arXiv subjects

Min Deng

Publications and source records attributed to Min Deng.

At least 19 recordsLinked to original sources

arXiv2026

Multimodal Physiological Assessment of Contact-Rich Physical Human-Robot Interaction Under Varying Environmental Conditions

Physical human-robot interaction (pHRI) in real-world settings exposes operators to fluctuating environmental conditions during contact-rich tasks. Traditional task-centric evaluations overlook the physiological burdens imposed by these stressors. Therefore, we conducted a multimodal empirical study involving contact-rich tracing tasks under 18 distinct combinations of temperature, acoustic noise, and illuminance. Synchronously, we recorded electrodermal activity (EDA), surface electromyography (sEMG), eye-tracking data, and subjective environmental comfort ratings. Evaluating these physiological signals alongside execution data revealed hidden physiological costs not captured by objective performance. The results revealed that task performance remained stable across all environmental conditions. Autonomic workload, indexed by tonic skin conductance level (SCL), increased with temperature, while physical and cognitive workload were unaffected. Perceived environmental comfort showed no significant association with tracing error or completion time. These findings reveal a compensatory mechanism where operators maintain consistent performance by increasing their physiological effort to suppress thermal discomfort. Such insight motivates the development of physiology-aware control architectures that leverage real-time physiological metrics to reduce operator workload in unstructured environments.

cs.RO↗

arXiv2026

From Perception to Symbolic Task Planning: Vision-Language Guided Human-Robot Collaborative Structured Assembly

Human-robot collaboration (HRC) in structured assembly requires reliable state estimation and adaptive task planning under noisy perception and human interventions. To address these challenges, we introduce a design-grounded human-aware planning framework for human-robot collaborative structured assembly. The framework comprises two coupled modules. Module I, Perception-to-Symbolic State (PSS), employs vision-language models (VLMs) based agents to align RGB-D observations with design specifications and domain knowledge, synthesizing verifiable symbolic assembly states. It outputs validated installed and uninstalled component sets for online state tracking. Module II, Human-Aware Planning and Replanning (HPR), performs task-level multi-robot assignment and updates the plan only when the observed state deviates from the expected execution outcome. It applies a minimal-change replanning rule to selectively revise task assignments and preserve plan stability even under human interventions. We validate the framework on a 27-component timber-frame assembly. The PSS module achieves 97% state synthesis accuracy, and the HPR module maintains feasible task progression across diverse HRC scenarios. Results indicate that integrating VLM-based perception with knowledge-driven planning improves robustness of state estimation and task planning under dynamic conditions.

cs.RO↗

arXiv2025

Empowering LLM Agents with Geospatial Awareness: Toward Grounded Reasoning for Wildfire Response

Effective disaster response is essential for safeguarding lives and property. Existing statistical approaches often lack semantic context, generalize poorly across events, and offer limited interpretability. While Large language models (LLMs) provide few-shot generalization, they remain text-bound and blind to geography. To bridge this gap, we introduce a Geospatial Awareness Layer (GAL) that grounds LLM agents in structured earth data. Starting from raw wildfire detections, GAL automatically retrieves and integrates infrastructure, demographic, terrain, and weather information from external geodatabases, assembling them into a concise, unit-annotated perception script. This enriched context enables agents to produce evidence-based resource-allocation recommendations (e.g., personnel assignments, budget allocations), further reinforced by historical analogs and daily change signals for incremental updates. We evaluate the framework in real wildfire scenarios across multiple LLM models, showing that geospatially grounded agents can outperform baselines. The proposed framework can generalize to other hazards such as floods and hurricanes.

cs.AI↗

arXiv2025

From Pixels to Places: A Systematic Benchmark for Evaluating Image Geolocalization Ability in Large Language Models

Image geolocalization, the task of identifying the geographic location depicted in an image, is important for applications in crisis response, digital forensics, and location-based intelligence. While recent advances in large language models (LLMs) offer new opportunities for visual reasoning, their ability to perform image geolocalization remains underexplored. In this study, we introduce a benchmark called IMAGEO-Bench that systematically evaluates accuracy, distance error, geospatial bias, and reasoning process. Our benchmark includes three diverse datasets covering global street scenes, points of interest (POIs) in the United States, and a private collection of unseen images. Through experiments on 10 state-of-the-art LLMs, including both open- and closed-source models, we reveal clear performance disparities, with closed-source models generally showing stronger reasoning. Importantly, we uncover geospatial biases as LLMs tend to perform better in high-resource regions (e.g., North America, Western Europe, and California) while exhibiting degraded performance in underrepresented areas. Regression diagnostics demonstrate that successful geolocalization is primarily dependent on recognizing urban settings, outdoor environments, street-level imagery, and identifiable landmarks. Overall, IMAGEO-Bench provides a rigorous lens into the spatial reasoning capabilities of LLMs and offers implications for building geolocation-aware AI systems.

cs.CV↗

arXiv2025

Integrating LLMs and Digital Twins for Adaptive Multi-Robot Task Allocation in Construction

Multi-robot systems are emerging as a promising solution to the growing demand for productivity, safety, and adaptability across industrial sectors. However, effectively coordinating multiple robots in dynamic and uncertain environments, such as construction sites, remains a challenge, particularly due to unpredictable factors like material delays, unexpected site conditions, and weather-induced disruptions. To address these challenges, this study proposes an adaptive task allocation framework that strategically leverages the synergistic potential of Digital Twins, Integer Programming (IP), and Large Language Models (LLMs). The multi-robot task allocation problem is formally defined and solved using an IP model that accounts for task dependencies, robot heterogeneity, scheduling constraints, and re-planning requirements. A mechanism for narrative-driven schedule adaptation is introduced, in which unstructured natural language inputs are interpreted by an LLM, and optimization constraints are autonomously updated, enabling human-in-the-loop flexibility without manual coding. A digital twin-based system has been developed to enable real-time synchronization between physical operations and their digital representations. This closed-loop feedback framework ensures that the system remains dynamic and responsive to ongoing changes on site. A case study demonstrates both the computational efficiency of the optimization algorithm and the reasoning performance of several LLMs, with top-performing models achieving over 97% accuracy in constraint and parameter extraction. The results confirm the practicality, adaptability, and cross-domain applicability of the proposed methods.

cs.RO↗

arXiv2025

LLMs as World Models: Data-Driven and Human-Centered Pre-Event Simulation for Disaster Impact Assessment

Efficient simulation is essential for enhancing proactive preparedness for sudden-onset disasters such as earthquakes. Recent advancements in large language models (LLMs) as world models show promise in simulating complex scenarios. This study examines multiple LLMs to proactively estimate perceived earthquake impacts. Leveraging multimodal datasets including geospatial, socioeconomic, building, and street-level imagery data, our framework generates Modified Mercalli Intensity (MMI) predictions at zip code and county scales. Evaluations on the 2014 Napa and 2019 Ridgecrest earthquakes using USGS ''Did You Feel It? (DYFI)'' reports demonstrate significant alignment, as evidenced by a high correlation of 0.88 and a low RMSE of 0.77 as compared to real reports at the zip code level. Techniques such as RAG and ICL can improve simulation performance, while visual inputs notably enhance accuracy compared to structured numerical data alone. These findings show the promise of LLMs in simulating disaster impacts that can help strengthen pre-event planning.

cs.CY↗

arXiv2025

RIS-Driven Resource Allocation Strategies for Diverse Network Environments: A Comprehensive Review

This comprehensive survey examines how Reconfigurable Intelligent Surfaces (RIS) revolutionize resource allocation in various network frameworks. It begins by establishing a theoretical foundation with an overview of RIS technologies, including passive RIS, active RIS, and Simultaneously Transmitting and Reflecting RIS (STAR-RIS). The core of the survey focuses on RIS's role in optimizing resource allocation within Single-Input Multiple-Output (SIMO), Multiple-Input Single-Output (MISO), and Multiple-Input Multiple-Output (MIMO) systems. It further explores RIS integration in complex network environments, such as Heterogeneous Wireless Networks (HetNets) and Non-Orthogonal Multiple Access (NOMA) frameworks. Additionally, the survey investigates RIS applications in advanced communication domains like Terahertz (THz) networks, Vehicular Communication (VC), and Unmanned Aerial Vehicle (UAV) communications, highlighting the synergy between RIS and Artificial Intelligence (AI) for enhanced network efficiency. Summary tables provide comparative insights into various schemes. The survey concludes with lessons learned, future research directions, and challenges, emphasizing critical open issues.

cs.ET↗

arXiv2024

Toward satisfactory public accessibility: A crowdsourcing approach through online reviews to inclusive urban design

As urban populations grow, the need for accessible urban design has become urgent. Traditional survey methods for assessing public perceptions of accessibility are often limited in scope. Crowdsourcing via online reviews offers a valuable alternative to understanding public perceptions, and advancements in large language models can facilitate their use. This study uses Google Maps reviews across the United States and fine-tunes Llama 3 model with the Low-Rank Adaptation technique to analyze public sentiment on accessibility. At the POI level, most categories -- restaurants, retail, hotels, and healthcare -- show negative sentiments. Socio-spatial analysis reveals that areas with higher proportions of white residents and greater socioeconomic status report more positive sentiment, while areas with more elderly, highly-educated residents exhibit more negative sentiment. Interestingly, no clear link is found between the presence of disabilities and public sentiments. Overall, this study highlights the potential of crowdsourcing for identifying accessibility challenges and providing insights for urban planners.

cs.SI↗

arXiv2024

Robust Semi-supervised Multimodal Medical Image Segmentation via Cross Modality Collaboration

Multimodal learning leverages complementary information derived from different modalities, thereby enhancing performance in medical image segmentation. However, prevailing multimodal learning methods heavily rely on extensive well-annotated data from various modalities to achieve accurate segmentation performance. This dependence often poses a challenge in clinical settings due to limited availability of such data. Moreover, the inherent anatomical misalignment between different imaging modalities further complicates the endeavor to enhance segmentation performance. To address this problem, we propose a novel semi-supervised multimodal segmentation framework that is robust to scarce labeled data and misaligned modalities. Our framework employs a novel cross modality collaboration strategy to distill modality-independent knowledge, which is inherently associated with each modality, and integrates this information into a unified fusion layer for feature amalgamation. With a channel-wise semantic consistency loss, our framework ensures alignment of modality-independent information from a feature-wise perspective across modalities, thereby fortifying it against misalignments in multimodal scenarios. Furthermore, our framework effectively integrates contrastive consistent learning to regulate anatomical structures, facilitating anatomical-wise prediction alignment on unlabeled data in semi-supervised segmentation tasks. Our method achieves competitive performance compared to other multimodal methods across three tasks: cardiac, abdominal multi-organ, and thyroid-associated orbitopathy segmentations. It also demonstrates outstanding robustness in scenarios involving scarce labeled data and misaligned modalities.

cs.CV↗

arXiv2024

Miscibility of Binary Bose-Einstein Condensates with $p$-wave Interaction

We investigate the ground-state phase diagram of a binary mixture of Bose-Einstein condensates (BECs) with competing interspecies $s$- and $p$-wave interactions. Exploiting a pseudopotential model for the $l=1$ partial wave, we derive an extended Gross-Pitaevskii (GP) equation for the BEC mixture that incorporates both $s$- and $p$-wave interactions. Based on it, we study the miscible-immiscible transition of a binary BEC mixture in the presence of interspecies $p$-wave interaction, by combining numerical solution of the GP equation and Gaussian variational analysis. Our study uncovers a dual effect -- either enhance or reduce miscibility -- of positive interspecies $p$-wave interaction, which can be precisely controlled by adjusting relevant experimental parameters. By complete characterizing the miscibility phase diagram, we establish a promising avenue towards experimental control of the miscibility of binary BEC mixtures via high partial-wave interactions.

cond-mat.quant-gas↗

arXiv2022

Unsupervised domain adaptation semantic segmentation of high-resolution remote sensing imagery with invariant domain-level prototype memory

Semantic segmentation is a key technique involved in automatic interpretation of high-resolution remote sensing (HRS) imagery and has drawn much attention in the remote sensing community. Deep convolutional neural networks (DCNNs) have been successfully applied to the HRS imagery semantic segmentation task due to their hierarchical representation ability. However, the heavy dependency on a large number of training data with dense annotation and the sensitiveness to the variation of data distribution severely restrict the potential application of DCNNs for the semantic segmentation of HRS imagery. This study proposes a novel unsupervised domain adaptation semantic segmentation network (MemoryAdaptNet) for the semantic segmentation of HRS imagery. MemoryAdaptNet constructs an output space adversarial learning scheme to bridge the domain distribution discrepancy between source domain and target domain and to narrow the influence of domain shift. Specifically, we embed an invariant feature memory module to store invariant domain-level context information because the features obtained from adversarial learning only tend to represent the variant feature of current limited inputs. This module is integrated by a category attention-driven invariant domain-level context aggregation module to current pseudo invariant feature for further augmenting the pixel representations. An entropy-based pseudo label filtering strategy is used to update the memory module with high-confident pseudo invariant feature of current target images. Extensive experiments under three cross-domain tasks indicate that our proposed MemoryAdaptNet is remarkably superior to the state-of-the-art methods.

cs.CV↗

arXiv2021

Learning by Active Forgetting for Neural Networks

Remembering and forgetting mechanisms are two sides of the same coin in a human learning-memory system. Inspired by human brain memory mechanisms, modern machine learning systems have been working to endow machine with lifelong learning capability through better remembering while pushing the forgetting as the antagonist to overcome. Nevertheless, this idea might only see the half picture. Up until very recently, increasing researchers argue that a brain is born to forget, i.e., forgetting is a natural and active process for abstract, rich, and flexible representations. This paper presents a learning model by active forgetting mechanism with artificial neural networks. The active forgetting mechanism (AFM) is introduced to a neural network via a "plug-and-play" forgetting layer (P\&PF), consisting of groups of inhibitory neurons with Internal Regulation Strategy (IRS) to adjust the extinction rate of themselves via lateral inhibition mechanism and External Regulation Strategy (ERS) to adjust the extinction rate of excitatory neurons via inhibition mechanism. Experimental studies have shown that the P\&PF offers surprising benefits: self-adaptive structure, strong generalization, long-term learning and memory, and robustness to data and parameter perturbation. This work sheds light on the importance of forgetting in the learning process and offers new perspectives to understand the underlying mechanisms of neural networks.

cs.LG↗

arXiv2020

Bottom-up mechanism and improved contract net protocol for the dynamic task planning of heterogeneous Earth observation resources

Earth observation resources are becoming increasingly indispensable in disaster relief, damage assessment and related domains. Many unpredicted factors, such as the change of observation task requirements, to the occurring of bad weather and resource failures, may cause the scheduled observation scheme to become infeasible. Therefore, it is crucial to be able to promptly and maybe frequently develop high-quality replanned observation schemes that minimize the effects on the scheduled tasks. A bottom-up distributed coordinated framework together with an improved contract net are proposed to facilitate the dynamic task replanning for heterogeneous Earth observation resources. This hierarchical framework consists of three levels, namely, neighboring resource coordination, single planning center coordination, and multiple planning center coordination. Observation tasks affected by unpredicted factors are assigned and treated along with a bottom-up route from resources to planning centers. This bottom-up distributed coordinated framework transfers part of the computing load to various nodes of the observation systems to allocate tasks more efficiently and robustly. To support the prompt assignment of large-scale tasks to proper Earth observation resources in dynamic environments, we propose a multiround combinatorial allocation (MCA) method. Moreover, a new float interval-based local search algorithm is proposed to obtain the promising planning scheme more quickly. The experiments demonstrate that the MCA method can achieve a better task completion rate for large-scale tasks with satisfactory time efficiency. It also demonstrates that this method can help to efficiently obtain replanning schemes based on original scheme in dynamic environments.

eess.SY↗

arXiv2018

Measuring Road Network Topology Vulnerability by Ricci Curvature

Describing the basic properties of road network systems, such as their robustness, vulnerability, and reliability, has been a very important research topic in the field of urban transportation. Current research mainly uses several statistical indicators of complex networks to analyze the road network systems. However, these methods are essentially node-based. These node-based methods are more concerned with the number of connections between nodes, and lack of consideration for interactions. So, this leads to the well-known node paradox problem, and their ability of characterizing the local and intrinsic properties of a network is weak. From the perspective of network intrinsic geometry, this paper proposes a method for measuring road network vulnerability using a discrete Ricci curvature, which can identify the key sections of a road network and indicate its fragile elements. The results show that our method performs better than complex network statistics on measuring the vulnerability of a road network. Additionally, it can characterize the evolution of the road network vulnerability among different periods of time in the same city through our method. Finally, we compare our method with the previous method of centrality and show the different between them. This article provides a new perspective on a geometry to analyze the vulnerability of a road network and describes the inherent nature of the vulnerability of a road system from a new perspective. It also contributes to enriching the analytical methods of complex road networks.

cs.SI↗

arXiv2018

T-GCN: A Temporal Graph ConvolutionalNetwork for Traffic Prediction

Accurate and real-time traffic forecasting plays an important role in the Intelligent Traffic System and is of great significance for urban traffic planning, traffic management, and traffic control. However, traffic forecasting has always been considered an open scientific issue, owing to the constraints of urban road network topological structure and the law of dynamic change with time, namely, spatial dependence and temporal dependence. To capture the spatial and temporal dependence simultaneously, we propose a novel neural network-based traffic forecasting method, the temporal graph convolutional network (T-GCN) model, which is in combination with the graph convolutional network (GCN) and gated recurrent unit (GRU). Specifically, the GCN is used to learn complex topological structures to capture spatial dependence and the gated recurrent unit is used to learn dynamic changes of traffic data to capture temporal dependence. Then, the T-GCN model is employed to traffic forecasting based on the urban road network. Experiments demonstrate that our T-GCN model can obtain the spatio-temporal correlation from traffic data and the predictions outperform state-of-art baselines on real-world traffic datasets. Our tensorflow implementation of the T-GCN is available at https://github.com/lehaifeng/T-GCN.

cs.LG↗

arXiv2018

Learning to Measure Change: Fully Convolutional Siamese Metric Networks for Scene Change Detection

A critical challenge problem of scene change detection is that noisy changes generated by varying illumination, shadows and camera viewpoint make variances of a scene difficult to define and measure since the noisy changes and semantic ones are entangled. Following the intuitive idea of detecting changes by directly comparing dissimilarities between a pair of features, we propose a novel fully Convolutional siamese metric Network(CosimNet) to measure changes by customizing implicit metrics. To learn more discriminative metrics, we utilize contrastive loss to reduce the distance between the unchanged feature pairs and to enlarge the distance between the changed feature pairs. Specifically, to address the issue of large viewpoint differences, we propose Thresholded Contrastive Loss (TCL) with a more tolerant strategy to punish noisy changes. We demonstrate the effectiveness of the proposed approach with experiments on three challenging datasets: CDnet, PCD2015, and VL-CMU-CD. Our approach is robust to lots of challenging conditions, such as illumination changes, large viewpoint difference caused by camera motion and zooming. In addition, we incorporate the distance metric into the segmentation framework and validate the effectiveness through visualization of change maps and feature distribution. The source code is available at https://github.com/gmayday1997/ChangeDet.

cs.CV↗

arXiv2018

Broad Feshbach resonances in ultracold alkali-metal systems

A comprehensive search for "broad" Feshbach resonances (FRs) in all possible combinations of stable alkali-metal atoms is carried out, using a multi-channel quantum-defect theory assisted by the analytic wave functions for a long-range van-der-Waals potential. A number of new "broad" $s$-, $p$- and $d$-wave FRs in the lowest-energy scattering channels, which are stable against two-body dipolar spin-flip loss, are predicted and characterized. Our results also show that "broad" FRs of $p$- or $d$-wave type that are free of two-body loss do not exist between fermionic alkali-metal atoms for magnetic field up to 1000\,G. These findings constitute helpful guidance on efforts towards experimental study of high-partial-wave coupling induced many-body physics.

cond-mat.quant-gas↗

arXiv2017

Observation of "broad" d-wave Feshbach resonances with a triplet structure

High partial-wave ($l\ge2$) Feshbach resonance (FR) in an ultracold mixture of $^{85}$Rb-$^{87}$Rb atoms is investigated experimentally aided by a partial-wave insensitive analytic multichannel quantum-defect theory (MQDT). Two "broad" resonances from coupling between d-waves in both the open and closed channels are observed and characterized. One of them shows a fully resolved triplet structure with splitting ratio well explained by the perturbation to the closed channel due to interatomic spin-spin interaction. These tunable "broad" d-wave resonances, especially the one in the lowest-energy open channel, could find important applications in simulating d-wave coupling dominated many-body systems. In addition, we find that there is generally a time and temperature requirement, associated with tunneling through the angular momentum barrier, to establish and observe resonant coupling in nonzero partial waves.

cond-mat.quant-gas↗