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Li Liu

Publications and source records attributed to Li Liu.

3 recordsLinked to original sources

arXiv2026

HybridWorldSim: A Scalable and Controllable High-fidelity Simulator for Autonomous Driving

Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We introduce HybridWorldSim, a hybrid simulation framework that integrates multi-traversal neural reconstruction for static backgrounds with generative modeling for dynamic agents. This unified design addresses key limitations of previous methods, enabling the creation of diverse and high-fidelity driving scenarios with reliable visual and spatial consistency. To facilitate robust benchmarking, we further release a new multi-traversal dataset MIRROR that captures a wide range of routes and environmental conditions across different cities. Extensive experiments demonstrate that HybridWorldSim surpasses previous state-of-the-art methods, providing a practical and scalable solution for high-fidelity simulation and a valuable resource for research and development in autonomous driving.

cs.CV↗

arXiv2026

Closing the Verification Loop: Self-Check Captioning for Long-Paragraph Detailed Audio Captioning

Long-paragraph detailed audio captioning, which requires dense and transcript-faithful descriptions of fine-grained audio content, remains unsolved for current audio-visual multimodal language models. We attribute this failure to two structural problems. The first is data poverty, as no public corpus jointly provides long clips, paragraph captions, and verbatim-transcript fidelity. The second is generation-mode failure, evidenced by a 44.8 to 46.4 percentage-point gap between right-audio and shuffled-audio multiple-choice question (MCQ) accuracy. We address both within Self-Check Captioning (SCC), a unified framework that instantiates audio-grounded question answering as the verification primitive at every lifecycle stage. SCC yields three artifacts. Long-paragraph Audio Caption 50k (LACap-50k) is a 50,222-clip audio-visual corpus with 491.5-word captions and a post-hoc automatic speech recognition (ASR) audit. Layer-Curvature Supervised Fine-Tuning (LC-SFT) is the first on-policy supervised fine-tuning method to weight tokens by intermediate-layer evidence, motivated by our identification of Late-Layer Semantic-Entropy Collapse (SEC). SCC-Verifier arbitrates among caption rollouts via audio-grounded self-answering at inference. Across multiple benchmarks, our system attains state-of-the-art among open-source captioners and is competitive with proprietary baselines. We release LACap-50k to fill the resource gap for long-paragraph detailed audio captioning research.

cs.SD↗

arXiv2026

Task-Relevant Feature-Dynamics Fidelity Enables Zero-Shot Sim-to-Real Transfer for Robotic Ultrasound Scanning

Robotic ultrasound policies operating directly on B-mode images require extensive interaction data, whereas real-robot data collection is costly and safety-constrained. Simulation provides a scalable alternative, but zero-shot transfer depends not only on single-frame realism but also on whether simulated observations reproduce task-relevant feature changes induced by probe motion. We term this cross-domain consistency task-relevant feature-dynamics fidelity (TR-FDF). Under local regularity assumptions, our contraction analysis shows that greater sensitivity of TR-FDF mismatch to probe motion reduces the effective closed-loop contraction margin, whereas motion-independent errors primarily enlarge the residual error bound. Guided by this analysis, we develop a TR-FDF-oriented ultrasound simulator that combines a shared structural intermediate domain, trajectory-level fixed noise, and few-step conditional flow generation. In phantom experiments, a policy trained exclusively in simulation succeeded in 390 of 400 zero-shot deployments across four target planes. The simulator achieved an FID of 29.66 and generated observations at 67.1 Hz. Controlled interventions, ablations, and baseline comparisons showed that TR-FDF sensitivity complements single-frame realism in predicting zero-shot transfer performance.

cs.RO↗