference taking place at the edge devices for multiple reasons such as achieving shorter latency, relieving the burden of the network connecting to the cloud, and protecting user privacy. The Convolutional Neural Network (\emph{CNN}) is one of the most widely used model family in the applications. Given the high computational complexity of the CNN models, it is favorable to execute them on the integrated GPUs at the edge devices, which are ubiquitous and have more power and better energy efficiency than the accompanying CPUs. However, programming on integrated GPUs efficiently is challenging due to the variety of their architectures and programming interfaces. This paper proposes an end-to-end solution to execute CNN model inference on the integrated GPUs at the edge, which uses a unified IR to represent and optimize vision-specific operators on integrated GPUs from multiple vendors, as well as leverages machine learning-based scheduling search schemes to optimize computationally-intensive operators like convolution. Our solution even provides a fallback mechanism for operators not suitable or convenient to run on GPUs. The evaluation results suggest that compared to state-of-the-art solutions backed up by the vendor-provided high-performance libraries on Intel Graphics, ARM Mali GPU, and Nvidia integrated Maxwell GPU, our solution achieves similar, or even better (up to 1.62$\times$), performance on a number of popular image classification and object detection models. In addition, our solution has a wider model coverage and is more flexible to embrace new models. Our solution has been adopted in production services in AWS and is open-sourced.

cs.DC↗

arXiv2018

TVM: An Automated End-to-End Optimizing Compiler for Deep Learning

There is an increasing need to bring machine learning to a wide diversity of hardware devices. Current frameworks rely on vendor-specific operator libraries and optimize for a narrow range of server-class GPUs. Deploying workloads to new platforms -- such as mobile phones, embedded devices, and accelerators (e.g., FPGAs, ASICs) -- requires significant manual effort. We propose TVM, a compiler that exposes graph-level and operator-level optimizations to provide performance portability to deep learning workloads across diverse hardware back-ends. TVM solves optimization challenges specific to deep learning, such as high-level operator fusion, mapping to arbitrary hardware primitives, and memory latency hiding. It also automates optimization of low-level programs to hardware characteristics by employing a novel, learning-based cost modeling method for rapid exploration of code optimizations. Experimental results show that TVM delivers performance across hardware back-ends that are competitive with state-of-the-art, hand-tuned libraries for low-power CPU, mobile GPU, and server-class GPUs. We also demonstrate TVM's ability to target new accelerator back-ends, such as the FPGA-based generic deep learning accelerator. The system is open sourced and in production use inside several major companies.

cs.LG↗

arXiv2018

A Comparative Study on Exact Triangle Counting Algorithms on the GPU

We implement exact triangle counting in graphs on the GPU using three different methodologies: subgraph matching to a triangle pattern; programmable graph analytics, with a set-intersection approach; and a matrix formulation based on sparse matrix-matrix multiplies. All three deliver best-of-class performance over CPU implementations and over comparable GPU implementations, with the graph-analytic approach achieving the best performance due to its ability to exploit efficient filtering steps to remove unnecessary work and its high-performance set-intersection core.

cs.DC↗