arXiv subjects

Mingxuan Gao

Publications and source records attributed to Mingxuan Gao.

3 recordsLinked to original sources

arXiv2026

nuReasoning: A Reasoning-Centric Dataset and Benchmark for Long-Tail Autonomous Driving

Reasoning is essential for autonomous driving (AD) in long-tail scenarios, where vehicles must apply commonsense knowledge, understand spatial relations, infer agent interactions, and make safe decisions. However, existing AD datasets and benchmarks mainly target perception, prediction, or planning, and provide limited supervision for reasoning over realistic long-tail driving scenes. We introduce nuReasoning, a large-scale real-world dataset and benchmark for reasoning-centric AD. Following the lineage of nuScenes and nuPlan, nuReasoning advances real-world AD datasets and benchmarks toward reasoning in long-tail driving scenarios. The dataset contains 20,000 clips, each 20 seconds long, collected across multiple cities, with synchronized multi-camera images, LiDAR data, HD maps, object annotations, and human-verified reasoning annotations spanning Spatial Reasoning, Decision Reasoning, and Counterfactual Reasoning. Unlike prior datasets that focus primarily on visual question answering, nuReasoning supports both reasoning evaluation and planning evaluation, enabling a direct study of how reasoning supervision affects driving performance. Experiments show that fine-tuning VLMs on nuReasoning substantially improves driving-specific question answering, while incorporating reasoning supervision into VLA training improves planning performance even when textual reasoning outputs are disabled at inference time. These results establish nuReasoning as a foundation for evaluating and improving robust, interpretable, reasoning-driven AD systems in realistic long-tail settings.

cs.CV↗

arXiv2025

Make Silence Speak for Itself: a multi-modal learning analytic approach with neurophysiological data

Background: Silence is a common phenomenon in classrooms, yet its implicit nature limits a clear understanding of students' underlying learning statuses. Aim: This study proposed a nuanced framework to classify classroom silence based on class events and student status, and examined neurophysiological markers to reveal similarities and differences in silent states across achievement groups. Sample: The study involved 54 middle school students during 34 math lessons, with simultaneous recordings of electroencephalogram (EEG), electrodermal activity (EDA), and heart rate signals, alongside video coding of classroom behaviors. Results: We found that high-achieving students showed no significant difference in mean EDA features between strategic silence (i.e., students choose silence deliberately) and active speaking during open questioning but exhibited higher EEG high-frequency relative power spectral density (RPSD) during strategic silence. In structural silence (i.e., students maintain silence following an external command) during directed questioning, they demonstrated significantly higher heart rates while listening to lectures compared to group activities, indicating heightened engagement. Both high- and medium-achieving students displayed elevated heart rates and EDA tonic components in structural silence during questioning compared to teaching. Furthermore, high-achieving students exhibited lower high-frequency RPSD during structural silence than strategic silence, a pattern not observed in other groups, highlighting group heterogeneity. Conclusions: The findings contribute to validating the complexity of silence, challenge its traditional association with passivity, and offer a novel classification framework along with preliminary empirical evidence to deepen the understanding of silent learning behaviors in classroom contexts.

q-bio.NC↗

arXiv2024

Autoencoder-assisted Feature Ensemble Net for Incipient Faults

Deep learning has shown the great power in the field of fault detection. However, for incipient faults with tiny amplitude, the detection performance of the current deep learning networks (DLNs) is not satisfactory. Even if prior information about the faults is utilized, DLNs can't successfully detect faults 3, 9 and 15 in Tennessee Eastman process (TEP). These faults are notoriously difficult to detect, lacking effective detection technologies in the field of fault detection. In this work, we propose Autoencoder-assisted Feature Ensemble Net (AE-FENet): a deep feature ensemble framework that uses the unsupervised autoencoder to conduct the feature transformation. Compared with the principle component analysis (PCA) technique adopted in the original Feature Ensemble Net (FENet), autoencoder can mine more exact features on incipient faults, which results in the better detection performance of AE-FENet. With same kinds of basic detectors, AE-FENet achieves a state-of-the-art average accuracy over 96% on faults 3, 9 and 15 in TEP, which represents a significant enhancement in performance compared to other methods. Plenty of experiments have been done to extend our framework, proving that DLNs can be utilized efficiently within this architecture.

eess.SY↗