arXiv subjects

Longlong Wang

Publications and source records attributed to Longlong Wang.

6 recordsLinked to original sources

arXiv2026

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

Scaling generalist vision-language-action (VLA) policies is severely bottlenecked by the inherent heterogeneity of embodied data, which spans diverse robot morphologies, camera configurations, and low-level action spaces. Existing paradigms typically address this mismatch through explicit action retargeting, human-to-robot video synthesis, or dataset-specific adaptation branches, fundamentally hindering the joint learning of a unified policy. We introduce UCAG-P, a camera-centric unified action formulation that structurally aligns heterogeneous embodied datasets into a shared geometric action space. Rather than treating robot-specific commands as the shared policy target, UCAG-P represents manipulation through camera-observable anchor motion in image and camera-frame coordinates, treating robot arms, humanoids, and human hands as different embodiments of a common action schema. A geometry-conditioned action translator combines predicted motion with target-embodiment kinematics to produce executable controls. The resulting decoupled architecture allows a shared VLA policy to learn transferable manipulation geometry while retaining embodiment-specific controllability. UCAG-P is trained on 4.03K hours of robot and simulation data and 2.34K hours of human demonstrations. A single checkpoint reaches 98.3% on LIBERO, 88.7% and 89.2% on RoboTwin Easy and Hard, 82.0% zero-shot on LIBERO-Plus, and 62.0% on RoboCasa GR-1, without benchmark-specific fine-tuning.

cs.RO↗

arXiv2024

Enhancing Crustal Velocity Structure in Sedimentary Basin by joint inversion of Teleseismic P-Wave Reverberations and Surface Wave Dispersion

Accurately determining the crustal velocity structure within sedimentary basins is crucial for enhancing energy resource evaluation and seismic hazard assessment. Traditional crustal imaging is challenging due to the interference of teleseismic P-wave reverberations (TPR). To address this issue, we propose an inversion strategy that combines multi-frequency TPR and surface wave dispersion (SWD) to constrain the crustal structure. Both theoretical simulations and real data tests from two stations in the Songliao Basin validate our approach. This method shows great promise for improving crustal structure investigations in complex environments, such as sedimentary basins and oceanic regions.

physics.geo-ph↗

arXiv2023

UniOcc: Unifying Vision-Centric 3D Occupancy Prediction with Geometric and Semantic Rendering

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on optimizing projected features on 3D volume space using 3D occupancy labels. However, the generation process of these labels is complex and expensive (relying on 3D semantic annotations), and limited by voxel resolution, they cannot provide fine-grained spatial semantics. To address this limitation, we propose a novel Unifying Occupancy (UniOcc) prediction method, explicitly imposing spatial geometry constraint and complementing fine-grained semantic supervision through volume ray rendering. Our method significantly enhances model performance and demonstrates promising potential in reducing human annotation costs. Given the laborious nature of annotating 3D occupancy, we further introduce a Depth-aware Teacher Student (DTS) framework to enhance prediction accuracy using unlabeled data. Our solution achieves 51.27\% mIoU on the official leaderboard with single model, placing 3rd in this challenge.

cs.CV↗

arXiv2022

Multi-task unscented Kalman inversion (MUKI): a derivative-free joint inversion framework and its application to joint inversion of geophysical data

In the geophysical joint inversion, the gradient and Bayesian Markov Chain Monte Carlo (MCMC) sampling-based methods are widely used owing to their fast convergences or global optimality. However, these methods either require the computation of gradients and easily fall into local optimal solutions, or cost much time to carry out the millions of forward calculations in a huge sampling space. Different from these two methods, taking advantage of the recently developed unscented Kalman method in computational mathematics, we extend an iterative gradient-free Bayesian joint inversion framework, i.e., Multi-task unscented Kalman inversion (MUKI). In this new framework, information from various observations is incorporated, the model is iteratively updated in a derivative-free way, and a Gaussian approximation to the posterior distribution of the model parameters is obtained. We apply the MUKI to the joint inversion of receiver functions and surface wave dispersion, which is well-established and widely used to construct the crustal and upper mantle structure of the earth. Based on synthesized and real data, the tests demonstrate that MUKI can recover the model more efficiently than the gradient-based method and the Markov Chain Monte Carlo method, and it would be a promising approach to resolve the geophysical joint inversion problems.

physics.geo-ph↗

arXiv2021

Crown rupture during droplet impact on a dry smooth surface at increased pressure

The impact of droplets at increased environmental pressure is important in many industrial applications. Previous studies mainly considered the impact process at standard or reduced environmental pressure, and the effect of high environmental pressure is unclear. In this study, we experimentally investigate the impact of ethanol droplets on dry smooth surfaces at increased environmental pressure. The effects of the environmental pressure on the splashing and rupture of the crown during the impact process are analyzed. The results show that surrounding gas with high environmental pressure can lead to the splashing of the crown in a 'thread rupture' mode and the sizes of the secondary droplets from the rim of the liquid crown increase with the environmental pressure. The threshold for the transition from spreading to splashing during the impact process is obtained based on the theory of aerodynamics analysis of the lamella. At increased environmental pressure, the threshold speed of the impact decreases with increasing the environmental pressure because the wedge of the lamella is prevented from moving forward and is driven to detach from the substrate by the air ahead, which has a higher density due to the higher environmental pressure.

physics.flu-dyn↗

arXiv2019

Raman LIDARs for the atmospheric calibration along the line-of-sight of CTA

The Cherenkov Telescope Array (CTA) is the next generation ground based observatory for gamma ray astronomy at very high energies. Employing more than 100 Imaging Atmospheric Cherenkov Telescopes in the northern and southern hemispheres, it was designed to reach unprecedented sensitivity and energy resolution. Understanding and correcting for systematic biases on the absolute energy scale and instrument response functions will be a crucial issue for the performance of CTA. The LUPM group and the Spanish/Italian/Slovenian collaboration are currently building two Raman LIDAR prototypes for the online atmospheric calibration along the line of sight of the CTA. Requirements for such a solution include the ability to characterize aerosol extinction at two wavelengths to distances of 30 km with an accuracy better than 5%, within time scales of about a minute, steering capabilities and close interaction with the CTA array control and data acquisition system as well as other auxiliary instruments. Our Raman LIDARs have design features that make them different from those used in atmospheric science and are characterized by large collecting mirrors (2.5 m2), liquid light guides that collect the light at the focal plane and transport it to the readout system, reduced acquisition time and highly precise Raman spectrometers. The Raman LIDARs will participate in a cross calibration and characterization campaign of the atmosphere at the CTA North site at La Palma, together with other site characterization instruments. After a one year test period there, an in depth evaluation of the solutions adopted by the two projects will lead to a final Raman LIDAR design proposal for both CTA sites.

astro-ph.IM↗