arXiv subjects

Liang Zhao

Publications and source records attributed to Liang Zhao.

At least 163 records · Page 9Linked to original sources

arXiv2025

Correspondence-Free Multiview Point Cloud Registration via Depth-Guided Joint Optimisation

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes are challenging to obtain global optimal solution in complex environments. In this paper, we introduce a novel correspondence-free multiview point cloud registration method. Specifically, we represent the global map as a depth map and leverage raw depth information to formulate a non-linear least squares optimisation that jointly estimates poses of point clouds and the global map. Unlike traditional feature-based bundle adjustment methods, which rely on explicit feature extraction and data association, our method bypasses these challenges by associating multi-frame point clouds with a global depth map through their corresponding poses. This data association is implicitly incorporated and dynamically refined during the optimisation process. Extensive evaluations on real-world datasets demonstrate that our method outperforms state-of-the-art approaches in accuracy, particularly in challenging environments where feature extraction and data association are difficult.

cs.CV↗

arXiv2025

Spatial-RAG: Spatial Retrieval Augmented Generation for Real-World Geospatial Reasoning Questions

Answering real-world geospatial questions--such as finding restaurants along a travel route or amenities near a landmark--requires reasoning over both geographic relationships and semantic user intent. However, existing large language models (LLMs) lack spatial computing capabilities and access to up-to-date, ubiquitous real-world geospatial data, while traditional geospatial systems fall short in interpreting natural language. To bridge this gap, we introduce Spatial-RAG, a Retrieval-Augmented Generation (RAG) framework designed for geospatial question answering. Spatial-RAG integrates structured spatial databases with LLMs via a hybrid spatial retriever that combines sparse spatial filtering and dense semantic matching. It formulates the answering process as a multi-objective optimization over spatial and semantic relevance, identifying Pareto-optimal candidates and dynamically selecting the best response based on user intent. Experiments across multiple tourism and map-based QA datasets show that Spatial-RAG significantly improves accuracy, precision, and ranking performance over strong baselines.

cs.IR↗

arXiv2025

MiMo: Unlocking the Reasoning Potential of Language Model -- From Pretraining to Posttraining

We present MiMo-7B, a large language model born for reasoning tasks, with optimization across both pre-training and post-training stages. During pre-training, we enhance the data preprocessing pipeline and employ a three-stage data mixing strategy to strengthen the base model's reasoning potential. MiMo-7B-Base is pre-trained on 25 trillion tokens, with additional Multi-Token Prediction objective for enhanced performance and accelerated inference speed. During post-training, we curate a dataset of 130K verifiable mathematics and programming problems for reinforcement learning, integrating a test-difficulty-driven code-reward scheme to alleviate sparse-reward issues and employing strategic data resampling to stabilize training. Extensive evaluations show that MiMo-7B-Base possesses exceptional reasoning potential, outperforming even much larger 32B models. The final RL-tuned model, MiMo-7B-RL, achieves superior performance on mathematics, code and general reasoning tasks, surpassing the performance of OpenAI o1-mini. The model checkpoints are available at https://github.com/xiaomimimo/MiMo.

cs.CL↗

arXiv2025

MiMo-VL Technical Report

We open-source MiMo-VL-7B-SFT and MiMo-VL-7B-RL, two powerful vision-language models delivering state-of-the-art performance in both general visual understanding and multimodal reasoning. MiMo-VL-7B-RL outperforms Qwen2.5-VL-7B on 35 out of 40 evaluated tasks, and scores 59.4 on OlympiadBench, surpassing models with up to 78B parameters. For GUI grounding applications, it sets a new standard with 56.1 on OSWorld-G, even outperforming specialized models such as UI-TARS. Our training combines four-stage pre-training (2.4 trillion tokens) with Mixed On-policy Reinforcement Learning (MORL) integrating diverse reward signals. We identify the importance of incorporating high-quality reasoning data with long Chain-of-Thought into pre-training stages, and the benefits of mixed RL despite challenges in simultaneous multi-domain optimization. We also contribute a comprehensive evaluation suite covering 50+ tasks to promote reproducibility and advance the field. The model checkpoints and full evaluation suite are available at https://github.com/XiaomiMiMo/MiMo-VL.

cs.CL↗

arXiv2025

GraphNarrator: Generating Textual Explanations for Graph Neural Networks

Graph representation learning has garnered significant attention due to its broad applications in various domains, such as recommendation systems and social network analysis. Despite advancements in graph learning methods, challenges still remain in explainability when graphs are associated with semantic features. In this paper, we present GraphNarrator, the first method designed to generate natural language explanations for Graph Neural Networks. GraphNarrator employs a generative language model that maps input-output pairs to explanations reflecting the model's decision-making process. To address the lack of ground truth explanations to train the model, we propose first generating pseudo-labels that capture the model's decisions from saliency-based explanations, then using Expert Iteration to iteratively train the pseudo-label generator based on training objectives on explanation quality. The high-quality pseudo-labels are finally utilized to train an end-to-end explanation generator model. Extensive experiments are conducted to demonstrate the effectiveness of GraphNarrator in producing faithful, concise, and human-preferred natural language explanations.

cs.LG↗

arXiv2025

Can Past Experience Accelerate LLM Reasoning?

Allocating more compute to large language models (LLMs) reasoning has generally been demonstrated to improve their effectiveness, but also results in increased inference time. In contrast, humans can perform tasks faster and better with increased experience and exposure. Hence, this paper aims to investigate the question: Can LLMs also become faster at reasoning through recurrent exposure on relevant tasks, and if so, how can it be achieved? To address these questions, we first formalize the problem setting of LLM reasoning speedup systematically in the dimensions of task relevancy and compute budget calculation. We then propose SpeedupLLM, a theoretically guaranteed framework to implement and benchmark such reasoning speedup behaviour based on adaptive compute allocation and memory mechanisms. We further conduct comprehensive experiments to benchmark such behaviour across different question similarity levels, memory methods, and reasoning methods. Results show that LLMs can generally reason faster with past experience, achieving up to a 56% reduction in compute cost when equipped with appropriate memory and reasoning methods.

cs.LG↗

arXiv2025

Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map

Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited. Occupancy maps are widely used non-feature-based environment representations because they effectively classify spaces into obstacles, free areas, and unknown regions, providing robots with spatial information for various tasks. In this paper, we propose Occupancy-SLAM, a novel optimization-based SLAM method that enables the joint optimization of robot trajectory and the occupancy map through a parameterized map representation. The key novelty lies in optimizing both robot poses and occupancy values at different cell vertices simultaneously, a significant departure from existing methods where the robot poses need to be optimized first before the map can be estimated. Evaluations using simulations and practical 2D laser datasets demonstrate that the proposed approach can robustly obtain more accurate robot trajectories and occupancy maps than state-of-the-art techniques with comparable computational time. Preliminary results in the 3D case further confirm the potential of the proposed method in practical 3D applications, achieving more accurate results than existing methods.

cs.RO↗

arXiv2025

Community detection of hypergraphs by Ricci flow

Community detection in hypergraphs is both instrumental for functional module identification and intricate due to higher-order interactions among nodes. We define a hypergraph Ricci flow that directly operates on higher-order interactions of hypergraphs and prove long-time existence of the flow. Building on this theoretical foundation, we develop HyperRCD-a Ricci-flow-based community detection approach that deforms hyperedge weights through curvature-driven evolution, which provides an effective mathematical representation of higher-order interactions mediated by weighted hyperedges between nodes. Extensive experiments on both synthetic and real-world hypergraphs demonstrate that HyperRCD exhibits remarkable enhanced robustness to topological variations and competitive performance across diverse datasets.

cs.SI↗

arXiv2025

CLIC: Contrastive Learning Framework for Unsupervised Image Complexity Representation

As a fundamental visual attribute, image complexity significantly influences both human perception and the performance of computer vision models. However, accurately assessing and quantifying image complexity remains a challenging task. (1) Traditional metrics such as information entropy and compression ratio often yield coarse and unreliable estimates. (2) Data-driven methods require expensive manual annotations and are inevitably affected by human subjective biases. To address these issues, we propose CLIC, an unsupervised framework based on Contrastive Learning for learning Image Complexity representations. CLIC learns complexity-aware features from unlabeled data, thereby eliminating the need for costly labeling. Specifically, we design a novel positive and negative sample selection strategy to enhance the discrimination of complexity features. Additionally, we introduce a complexity-aware loss function guided by image priors to further constrain the learning process. Extensive experiments validate the effectiveness of CLIC in capturing image complexity. When fine-tuned with a small number of labeled samples from IC9600, CLIC achieves performance competitive with supervised methods. Moreover, applying CLIC to downstream tasks consistently improves performance. Notably, both the pretraining and application processes of CLIC are free from subjective bias.

cs.CV↗

arXiv2025

Nonlinear Diffusion Equations on Graphs: Global Well-Posedness, Blow-Up Analysis and Applications

For a nonlinear diffusion equation on graphs whose nonlinearity violates the Lipschitz condition, we prove short-time solution existence and characterize global well-posedness by establishing sufficient criteria for blow-up phenomena and quantifying blow-up rates. These theoretical results are then applied to model complex dynamical networks, with supporting numerical experiments. This work mainly makes two contributions: (i) generalization of existing results for diffusion equations on graphs to cases with nontrivial potentials, producing richer analytical results; (ii) a new PDE approach to model complex dynamical networks, with preliminary numerical experiments confirming its validity.

math.AP↗

arXiv2025

Perception-R1: Pioneering Perception Policy with Reinforcement Learning

Inspired by the success of DeepSeek-R1, we explore the potential of rule-based reinforcement learning (RL) in MLLM post-training for perception policy learning. While promising, our initial experiments reveal that incorporating a thinking process through RL does not consistently lead to performance gains across all visual perception tasks. This leads us to delve into the essential role of RL in the context of visual perception. In this work, we return to the fundamentals and explore the effects of RL on different perception tasks. We observe that the perceptual complexity is a major factor in determining the effectiveness of RL. We also observe that reward design plays a crucial role in further approching the upper limit of model perception. To leverage these findings, we propose Perception-R1, a scalable RL framework using GRPO during MLLM post-training. With a standard Qwen2.5-VL-3B-Instruct, Perception-R1 achieves +4.2% on RefCOCO+, +17.9% on PixMo-Count, +4.2% on PageOCR, and notably, 31.9% AP on COCO2017 val for the first time, establishing a strong baseline for perception policy learning.

cs.CV↗

arXiv2025

Perception in Reflection

We present a perception in reflection paradigm designed to transcend the limitations of current large vision-language models (LVLMs), which are expected yet often fail to achieve perfect perception initially. Specifically, we propose Reflective Perception (RePer), a dual-model reflection mechanism that systematically alternates between policy and critic models, enables iterative refinement of visual perception. This framework is powered by Reflective Perceptual Learning (RPL), which reinforces intrinsic reflective capabilities through a methodically constructed visual reflection dataset and reflective unlikelihood training. Comprehensive experimental evaluation demonstrates RePer's quantifiable improvements in image understanding, captioning precision, and hallucination reduction. Notably, RePer achieves strong alignment between model attention patterns and human visual focus, while RPL optimizes fine-grained and free-form preference alignment. These advancements establish perception in reflection as a robust paradigm for future multimodal agents, particularly in tasks requiring complex reasoning and multi-step manipulation.

cs.CV↗

arXiv2025

PolygonGNN: Representation Learning for Polygonal Geometries with Heterogeneous Visibility Graph

Polygon representation learning is essential for diverse applications, encompassing tasks such as shape coding, building pattern classification, and geographic question answering. While recent years have seen considerable advancements in this field, much of the focus has been on single polygons, overlooking the intricate inner- and inter-polygonal relationships inherent in multipolygons. To address this gap, our study introduces a comprehensive framework specifically designed for learning representations of polygonal geometries, particularly multipolygons. Central to our approach is the incorporation of a heterogeneous visibility graph, which seamlessly integrates both inner- and inter-polygonal relationships. To enhance computational efficiency and minimize graph redundancy, we implement a heterogeneous spanning tree sampling method. Additionally, we devise a rotation-translation invariant geometric representation, ensuring broader applicability across diverse scenarios. Finally, we introduce Multipolygon-GNN, a novel model tailored to leverage the spatial and semantic heterogeneity inherent in the visibility graph. Experiments on five real-world and synthetic datasets demonstrate its ability to capture informative representations for polygonal geometries. Code and data are available at \href{https://github.com/dyu62/PolyGNN}{$github.com/dyu62/PolyGNN$}.

cs.CV↗

arXiv2025

JanusFlow: Harmonizing Autoregression and Rectified Flow for Unified Multimodal Understanding and Generation

We present JanusFlow, a powerful framework that unifies image understanding and generation in a single model. JanusFlow introduces a minimalist architecture that integrates autoregressive language models with rectified flow, a state-of-the-art method in generative modeling. Our key finding demonstrates that rectified flow can be straightforwardly trained within the large language model framework, eliminating the need for complex architectural modifications. To further improve the performance of our unified model, we adopt two key strategies: (i) decoupling the understanding and generation encoders, and (ii) aligning their representations during unified training. Extensive experiments show that JanusFlow achieves comparable or superior performance to specialized models in their respective domains, while significantly outperforming existing unified approaches across standard benchmarks. This work represents a step toward more efficient and versatile vision-language models.

cs.CV↗

arXiv2025

CLICv2: Image Complexity Representation via Content Invariance Contrastive Learning

Unsupervised image complexity representation often suffers from bias in positive sample selection and sensitivity to image content. We propose CLICv2, a contrastive learning framework that enforces content invariance for complexity representation. Unlike CLIC, which generates positive samples via cropping-introducing positive pairs bias-our shifted patchify method applies randomized directional shifts to image patches before contrastive learning. Patches at corresponding positions serve as positive pairs, ensuring content-invariant learning. Additionally, we propose patch-wise contrastive loss, which enhances local complexity representation while mitigating content interference. In order to further suppress the interference of image content, we introduce Masked Image Modeling as an auxiliary task, but we set its modeling objective as the entropy of masked patches, which recovers the entropy of the overall image by using the information of the unmasked patches, and then obtains the global complexity perception ability. Extensive experiments on IC9600 demonstrate that CLICv2 significantly outperforms existing unsupervised methods in PCC and SRCC, achieving content-invariant complexity representation without introducing positive pairs bias.

cs.CV↗

arXiv2025

AutoTestForge: A Multidimensional Automated Testing Framework for Natural Language Processing Models

In recent years, the application of behavioral testing in Natural Language Processing (NLP) model evaluation has experienced a remarkable and substantial growth. However, the existing methods continue to be restricted by the requirements for manual labor and the limited scope of capability assessment. To address these limitations, we introduce AutoTestForge, an automated and multidimensional testing framework for NLP models in this paper. Within AutoTestForge, through the utilization of Large Language Models (LLMs) to automatically generate test templates and instantiate them, manual involvement is significantly reduced. Additionally, a mechanism for the validation of test case labels based on differential testing is implemented which makes use of a multi-model voting system to guarantee the quality of test cases. The framework also extends the test suite across three dimensions, taxonomy, fairness, and robustness, offering a comprehensive evaluation of the capabilities of NLP models. This expansion enables a more in-depth and thorough assessment of the models, providing valuable insights into their strengths and weaknesses. A comprehensive evaluation across sentiment analysis (SA) and semantic textual similarity (STS) tasks demonstrates that AutoTestForge consistently outperforms existing datasets and testing tools, achieving higher error detection rates (an average of $30.89\%$ for SA and $34.58\%$ for STS). Moreover, different generation strategies exhibit stable effectiveness, with error detection rates ranging from $29.03\% - 36.82\%$.

cs.SE↗

arXiv2025

Saliency-Bench: A Comprehensive Benchmark for Evaluating Visual Explanations

Explainable AI (XAI) has gained significant attention for providing insights into the decision-making processes of deep learning models, particularly for image classification tasks through visual explanations visualized by saliency maps. Despite their success, challenges remain due to the lack of annotated datasets and standardized evaluation pipelines. In this paper, we introduce Saliency-Bench, a novel benchmark suite designed to evaluate visual explanations generated by saliency methods across multiple datasets. We curated, constructed, and annotated eight datasets, each covering diverse tasks such as scene classification, cancer diagnosis, object classification, and action classification, with corresponding ground-truth explanations. The benchmark includes a standardized and unified evaluation pipeline for assessing faithfulness and alignment of the visual explanation, providing a holistic visual explanation performance assessment. We benchmark these eight datasets with widely used saliency methods on different image classifier architectures to evaluate explanation quality. Additionally, we developed an easy-to-use API for automating the evaluation pipeline, from data accessing, and data loading, to result evaluation. The benchmark is available via our website: https://xaidataset.github.io.

cs.CV↗

arXiv2025

PL-VIWO: A Lightweight and Robust Point-Line Monocular Visual Inertial Wheel Odometry

This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localization in long-term complex outdoor navigation scenarios. As an external sensor, the camera enhances localization performance by introducing visual constraints. However, obtaining a sufficient number of effective visual features is often challenging, particularly in dynamic or low-texture environments. To address this issue, we incorporate the line features for additional geometric constraints. Unlike traditional approaches that treat point and line features independently, our method exploits the geometric relationships between points and lines in 2D images, enabling fast and robust line matching and triangulation. Additionally, we introduce Motion Consistency Check (MCC) to filter out potential dynamic points, ensuring the effectiveness of point feature updates. The proposed system was evaluated on publicly available datasets and benchmarked against state-of-the-art methods. Experimental results demonstrate superior performance in terms of accuracy, robustness, and efficiency. The source code is publicly available at: https://github.com/Happy-ZZX/PL-VIWO

cs.RO↗