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Nanning Zheng

Publications and source records attributed to Nanning Zheng.

At least 19 recordsLinked to original sources

Overcoming the Weakest-Link Effect in LLM-Driven Program Optimization via Heterogeneous Edit Recombination

Large language models (LLMs) are increasingly used to solve complex problems by searching over program space, offering a general paradigm for scientific problems that can be naturally represented and solved as programs. Despite recent progress, identifying effective optimization directions for a candidate program remains challenging. By analogy with automatic differentiation, existing methods typically guide the search using a textual ``gradient'': a first-order update direction expressed as textual edits. Such gradients are inferred either from previously evaluated programs or from LLM-generated feedback on the implicit program-score mapping. However, these estimates become increasingly unreliable as the program--score mapping grows more complex, limiting their practical utility. We argue that explicit gradients are not essential for effective program optimization. Leveraging their prior knowledge, LLMs can propose plausible atomic edits directly from the current program, thereby enabling a zeroth-order optimization strategy. However, zeroth-order search suffers from a \textit{weakest-link effect}: when a bundle of edits is accepted or rejected as a whole, a single harmful edit can negate the benefits of all remaining edits. To address this issue, we introduce HERO, a program optimizer that prompts an LLM to generate diverse, non-overlapping atomic edits and then systematically selects and composes them into coherent program improvements using evaluator scores. We evaluate HERO across algorithmic problems, strategy games, the design of LLM-based agentic systems, and robotic path planning. Across these domains, HERO consistently discovers higher-scoring programs and converges substantially faster than prior LLM-based optimizers, while consuming fewer tokens.

cs.LG

Differential Amplifier-Inspired AmpAttention for Multi-View Robotic Manipulation

Multi-view robotic manipulation methods with the attention mechanism have recently achieved significant progress in both training efficiency and task performance. However, the inherent redundancy, occlusion, and viewpoint dependency in robotic view images often lead to severe attention drift. To address this challenge, we propose AmpAttention, a novel attention mechanism inspired by differential amplifiers in analog circuits. It aims to suppress attention noise and capture high signal-to-noise ratio signals for more reliable perception. Based on this, we introduce the RVAF model, which integrates task-guided intra-view and inter-view AmpAttention. Compared to previous state-of-the-art methods, RVAF achieves the optimal average success rate across 18 RLBench tasks (249 variations) while reducing training time by 33.3\%. RVAF also demonstrates strong potential in real-world high-precision tasks, exemplified by its ability to pick up a dart and accurately insert it into the red bullseye. Furthermore, we extend RVAF to RVAF++ by incorporating the SAM2 image encoder. RVAF++ achieves substantial gains on high-precision tasks, achieving a 91\% success rate on the `insert peg' task. More qualitative results are provided at the anonymous project website https://anonymous.4open.science/w/RVAF-Anonymization.

cs.RO

Shaping Schema via Language Representation as the Next Frontier for LLM Intelligence Expanding

Although natural language is the default medium for Large Language Models (LLMs), its limited expressive capacity creates a profound bottleneck for complex problem-solving. While recent advancements in AI have relied heavily on scaling, merely internalizing knowledge does not guarantee its effective application. Defining language representation as the linguistic and symbolic constructs used to map and model the real world, this paper argues that shaping schemas through advanced language representation is the next frontier for expanding LLM intelligence. We posit that an LLM's knowledge activation and organization -- its schema -- depends heavily on the structural and symbolic sophistication of the language used to represent a given task. This paper contributes both a formalization of this claim and the empirical evidence to support it. With a new formalization, we present multiple lines of evidence to support our position: Firstly, we review recent empirical practices and emerging methodologies that demonstrate the substantial performance gains achievable through deliberate language representation design, even without modifying model parameters or scale. Secondly, we conduct controlled experiments showing that LLM performance and its internal feature activations vary under different language representations of the same underlying task. Together, these findings highlight language representation design as a promising direction for future research.

cs.AI

Pretraining a Foundation Model for Small-Molecule Natural Products

Natural products, as metabolites from microorganisms, animals, or plants, exhibit diverse biological activities, making them crucial for drug discovery. Nowadays, existing deep learning methods for natural products research primarily rely on supervised learning approaches designed for specific downstream tasks. However, such one-model-for-a-task paradigm often lacks generalizability and leaves significant room for performance improvement. Additionally, existing molecular characterization methods are not well-suited for the unique tasks associated with natural products. To address these limitations, we have pre-trained a foundation model for natural products based on their unique properties. Our approach employs a novel pretraining strategy that is especially tailored to natural products. By incorporating contrastive learning and masked graph learning objectives, we emphasize evolutional information from molecular scaffolds while capturing side-chain information. Our framework achieves state-of-the-art (SOTA) results in various downstream tasks related to natural product mining and drug discovery. We first compare taxonomy classification with synthesized molecule-focused baselines to demonstrate that current models are inadequate for understanding natural synthesis. Furthermore, by diving into a fine-grained analysis at both the gene and microbial levels, NaFM demonstrates the ability to capture evolutionary information. Eventually, our method is experimented with virtual screening, illustrating informative natural product representations that can lead to more effective identification of potential drug candidates.

q-bio.QM

SpaAct: Spatially-Activated Transition Learning with Curriculum Adaptation for Vision-Language Navigation

Vision-and-Language Navigation (VLN) aims to enable an embodied agent to follow natural-language instructions and navigate to a target location in unseen 3D environments. We argue that adapting VLMs to VLN requires endowing them with two complementary capabilities for acquiring such awareness, namely backward action reasoning (why) and forward transition prediction~(how). Based on this insight, we propose SpaAct, a simple yet effective training framework that activates the dynamic spatial awareness in VLMs. Specifically, SpaAct introduces two spatial activation tasks: Action Retrospection, which asks the model to infer the executed action sequence from visual transitions, and Future Frame Selection, which forces the model to predict the visual transitions conditioned on history and action. These two objectives provide lightweight supervision on both backward action reasoning and forward transition prediction, encouraging the model to build dynamic spatial awareness in a VLM-friendly way. To further stabilize adaptation, we design TriPA, a Tri-factor Progressive Adaptive curriculum learning method that organizes training samples from easy to hard, allowing the model to gradually acquire navigation skills from basic locomotion to long-horizon reasoning. Experiments on standard VLN-CE benchmarks show that SpaAct consistently improves VLM-based navigation and achieves state-of-the-art performance. We will release the code and models to support future research.

cs.CV

VFM-VAE: Vision Foundation Models Can Be Good Tokenizers for Latent Diffusion Models

The performance of Latent Diffusion Models (LDMs) is critically dependent on the quality of their visual tokenizers. While recent works have explored incorporating Vision Foundation Models (VFMs) into the tokenizers training via distillation, we empirically find this approach inevitably weakens the robustness of learnt representation from original VFM. In this paper, we bypass the distillation by proposing a more direct approach by leveraging the frozen VFM for the LDMs tokenizer, named VFM Variational Autoencoder (VFM-VAE).To fully exploit the potential to leverage frozen VFM for the LDMs tokenizer, we design a new decoder to reconstruct realistic images from the semantic-rich representation of VFM. With the proposed VFM-VAE, we conduct a systematic study on how the representation from different tokenizers impact the representation learning process throughout diffusion training, enabling synergistic benefits of dual-side alignment on both tokenizers and diffusion models. Our effort in tokenizer design and training strategy lead to superior performance and efficiency: our system reaches a gFID (w/o CFG) of 2.22 in merely 80 epochs (a 10$\times$ speedup over prior tokenizers). With continued training to 640 epochs, it further attains a gFID (w/o CFG) of 1.62. These results offer solid evidence for the substantial potential of VFMs to serve as visual tokenizers to accelerate the LDM training progress.

cs.CV

Think before Go: Hierarchical Reasoning for Image-goal Navigation

Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and observation images and directly predicts the actions. However, when the target is distant or lies in another room, such methods fail to extract informative visual cues, leading the agent to wander around. Motivated by the human cognitive principle that deliberate, high-level reasoning guides fast, reactive execution in complex tasks, we propose Hierarchical Reasoning Navigation (HRNav), a framework that decomposes image-goal navigation into high-level planning and low-level execution. In high-level planning, a vision-language model is trained on a self-collected dataset to generate a short-horizon plan, such as whether the agent should walk through the door or down the hallway. This downgrades the difficulty of the long-horizon task, making it more amenable to the execution part. In low-level execution, an online reinforcement learning policy is utilized to decide actions conditioned on the short-horizon plan. We also devise a novel Wandering Suppression Penalty (WSP) to further reduce the wandering problem. Together, these components form a hierarchical framework for Image-Goal Navigation. Extensive experiments in both simulation and real-world environments demonstrate the superiority of our method.

cs.RO

A Compact Hybrid Convolution--Frequency State Space Network for Learned Image Compression

Learned image compression (LIC) has recently benefited from Transformer- and state space models (SSM)- based backbones for modeling long-range dependencies. However, the former typically incurs quadratic complexity, whereas the latter often disrupts neighborhood continuity by flattening 2D features into 1D sequences. To address these issues, we propose a compact Hybrid Convolution and Frequency State Space Network (HCFSSNet) for LIC. HCFSSNet combines convolutional layers for local detail modeling with a Vision Frequency State Space (VFSS) block for complementary long-range contextual aggregation. Specifically, the VFSS block consists of a Vision Omni-directional Neighborhood State Space (VONSS) module, which scans features along horizontal, vertical, and diagonal directions to better preserve 2D neighborhood relations, and an Adaptive Frequency Modulation Module (AFMM), which performs discrete cosine transform-based adaptive reweighting of frequency components. In addition, we introduce a Frequency Swin Transformer Attention Module (FSTAM) in the hyperprior path to enhance frequency-aware side information modeling. Experiments on the benchmark datasets show that the proposed HCFSSNet achieves a competitive rate-distortion performance against recent LIC codecs. The source code and models will be made publicly available.

cs.CV

Breakthrough the Suboptimal Stable Point in Value-Factorization-Based Multi-Agent Reinforcement Learning

Value factorization, a popular paradigm in MARL, faces significant theoretical and algorithmic bottlenecks: its tendency to converge to suboptimal solutions remains poorly understood and unsolved. Theoretically, existing analyses fail to explain this due to their primary focus on the optimal case. To bridge this gap, we introduce a novel theoretical concept: the stable point, which characterizes the potential convergence of value factorization in general cases. Through an analysis of stable point distributions in existing methods, we reveal that non-optimal stable points are the primary cause of poor performance. However, algorithmically, making the optimal action the unique stable point is nearly infeasible. In contrast, iteratively filtering suboptimal actions by rendering them unstable emerges as a more practical approach for global optimality. Inspired by this, we propose a novel Multi-Round Value Factorization (MRVF) framework. Specifically, by measuring a non-negative payoff increment relative to the previously selected action, MRVF transforms inferior actions into unstable points, thereby driving each iteration toward a stable point with a superior action. Experiments on challenging benchmarks, including predator-prey tasks and StarCraft II Multi-Agent Challenge (SMAC), validate our analysis of stable points and demonstrate the superiority of MRVF over state-of-the-art methods.

cs.AI

Hyperbolic Multiview Pretraining for Robotic Manipulation

3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to model structural relations among embeddings. As a result, they struggle to learn structured embeddings that are essential for robust spatial perception in robotic applications. To this end, we propose HyperMVP, a self-supervised framework for \underline{Hyper}bolic \underline{M}ulti\underline{V}iew \underline{P}retraining. Hyperbolic space offers geometric properties well suited for capturing structural relations. Methodologically, we extend the masked autoencoder paradigm and design a GeoLink encoder to learn multiview hyperbolic representations. The pretrained encoder is then finetuned with visuomotor policies on manipulation tasks. In addition, we introduce 3D-MOV, a large-scale dataset comprising multiple types of 3D point clouds to support pretraining. We evaluate HyperMVP on COLOSSEUM, RLBench, and real-world scenarios, where it consistently outperforms strong baselines across diverse tasks and perturbation settings. Our results highlight the potential of 3D-aware pretraining in a non-Euclidean space for learning robust and generalizable robotic manipulation policies.

cs.RO

Selective Transfer Learning of Cross-Modality Distillation for Monocular 3D Object Detection

Monocular 3D object detection is a promising yet ill-posed task for autonomous vehicles due to the lack of accurate depth information. Cross-modality knowledge distillation could effectively transfer depth information from LiDAR to image-based network. However, modality gap between image and LiDAR seriously limits its accuracy. In this paper, we systematically investigate the negative transfer problem induced by modality gap in cross-modality distillation for the first time, including not only the architecture inconsistency issue but more importantly the feature overfitting issue. We propose a selective learning approach named MonoSTL to overcome these issues, which encourages positive transfer of depth information from LiDAR while alleviates the negative transfer on image-based network. On the one hand, we utilize similar architectures to ensure spatial alignment of features between image-based and LiDAR-based networks. On the other hand, we develop two novel distillation modules, namely Depth-Aware Selective Feature Distillation (DASFD) and Depth-Aware Selective Relation Distillation (DASRD), which selectively learn positive features and relationships of objects by integrating depth uncertainty into feature and relation distillations, respectively. Our approach can be seamlessly integrated into various CNN-based and DETR-based models, where we take three recent models on KITTI and a recent model on NuScenes for validation. Extensive experiments show that our approach considerably improves the accuracy of the base models and thereby achieves the best accuracy compared with all recently released SOTA models.

cs.CV

Optimal-Horizon Social Robot Navigation in Heterogeneous Crowds

Navigating social robots in dense, dynamic crowds is challenging due to environmental uncertainty and complex human-robot interactions. While Model Predictive Control (MPC) offers strong real-time performance, its reliance on a fixed prediction horizon limits adaptability to changing environments and social dynamics. Furthermore, most MPC approaches treat pedestrians as homogeneous obstacles, ignoring social heterogeneity and cooperative or adversarial interactions, which often causes the Frozen Robot Problem in partially observable real-world environments. In this paper, we identify the planning horizon as a socially conditioned decision variable rather than a fixed design choice. Building on this insight, we propose an optimal-horizon social navigation framework that optimizes MPC foresight online according to inferred social context. A spatio-temporal Transformer infers pedestrian cooperation attributes from local trajectory observations, which serve as social priors for a reinforcement learning policy that optimally selects the prediction horizon under a task-driven objective. The resulting horizon-aware MPC incorporates socially conditioned safety constraints to balance navigation efficiency and interaction safety. Extensive simulations and real-world robot experiments demonstrate that optimal foresight selection is critical for robust social navigation in partially observable crowds. Compared to state-of-the-art baselines, the proposed approach achieves a 6.8\% improvement in success rate, reduces collisions by 50\%, and shortens navigation time by 19\%, with a low timeout rate of 0.8\%, validating the necessity of socially optimal planning horizons for efficient and safe robot navigation in crowded environments. Code and videos are available at Under Review.

cs.RO

GlobalPaint: Spatiotemporal Coherent Video Outpainting with Global Feature Guidance

Video outpainting extends a video beyond its original boundaries by synthesizing missing border content. Compared with image outpainting, it requires not only per-frame spatial plausibility but also long-range temporal coherence, especially when outpainted content becomes visible across time under camera or object motion. We propose GlobalPaint, a diffusion-based framework for spatiotemporal coherent video outpainting. Our approach adopts a hierarchical pipeline that first outpaints key frames and then completes intermediate frames via an interpolation model conditioned on the completed boundaries, reducing error accumulation in sequential processing. At the model level, we augment a pretrained image inpainting backbone with (i) an Enhanced Spatial-Temporal module featuring 3D windowed attention for stronger spatiotemporal interaction, and (ii) global feature guidance that distills OpenCLIP features from observed regions across all frames into compact global tokens using a dedicated extractor. Comprehensive evaluations on benchmark datasets demonstrate improved reconstruction quality and more natural motion compared to prior methods. Our demo page is https://yuemingpan.github.io/GlobalPaint/

cs.CV

VideoVLA: Video Generators Can Be Generalizable Robot Manipulators

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained understanding models for perception and instruction following, their ability to generalize to novel tasks, objects, and settings remains limited. In this work, we present VideoVLA, a simple approach that explores the potential of transforming large video generation models into robotic VLA manipulators. Given a language instruction and an image, VideoVLA predicts an action sequence as well as the future visual outcomes. Built on a multi-modal Diffusion Transformer, VideoVLA jointly models video, language, and action modalities, using pre-trained video generative models for joint visual and action forecasting. Our experiments show that high-quality imagined futures correlate with reliable action predictions and task success, highlighting the importance of visual imagination in manipulation. VideoVLA demonstrates strong generalization, including imitating other embodiments' skills and handling novel objects. This dual-prediction strategy - forecasting both actions and their visual consequences - explores a paradigm shift in robot learning and unlocks generalization capabilities in manipulation systems.

cs.RO

Semantics Lead the Way: Harmonizing Semantic and Texture Modeling with Asynchronous Latent Diffusion

Latent Diffusion Models (LDMs) inherently follow a coarse-to-fine generation process, where high-level semantic structure is generated slightly earlier than fine-grained texture. This indicates the preceding semantics potentially benefit texture generation by providing a semantic anchor. Recent advances have integrated semantic priors from pretrained visual encoders to further enhance LDMs, yet they still denoise semantic and VAE-encoded texture synchronously, neglecting such ordering. Observing these, we propose Semantic-First Diffusion (SFD), a latent diffusion paradigm that explicitly prioritizes semantic formation. SFD first constructs composite latents by combining a compact semantic latent, which is extracted from a pretrained visual encoder via a dedicated Semantic VAE, with the texture latent. The core of SFD is to denoise the semantic and texture latents asynchronously using separate noise schedules: semantics precede textures by a temporal offset, providing clearer high-level guidance for texture refinement and enabling natural coarse-to-fine generation. On ImageNet 256x256 with guidance, SFD achieves FID 1.06 (LightningDiT-XL) and FID 1.04 (1.0B LightningDiT-XXL), while achieving up to 100x faster convergence than the original DiT. SFD also improves existing methods like ReDi and VA-VAE, demonstrating the effectiveness of asynchronous, semantics-led modeling. Project page and code: https://yuemingpan.github.io/SFD.github.io/.

cs.CV

Cascaded Robust Rectification for Arbitrary Document Images

Document rectification in real-world scenarios poses significant challenges due to extreme variations in camera perspectives and physical distortions. Driven by the insight that complex transformations can be decomposed and resolved progressively, we introduce a novel multi-stage framework that progressively reverses distinct distortion types in a coarse-to-fine manner. Specifically, our framework first performs a global affine transformation to correct perspective distortions arising from the camera's viewpoint, then rectifies geometric deformations resulting from physical paper curling and folding, and finally employs a content-aware iterative process to eliminate fine-grained content distortions. To address limitations in existing evaluation protocols, we also propose two enhanced metrics: layout-aligned OCR metrics (AED/ACER) for a stable assessment that decouples geometric rectification quality from the layout analysis errors of OCR engines, and masked AD/AAD (AD-M/AAD-M) tailored for accurately evaluating geometric distortions in documents with incomplete boundaries. Extensive experiments show that our method establishes new state-of-the-art performance on multiple challenging benchmarks, yielding a substantial reduction of 14.1\%--34.7\% in the AAD metric and demonstrating superior efficacy in real-world applications. The code will be publicly available at https://github.com/chaoyunwang/ArbDR.

cs.CV

UniHOI: Unified Human-Object Interaction Understanding via Unified Token Space

In the field of human-object interaction (HOI), detection and generation are two dual tasks that have traditionally been addressed separately, hindering the development of comprehensive interaction understanding. To address this, we propose UniHOI, which jointly models HOI detection and generation via a unified token space, thereby effectively promoting knowledge sharing and enhancing generalization. Specifically, we introduce a symmetric interaction-aware attention module and a unified semi-supervised learning paradigm, enabling effective bidirectional mapping between images and interaction semantics even under limited annotations. Extensive experiments demonstrate that UniHOI achieves state-of-the-art performance in both HOI detection and generation. Specifically, UniHOI improves accuracy by 4.9% on long-tailed HOI detection and boosts interaction metrics by 42.0% on open-vocabulary generation tasks.

cs.CV

Riemannian Consistency Model

Consistency models are a class of generative models that enable few-step generation for diffusion and flow matching models. While consistency models have achieved promising results on Euclidean domains like images, their applications to Riemannian manifolds remain challenging due to the curved geometry. In this work, we propose the Riemannian Consistency Model (RCM), which, for the first time, enables few-step consistency modeling while respecting the intrinsic manifold constraint imposed by the Riemannian geometry. Leveraging the covariant derivative and exponential-map-based parameterization, we derive the closed-form solutions for both discrete- and continuous-time training objectives for RCM. We then demonstrate theoretical equivalence between the two variants of RCM: Riemannian consistency distillation (RCD) that relies on a teacher model to approximate the marginal vector field, and Riemannian consistency training (RCT) that utilizes the conditional vector field for training. We further propose a simplified training objective that eliminates the need for the complicated differential calculation. Finally, we provide a unique kinematics perspective for interpreting the RCM objective, offering new theoretical angles. Through extensive experiments, we manifest the superior generative quality of RCM in few-step generation on various non-Euclidean manifolds, including flat-tori, spheres, and the 3D rotation group SO(3).

cs.LG