arXiv subjects

Luwei Yang

Publications and source records attributed to Luwei Yang.

At least 19 recordsLinked to original sources

arXiv2026

One Word, Different Action: A Real-Robot Benchmark for Language-Conditioned Embodied Reasoning

Natural-language instruction changes can directly alter robot behavior. A reliable embodied system should preserve its action when the task is unchanged and update it correctly when the task itself changes. We introduce One Word, Different Action, a real-robot benchmark built on physical decision states and executable actions, using task-preserving and task-changing instruction pairs to jointly evaluate Decision Invariance and Decision Sensitivity, with further evaluation under multi-constraint reasoning and real-RGB grounding. Experiments show that modern models are near saturation on single-constraint instruction changes, yet several models degrade noticeably when multiple task constraints must be integrated into one executable decision. These results suggest that the more salient remaining challenge is no longer recognizing an isolated instruction change, but reliably composing multiple task requirements into a correct robot action decision.

cs.RO↗

arXiv2026

Active Perception for Embodied Disambiguation

Natural language provides robots with a flexible task interface, but target ambiguity in embodied environments arises not only from user intent; it can also result from missing taskrelevant physical evidence in the current observation. Existing interactive disambiguation methods primarily obtain additional information by asking the user, whereas occlusion, restricted viewpoints, unreadable text, and unobserved targets require the robot to actively change its observation. We propose an active-perception framework for embodied target disambiguation that uses active observation as the backbone for information acquisition and uses a vision-language model to decide, on the basis of accumulated visual evidence and interaction information, whether to continue observing, request clarification, or complete target selection. Active observation can both directly recover missing discriminative evidence and reveal object names, labels, and semantic attributes, thereby improving user clarification when it remains necessary. Real-robot experiments show that the framework combines physical information acquisition and userintent clarification within a unified embodied disambiguation process.

cs.AI↗

arXiv2026

Radar4D-VLM: Proposal-Grounded Temporal 4D Radar Reasoning Across Frozen Language Models

Vision-language models for autonomous driving primarily rely on cameras and LiDAR, leaving 4D radar largely unexplored as a standalone perceptual modality despite its robustness to adverse visibility and direct measurement of radial velocity. We introduce Radar4D-VLM, a radar-only temporal vision-language model that reasons from ten consecutive 4D-radar point-cloud sweeps without camera or LiDAR input. Radar4D-VLM extracts geometrically grounded object proposals and organizes radar evidence into a compact hierarchy of object, scene, and kinematic tokens. A parameter-efficient projector maps these tokens into frozen language backbones, while auditable prediction heads jointly model object count, spatial distribution, motion state, collision risk, semantic category, and radial velocity. Radar4D-VLM combines proposal-grounded temporal object tokenization, global scene context, and explicit kinematic tokens within a unified frozen-backbone interface. On sequence-isolated K-Radar development validation, its Top-64 proposal recall reaches 98.13% at 4 m, exceeding fixed-lattice and uniform-random controls by 6.40 and 22.83 percentage points, respectively. We further evaluate 24 matched runs spanning eight frozen Qwen, Phi, Mistral, Llama, and Gemma backbones under an identical adaptation budget. The radar-token interface remains compatible across all five language-model families, while matched aligned, permuted, and no-language controls show sensor dependence but no stable direct-head gain from aligned language supervision. These results establish a reproducible foundation for radar-only multimodal scene and motion reasoning while separating interface compatibility from the benefit of language supervision.

cs.CV↗

arXiv2026

MonoIR-RS: Infrared Remote Sensing Vision-Language Learning with CLIP and VLM Adaptation

Infrared remote-sensing imagery captures intensity structure, object-background contrast, and illumination-invariant cues often invisible in RGB imagery. Yet, most remote-sensing vision-language resources and models focus on visible-band semantics, leaving infrared vision-language understanding underexplored. We introduce MonoIR-RS, a large-scale infrared remote-sensing vision-language dataset and benchmark that couples IR-aware data construction with CLIP-style contrastive adaptation and VLM instruction tuning. Built from the same source pool and split as FusionRS, MonoIR-RS retains the infrared image as the model-facing modality, yielding 600,000 synthesized infrared images and 59,032 retained IR-aware caption records. The model experiments use this retained language-supervision subset, whose captions rewrite supervision around grayscale structure and infrared-style contrast instead of RGB appearance. We show that the synthesized infrared imagery is markedly closer to real thermal imagery than a grayscale conversion on the AVIID benchmark. We fine-tune five CLIP backbones and six VLM backbones, and calibrate them against zero-shot behavior: IR-aware adaptation lifts CLIP mean recall by up to 12.8 points and drives VLM captioning IR-cue coverage to 100% while reducing residual RGB-color leakage to near zero. By isolating the infrared modality from RGB-IR dual-modal learning, MonoIR-RS offers a controlled, reproducible testbed for aligning infrared remote-sensing evidence with language.

cs.CV↗

arXiv2026

FusionRS: A Large-Scale RGB-Infrared-Style Remote Sensing Dataset for Cross-Modal Vision-Language Learning

Remote sensing vision-language models have advanced Earth observation, but available large-scale vision-language resources remain RGB-centered, leaving complementary infrared information underexplored. Infrared observations provide distinctive intensity structures, object boundaries, and illumination-invariant cues that complement conventional RGB imagery, yet large-scale RGB-infrared-text resources remain scarce. We introduce FusionRS, the first large-scale RGB-infrared-style-text dataset for controlled dual-modal remote sensing vision-language learning. It contains 600,000 spatially aligned pairs created by translating diverse public RGB remote sensing images into infrared-style counterparts. Each pair retains a conventional scene caption, and a curated subset adds 45,913 IR-aware captions describing observable intensity, contrast, texture, and structure while preserving scene semantics. We train CLIP-style models for RGB-infrared-style-text alignment and adapt a generative vision-language model with mixed task-conditioned caption supervision. Evaluation covers cross-modal retrieval, scaling and supervision ablations, sensor-captured transfer, and strictly held-out captioning and VQA. FusionRS substantially improves RGB-infrared-style alignment and infrared-to-text retrieval over RGB-only and non-IR-aware settings. Ablations show that IR-aware captions improve task-conditioned infrared description, demonstrating the value of modality-specific supervision. FusionRS provides a scalable foundation for controlled RGB-infrared remote sensing vision-language learning.

cs.CV↗

arXiv2026

OCO-S$^2$: Online Convex Optimization with Stateful Costs and Sparse Communication

We study \textsc{OCO-S$^2$}, an online convex optimization setting in which decisions drive a stable dynamical state, losses are incurred along the induced state trajectory, and first-order feedback is available only through sparse block communication with partial participation. This coupling creates a dynamic-regret problem beyond pointwise OCO: the learner updates and holds decisions at the block scale, whereas the hindsight comparator may vary at the per-round scale. We propose \textsc{OCO-S$^2$-OGD}, a projected block online gradient method that updates deployed decisions using sparse block-level distributed feedback. We prove dynamic-regret bounds for the incurred trajectory cost, quantifying the tradeoff among block communication, comparator variation, state-memory truncation, and partial participation. We further introduce a prediction-augmented variant, \textsc{OCO-S$^2$-OGD-P}, and show that accurate block-level predictions improve the optimization term in the regret bound through their realized gradient-mismatch error. Overall, this work provides a regret-theoretic foundation for communication-efficient online decision-making in systems where algorithmic updates and physical state trajectories are intrinsically coupled.

eess.SY↗

arXiv2026

Delay-Robust Secondary Frequency Control via Passive Interconnection and Randomized Block Updates

This paper studies secondary frequency control in transmission networks subject to communication delays at the cyber-physical interface and limited per-update computation at the control center. The regulation objective is formulated as a constrained economic dispatch problem incorporating generation capacity constraints, nodal power balance, transmission-flow limits, and scheduled tie-line power exchanges. Based on this formulation, we develop a passivity-based control framework in which an augmented projected primal-dual controller restores nominal frequency and drives the closed-loop system to the solution set of the constrained economic dispatch problem. Two-way communication delays between the physical network and the control center are modeled as scattering-based passive channels for the measurement uplink and the control-command downlink. This construction preserves the target equilibrium and enables a delay-robust passivity analysis of the delayed closed loop. To reduce the computational burden at the control center, we develop a randomized block-coordinate implementation of the augmented projected primal-dual controller. The resulting sampled-data closed loop preserves the target solution set and achieves local mean-square geometric convergence under suitable step-size and regularity conditions. Finally, a multivariable wave-domain interface filter is introduced to inject additional dissipation and improve the damping of the delayed interface without altering the steady-state interconnection. Simulations on the IEEE 14-bus system indicate that the proposed digital implementation accurately reproduces the delayed closed-loop behavior while reducing the per-update computational cost.

eess.SY↗

arXiv2026

XSPA: Crafting Imperceptible X-Shaped Sparse Adversarial Perturbations for Transferable Attacks on VLMs

Vision-language models (VLMs) share visual-textual representations across zero-shot classification, image captioning, and visual question answering (VQA), creating a pathway through which subtle perturbations may cause failures across tasks. We introduce X-shaped Sparse Pixel Attack (XSPA), a structured attack that restricts perturbations to two intersecting diagonal lines. Within this fixed support, XSPA jointly optimizes a classification objective, cross-task semantic guidance, perturbation magnitude, and linewise smoothness. Under the default setting, it changes about 1.04\% of image pixels. On COCO, XSPA reduces zero-shot accuracy by 52.33 points on OpenAI CLIP ViT-L/14 and 67.00 points on OpenCLIP ViT-B/16; GPT-4-based caption consistency and VQA correctness decrease by up to 58.60 and 44.25 points, respectively. Matched-budget experiments show that an adaptive saliency Top-k support achieves higher attack success than the fixed X-shaped support, while XSPA provides better SSIM and LPIPS but worse PSNR and MAE. Same-image analysis finds no three-task targeted success, indicating that strong surrogate classification effects do not reliably translate into targeted output-space failures. These results position XSPA as a controlled stress test for studying how sparse fixed geometry affects VLM robustness, rather than as a universally superior attack.

cs.CV↗

arXiv2024

GURecon: Learning Detailed 3D Geometric Uncertainties for Neural Surface Reconstruction

Neural surface representation has demonstrated remarkable success in the areas of novel view synthesis and 3D reconstruction. However, assessing the geometric quality of 3D reconstructions in the absence of ground truth mesh remains a significant challenge, due to its rendering-based optimization process and entangled learning of appearance and geometry with photometric losses. In this paper, we present a novel framework, i.e, GURecon, which establishes a geometric uncertainty field for the neural surface based on geometric consistency. Different from existing methods that rely on rendering-based measurement, GURecon models a continuous 3D uncertainty field for the reconstructed surface, and is learned by an online distillation approach without introducing real geometric information for supervision. Moreover, in order to mitigate the interference of illumination on geometric consistency, a decoupled field is learned and exploited to finetune the uncertainty field. Experiments on various datasets demonstrate the superiority of GURecon in modeling 3D geometric uncertainty, as well as its plug-and-play extension to various neural surface representations and improvement on downstream tasks such as incremental reconstruction. The code and supplementary material are available on the project website: https://zju3dv.github.io/GURecon/.

cs.CV↗

arXiv2024

MLoRA: Multi-Domain Low-Rank Adaptive Network for CTR Prediction

Click-through rate (CTR) prediction is one of the fundamental tasks in the industry, especially in e-commerce, social media, and streaming media. It directly impacts website revenues, user satisfaction, and user retention. However, real-world production platforms often encompass various domains to cater for diverse customer needs. Traditional CTR prediction models struggle in multi-domain recommendation scenarios, facing challenges of data sparsity and disparate data distributions across domains. Existing multi-domain recommendation approaches introduce specific-domain modules for each domain, which partially address these issues but often significantly increase model parameters and lead to insufficient training. In this paper, we propose a Multi-domain Low-Rank Adaptive network (MLoRA) for CTR prediction, where we introduce a specialized LoRA module for each domain. This approach enhances the model's performance in multi-domain CTR prediction tasks and is able to be applied to various deep-learning models. We evaluate the proposed method on several multi-domain datasets. Experimental results demonstrate our MLoRA approach achieves a significant improvement compared with state-of-the-art baselines. Furthermore, we deploy it in the production environment of the Alibaba.COM. The online A/B testing results indicate the superiority and flexibility in real-world production environments. The code of our MLoRA is publicly available.

cs.IR↗

arXiv2024

Modeling User Intent Beyond Trigger: Incorporating Uncertainty for Trigger-Induced Recommendation

To cater to users' desire for an immersive browsing experience, numerous e-commerce platforms provide various recommendation scenarios, with a focus on Trigger-Induced Recommendation (TIR) tasks. However, the majority of current TIR methods heavily rely on the trigger item to understand user intent, lacking a higher-level exploration and exploitation of user intent (e.g., popular items and complementary items), which may result in an overly convergent understanding of users' short-term intent and can be detrimental to users' long-term purchasing experiences. Moreover, users' short-term intent shows uncertainty and is affected by various factors such as browsing context and historical behaviors, which poses challenges to user intent modeling. To address these challenges, we propose a novel model called Deep Uncertainty Intent Network (DUIN), comprising three essential modules: i) Explicit Intent Exploit Module extracting explicit user intent using the contrastive learning paradigm; ii) Latent Intent Explore Module exploring latent user intent by leveraging the multi-view relationships between items; iii) Intent Uncertainty Measurement Module offering a distributional estimation and capturing the uncertainty associated with user intent. Experiments on three real-world datasets demonstrate the superior performance of DUIN compared to existing baselines. Notably, DUIN has been deployed across all TIR scenarios in our e-commerce platform, with online A/B testing results conclusively validating its superiority.

cs.IR↗

arXiv2024

On Practical Diversified Recommendation with Controllable Category Diversity Framework

Recommender systems have made significant strides in various industries, primarily driven by extensive efforts to enhance recommendation accuracy. However, this pursuit of accuracy has inadvertently given rise to echo chamber/filter bubble effects. Especially in industry, it could impair user's experiences and prevent user from accessing a wider range of items. One of the solutions is to take diversity into account. However, most of existing works focus on user's explicit preferences, while rarely exploring user's non-interaction preferences. These neglected non-interaction preferences are especially important for broadening user's interests in alleviating echo chamber/filter bubble effects.Therefore, in this paper, we first define diversity as two distinct definitions, i.e., user-explicit diversity (U-diversity) and user-item non-interaction diversity (N-diversity) based on user historical behaviors. Then, we propose a succinct and effective method, named as Controllable Category Diversity Framework (CCDF) to achieve both high U-diversity and N-diversity simultaneously.Specifically, CCDF consists of two stages, User-Category Matching and Constrained Item Matching. The User-Category Matching utilizes the DeepU2C model and a combined loss to capture user's preferences in categories, and then selects the top-$K$ categories with a controllable parameter $K$.These top-$K$ categories will be used as trigger information in Constrained Item Matching. Offline experimental results show that our proposed DeepU2C outperforms state-of-the-art diversity-oriented methods, especially on N-diversity task. The whole framework is validated in a real-world production environment by conducting online A/B testing.

cs.IR↗

arXiv2024

Deep Evolutional Instant Interest Network for CTR Prediction in Trigger-Induced Recommendation

The recommendation has been playing a key role in many industries, e.g., e-commerce, streaming media, social media, etc. Recently, a new recommendation scenario, called Trigger-Induced Recommendation (TIR), where users are able to explicitly express their instant interests via trigger items, is emerging as an essential role in many e-commerce platforms, e.g., Alibaba.com and Amazon. Without explicitly modeling the user's instant interest, traditional recommendation methods usually obtain sub-optimal results in TIR. Even though there are a few methods considering the trigger and target items simultaneously to solve this problem, they still haven't taken into account temporal information of user behaviors, the dynamic change of user instant interest when the user scrolls down and the interactions between the trigger and target items. To tackle these problems, we propose a novel method -- Deep Evolutional Instant Interest Network (DEI2N), for click-through rate prediction in TIR scenarios. Specifically, we design a User Instant Interest Modeling Layer to predict the dynamic change of the intensity of instant interest when the user scrolls down. Temporal information is utilized in user behavior modeling. Moreover, an Interaction Layer is introduced to learn better interactions between the trigger and target items. We evaluate our method on several offline and real-world industrial datasets. Experimental results show that our proposed DEI2N outperforms state-of-the-art baselines. In addition, online A/B testing demonstrates the superiority over the existing baseline in real-world production environments.

cs.IR↗

arXiv2023

PNeRFLoc: Visual Localization with Point-based Neural Radiance Fields

Due to the ability to synthesize high-quality novel views, Neural Radiance Fields (NeRF) have been recently exploited to improve visual localization in a known environment. However, the existing methods mostly utilize NeRFs for data augmentation to improve the regression model training, and the performance on novel viewpoints and appearances is still limited due to the lack of geometric constraints. In this paper, we propose a novel visual localization framework, \ie, PNeRFLoc, based on a unified point-based representation. On the one hand, PNeRFLoc supports the initial pose estimation by matching 2D and 3D feature points as traditional structure-based methods; on the other hand, it also enables pose refinement with novel view synthesis using rendering-based optimization. Specifically, we propose a novel feature adaption module to close the gaps between the features for visual localization and neural rendering. To improve the efficacy and efficiency of neural rendering-based optimization, we also develop an efficient rendering-based framework with a warping loss function. Furthermore, several robustness techniques are developed to handle illumination changes and dynamic objects for outdoor scenarios. Experiments demonstrate that PNeRFLoc performs the best on synthetic data when the NeRF model can be well learned and performs on par with the SOTA method on the visual localization benchmark datasets.

cs.CV↗

arXiv2023

Distributed Multi-Time Slot Power Balancing Control of Power Systems with Energy Storage Devices

This paper studies a crucial problem in power system balancing control, i.e., the multi-time slot economic dispatch (MTSED) problem, for power grids with substantial renewables, synchronous generators (SGs), and energy storage devices (ESDs). The target of MTSED is to optimally coordinate active/reactive power outputs of all controllable units to meet a forecast net demand profile over multiple time slots within a receding finite time horizon. Firstly, the MTSED is formulated as an optimization problem with operational constraints, including the limits on the output of each controllable unit, ramping rates of SGss, energy levels of ESDs, and bus voltages. Then, a novel projection-based algorithm is developed to solve the problem in a distributed way. In particular, the distributed algorithm is not limited to solving the MTSED problem but also applies to more general optimization problems with both generic convex objective functions and hard feasibility constraints. Finally, case studies verify the effectiveness of the proposed method.

eess.SY↗

arXiv2023

Dense RGB SLAM with Neural Implicit Maps

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB SLAM method with neural implicit map representation. To reach this challenging goal without depth input, we introduce a hierarchical feature volume to facilitate the implicit map decoder. This design effectively fuses shape cues across different scales to facilitate map reconstruction. Our method simultaneously solves the camera motion and the neural implicit map by matching the rendered and input video frames. To facilitate optimization, we further propose a photometric warping loss in the spirit of multi-view stereo to better constrain the camera pose and scene geometry. We evaluate our method on commonly used benchmarks and compare it with modern RGB and RGB-D SLAM systems. Our method achieves favorable results than previous methods and even surpasses some recent RGB-D SLAM methods.The code is at poptree.github.io/DIM-SLAM/.

cs.CV↗

arXiv2021

Multiplex Bipartite Network Embedding using Dual Hypergraph Convolutional Networks

A bipartite network is a graph structure where nodes are from two distinct domains and only inter-domain interactions exist as edges. A large number of network embedding methods exist to learn vectorial node representations from general graphs with both homogeneous and heterogeneous node and edge types, including some that can specifically model the distinct properties of bipartite networks. However, these methods are inadequate to model multiplex bipartite networks (e.g., in e-commerce), that have multiple types of interactions (e.g., click, inquiry, and buy) and node attributes. Most real-world multiplex bipartite networks are also sparse and have imbalanced node distributions that are challenging to model. In this paper, we develop an unsupervised Dual HyperGraph Convolutional Network (DualHGCN) model that scalably transforms the multiplex bipartite network into two sets of homogeneous hypergraphs and uses spectral hypergraph convolutional operators, along with intra- and inter-message passing strategies to promote information exchange within and across domains, to learn effective node embedding. We benchmark DualHGCN using four real-world datasets on link prediction and node classification tasks. Our extensive experiments demonstrate that DualHGCN significantly outperforms state-of-the-art methods, and is robust to varying sparsity levels and imbalanced node distributions.

cs.LG↗

arXiv2020

Modeling Dynamic Heterogeneous Network for Link Prediction using Hierarchical Attention with Temporal RNN

Network embedding aims to learn low-dimensional representations of nodes while capturing structure information of networks. It has achieved great success on many tasks of network analysis such as link prediction and node classification. Most of existing network embedding algorithms focus on how to learn static homogeneous networks effectively. However, networks in the real world are more complex, e.g., networks may consist of several types of nodes and edges (called heterogeneous information) and may vary over time in terms of dynamic nodes and edges (called evolutionary patterns). Limited work has been done for network embedding of dynamic heterogeneous networks as it is challenging to learn both evolutionary and heterogeneous information simultaneously. In this paper, we propose a novel dynamic heterogeneous network embedding method, termed as DyHATR, which uses hierarchical attention to learn heterogeneous information and incorporates recurrent neural networks with temporal attention to capture evolutionary patterns. We benchmark our method on four real-world datasets for the task of link prediction. Experimental results show that DyHATR significantly outperforms several state-of-the-art baselines.

cs.SI↗