arXiv subjects

Peng Su

Publications and source records attributed to Peng Su.

At least 19 recordsLinked to original sources

arXiv2026

HarnessWAM: Bridging Prediction and Deliberation in World Action Models

World Action Models (WAMs) jointly learn environmental dynamics and robot actions, introducing priors over physical evolution into embodied control. However, finite-horizon prediction and action generation are insufficient for complex embodied tasks that require global planning, cross-stage state maintenance, execution verification, and failure recovery. We refer to this mismatch as the prediction-deliberation gap of WAMs. To address this gap, we propose HarnessWAM, an agentic framework for WAMs. HarnessWAM employs a vision-language-model-based Task Manager to maintain an evidence-grounded scene belief and a structured task graph. A capability-conditioned executable-space projection further constrains open-ended semantic plans into sequences of atomic skills that satisfy task dependencies, embodiment-state constraints, and the capability boundary of the underlying WAM. During execution, HarnessWAM operates through an event-driven, dual-timescale feedback loop: a lightweight progress estimator continuously provides high-frequency execution evidence, while the Task Manager deliberates at salient milestones by jointly considering the current observation, task state, and interaction history to determine whether to advance the task, acquire additional observations, revise the plan, or initiate local recovery. This mechanism enables the robot to recover its state after a subtask failure and resume execution without discarding previously acquired scene knowledge. HarnessWAM achieves state-of-the-art full-task and subtask success rates of 59.6% and 69.9% on RoboMemArena, and an SR of 23.7% on RoboCerebra Ideal. These results demonstrate that model-external structured state maintenance and closed-loop agentic decision making can effectively extend the local control capabilities of WAMs into embodied task execution that is plannable, verifiable, and recoverable.

cs.RO↗

arXiv2026

Beyond Words: Towards Effective Modeling of Non-Verbal Vocalizations in ASR

Modern automatic speech recognition (ASR) systems excel at transcribing lexical content but often omit nonverbal vocalizations (NVs), such as laughter, breaths, coughs, and cries, that carry conversational and affective information. Modeling NVs in ASR is challenging because NV annotations are sparse and highly long-tailed, with frequent categories such as breaths and laughter dominating rarer events such as cries and coughs. We study three data-centric strategies for improving low-resource NV recognition: (1) a two-stage curriculum that first maps all NV events to a generic token and then fine-tunes on target categories; (2) inter-token transfer from high-resource events, such as laughter and breath, to rare events, such as crying; and (3) voice-conversion augmentation with class balancing. Experiments show that shared acoustic structure across vocal events can be exploited to improve rare-category detection while preserving lexical ASR quality.

eess.AS↗

arXiv2026

UniVAD v2: Unified Visual Anomaly Detection via Support-Conditioned Boundary Construction

Unified visual anomaly detection seeks to train a single detector that can be deployed across categories, domains, and application scenarios. In the few-shot transfer regime, the key challenge is to estimate an episode-specific boundary for an unseen target category from a small support set. Existing approaches mainly infer this boundary from normal-side evidence and provide limited abnormal-side evidence for deployment-specific tolerance. Within the normal side, they often struggle to jointly capture local correspondences and global support-query relations, making their boundaries less reliable for unseen anomalies. To address these issues, we propose UniVAD v2, a two-sided support-conditioned boundary construction framework for unified visual anomaly detection. Built on the component-patch divide-and-conquer framework of UniVAD, UniVAD v2 strengthens the normal side with an Optimal Transport-based Relational Modeling module (OTRM), which complements retrieval with support-query matching through transport-style allocation, and an Adaptive Coordination mechanism for Retrieval and Relational Modeling (ACRRM), which estimates episode-conditioned reliabilities to fuse the two sources of evidence. On the abnormal side, a Few-Shot Abnormal Reference module (FAR) converts optional abnormal references into rejection-side evidence for boundary adjustment. Experiments on six datasets spanning industrial, logical, and medical anomaly detection demonstrate strong cross-domain generalization. Under the 1N-shot protocol, UniVAD v2 improves the mean image-level AUC over UniVAD from 83.0\% to 84.5\%, and further reaches 85.7\% in the 1N+1A-shot setting. On the MVTec-AD Severity Split (MVTec-AD-SS), UniVAD v2 achieves 96.2\% image-level AUC and 96.9\% pixel-level AUC, showing that abnormal references enable controllable boundary customization without retraining.

cs.CV↗

arXiv2026

DIM-WAM: World-Action Modeling with Diverse Historical Event Memory

World-action models have shown promising robot-manipulation performance by jointly predicting future visual states and actions. However, existing methods mainly rely on short-term history and short-horizon future prediction, which is insufficient for long-horizon tasks whose correct execution depends on earlier observations and task progress. Such temporally dependent tasks require effective use of complementary temporal information, including recent local context, cross-stage historical events, immediate future dynamics, and global task progress. To address long-term forgetting and poor awareness of the global task state, we introduce DiM-WAM, a memory-augmented world-action model that integrates multi-scale historical context, local future dynamics, and global task progress. The memory extracts compact visual event information from real observations, updates multiple memory banks through independent similarity-based merging, and then reads the bank-identity- and time-embedded long-term context to condition video and action denoising. A progress-supervision objective further encourages memory tokens to encode not only completed historical events but also the current task stage and its implications for the remaining task. On RMBench, DiM-WAM raises average success from 28.4% with LingBot-VA to 69.8%, exceeding the explicit-memory Mem-0 baseline at 42.0%. On four real-world Franka tasks, it improves average stage success from 70.7% to 91.5% and full-task success from 52.5% to 80.0%. Project page: https://wangkai-casia.github.io/dim-wam.

cs.RO↗

arXiv2026

World Engine: Towards the Era of Post-Training for Autonomous Driving

Autonomous vehicles must operate safely in the real world, where errors can have severe consequences. Although modern end-to-end driving policies excel in routine scenarios, their reliability is limited by the scarcity of safety-critical ``long-tail'' events in real driving datasets. These rare interactions define the practical safety boundary of the learned policy, yet they are difficult to collect at scale in the real world. Here we show that this fundamental limitation can be addressed by post-training pre-trained driving models on synthesized high-stakes interactions. We introduce World Engine, a generative framework that reconstructs high-fidelity interactive environments from real-world logs and systematically extrapolates them into realistic safety-critical variations. This paradigm enables reinforcement-based post-training to align policies with safety constraints, circumventing the physical risks inherent in real-world exploration. On a public benchmark built on nuPlan, World Engine substantially reduces failures in rare safety-critical scenarios and yields significantly larger gains than scaling pre-training data alone. Furthermore, when deployed on a production-scale autonomous driving system, the resulting policy reduces simulated collisions and demonstrates measurable improvements in on-road testing, showing that post-training on synthesized, safety-critical interactions offers a scalable and effective pathway to safer autonomous driving. The full codebase suite, including training, is released to the public.

cs.RO↗

arXiv2025

Optimization-Guided Diffusion for Interactive Scene Generation

Realistic and diverse multi-agent driving scenes are crucial for evaluating autonomous vehicles, but safety-critical events which are essential for this task are rare and underrepresented in driving datasets. Data-driven scene generation offers a low-cost alternative by synthesizing complex traffic behaviors from existing driving logs. However, existing models often lack controllability or yield samples that violate physical or social constraints, limiting their usability. We present OMEGA, an optimization-guided, training-free framework that enforces structural consistency and interaction awareness during diffusion-based sampling from a scene generation model. OMEGA re-anchors each reverse diffusion step via constrained optimization, steering the generation towards physically plausible and behaviorally coherent trajectories. Building on this framework, we formulate ego-attacker interactions as a game-theoretic optimization in the distribution space, approximating Nash equilibria to generate realistic, safety-critical adversarial scenarios. Experiments on nuPlan and Waymo show that OMEGA improves generation realism, consistency, and controllability, increasing the ratio of physically and behaviorally valid scenes from 32.35% to 72.27% for free exploration capabilities, and from 11% to 80% for controllability-focused generation. Our approach can also generate $5\times$ more near-collision frames with a time-to-collision under three seconds while maintaining the overall scene realism.

cs.CV↗

arXiv2025

Thinking in Directivity: Speech Large Language Model for Multi-Talker Directional Speech Recognition

Recent studies have demonstrated that prompting large language models (LLM) with audio encodings enables effective speech recognition capabilities. However, the ability of Speech LLMs to comprehend and process multi-channel audio with spatial cues remains a relatively uninvestigated area of research. In this work, we present directional-SpeechLlama, a novel approach that leverages the microphone array of smart glasses to achieve directional speech recognition, source localization, and bystander cross-talk suppression. To enhance the model's ability to understand directivity, we propose two key techniques: serialized directional output training (S-DOT) and contrastive direction data augmentation (CDDA). Experimental results show that our proposed directional-SpeechLlama effectively captures the relationship between textual cues and spatial audio, yielding strong performance in both speech recognition and source localization tasks.

eess.AS↗

arXiv2025

MTGS: Multi-Traversal Gaussian Splatting

Multi-traversal data, commonly collected through daily commutes or by self-driving fleets, provides multiple viewpoints for scene reconstruction within a road block. This data offers significant potential for high-quality novel view synthesis, which is crucial for applications such as autonomous vehicle simulators. However, inherent challenges in multi-traversal data often result in suboptimal reconstruction quality, including variations in appearance and the presence of dynamic objects. To address these issues, we propose Multi-Traversal Gaussian Splatting (MTGS), a novel approach that reconstructs high-quality driving scenes from arbitrarily collected multi-traversal data by modeling a shared static geometry while separately handling dynamic elements and appearance variations. Our method employs a multi-traversal dynamic scene graph with a shared static node and traversal-specific dynamic nodes, complemented by color correction nodes with learnable spherical harmonics coefficient residuals. This approach enables high-fidelity novel view synthesis and provides flexibility to navigate any viewpoint. We conduct extensive experiments on a large-scale driving dataset, nuPlan, with multi-traversal data. Our results demonstrate that MTGS improves LPIPS by 23.5% and geometry accuracy by 46.3% compared to single-traversal baselines. The code and data would be available to the public.

cs.CV↗

arXiv2024

Multi-view Granular-ball Contrastive Clustering

Previous multi-view contrastive learning methods typically operate at two scales: instance-level and cluster-level. Instance-level approaches construct positive and negative pairs based on sample correspondences, aiming to bring positive pairs closer and push negative pairs further apart in the latent space. Cluster-level methods focus on calculating cluster assignments for samples under each view and maximize view consensus by reducing distribution discrepancies, e.g., minimizing KL divergence or maximizing mutual information. However, these two types of methods either introduce false negatives, leading to reduced model discriminability, or overlook local structures and cannot measure relationships between clusters across views explicitly. To this end, we propose a method named Multi-view Granular-ball Contrastive Clustering (MGBCC). MGBCC segments the sample set into coarse-grained granular balls, and establishes associations between intra-view and cross-view granular balls. These associations are reinforced in a shared latent space, thereby achieving multi-granularity contrastive learning. Granular balls lie between instances and clusters, naturally preserving the local topological structure of the sample set. We conduct extensive experiments to validate the effectiveness of the proposed method.

cs.LG↗

arXiv2023

Recovering from Privacy-Preserving Masking with Large Language Models

Model adaptation is crucial to handle the discrepancy between proxy training data and actual users data received. To effectively perform adaptation, textual data of users is typically stored on servers or their local devices, where downstream natural language processing (NLP) models can be directly trained using such in-domain data. However, this might raise privacy and security concerns due to the extra risks of exposing user information to adversaries. Replacing identifying information in textual data with a generic marker has been recently explored. In this work, we leverage large language models (LLMs) to suggest substitutes of masked tokens and have their effectiveness evaluated on downstream language modeling tasks. Specifically, we propose multiple pre-trained and fine-tuned LLM-based approaches and perform empirical studies on various datasets for the comparison of these methods. Experimental results show that models trained on the obfuscation corpora are able to achieve comparable performance with the ones trained on the original data without privacy-preserving token masking.

cs.CL↗

arXiv2023

CR-Lasso: Robust cellwise regularized sparse regression

Cellwise contamination remains a challenging problem for data scientists, particularly in research fields that require the selection of sparse features. Traditional robust methods may not be feasible nor efficient in dealing with such contaminated datasets. We propose CR-Lasso, a robust Lasso-type cellwise regularization procedure that performs feature selection in the presence of cellwise outliers by minimising a regression loss and cell deviation measure simultaneously. To evaluate the approach, we conduct empirical studies comparing its selection and prediction performance with several sparse regression methods. We show that CR-Lasso is competitive under the settings considered. We illustrate the effectiveness of the proposed method on real data through an analysis of a bone mineral density dataset.

stat.ME↗

arXiv2023

Language Agnostic Data-Driven Inverse Text Normalization

With the emergence of automatic speech recognition (ASR) models, converting the spoken form text (from ASR) to the written form is in urgent need. This inverse text normalization (ITN) problem attracts the attention of researchers from various fields. Recently, several works show that data-driven ITN methods can output high-quality written form text. Due to the scarcity of labeled spoken-written datasets, the studies on non-English data-driven ITN are quite limited. In this work, we propose a language-agnostic data-driven ITN framework to fill this gap. Specifically, we leverage the data augmentation in conjunction with neural machine translated data for low resource languages. Moreover, we design an evaluation method for language agnostic ITN model when only English data is available. Our empirical evaluation shows this language agnostic modeling approach is effective for low resource languages while preserving the performance for high resource languages.

cs.CL↗

arXiv2022

Properties of some elliptic Hill's potentials

We study Hill's differential equation with potential expressed by elliptic functions which arises in some problems of physics and mathematics. Analytical method can be applied to study the local properties of the potential in asymptotic regions of the parameter space. The locations of the saddle points of the potential are determined, the locations of turning points can be determined too when they are close to a saddle point. Combined with the quadratic differential associated with the differential equation, these local data give a qualitative explanation for the asymptotic eigensolutions obtained recently. A relevant topic is about the generalisation of Floquet theorem for ODE with doubly-periodic elliptic function coefficient which bears some new features compared to the case of ODE with real valued singly-periodic coefficient. Beyond the local asymptotic regions, global properties of the elliptic potential are studied using numerical method.

math-ph↗

arXiv2021

Robust Variable Selection under Cellwise Contamination

Cellwise outliers are widespread in data and traditional robust methods may fail when applied to datasets under such contamination. We propose a variable selection procedure, that uses a pairwise robust estimator to obtain an initial empirical covariance matrix among the response and potentially many predictors. Then we replace the primary design matrix and the response vector with their robust counterparts based on the estimated covariance matrix. Finally, we adopt the adaptive Lasso to obtain variable selection results. The proposed approach is robust to cellwise outliers in regular and high dimensional settings and empirical results show good performance in comparison with recently proposed alternative robust approaches, particularly in the challenging setting when contamination rates are high but the magnitude of outliers is moderate. Real data applications demonstrate the practical utility of the proposed method.

stat.ME↗

arXiv2021

Improving BERT Model Using Contrastive Learning for Biomedical Relation Extraction

Contrastive learning has been used to learn a high-quality representation of the image in computer vision. However, contrastive learning is not widely utilized in natural language processing due to the lack of a general method of data augmentation for text data. In this work, we explore the method of employing contrastive learning to improve the text representation from the BERT model for relation extraction. The key knob of our framework is a unique contrastive pre-training step tailored for the relation extraction tasks by seamlessly integrating linguistic knowledge into the data augmentation. Furthermore, we investigate how large-scale data constructed from the external knowledge bases can enhance the generality of contrastive pre-training of BERT. The experimental results on three relation extraction benchmark datasets demonstrate that our method can improve the BERT model representation and achieve state-of-the-art performance. In addition, we explore the interpretability of models by showing that BERT with contrastive pre-training relies more on rationales for prediction. Our code and data are publicly available at: https://github.com/udel-biotm-lab/BERT-CLRE.

cs.CL↗

arXiv2021

Gradient Regularized Contrastive Learning for Continual Domain Adaptation

Human beings can quickly adapt to environmental changes by leveraging learning experience. However, adapting deep neural networks to dynamic environments by machine learning algorithms remains a challenge. To better understand this issue, we study the problem of continual domain adaptation, where the model is presented with a labelled source domain and a sequence of unlabelled target domains. The obstacles in this problem are both domain shift and catastrophic forgetting. We propose Gradient Regularized Contrastive Learning (GRCL) to solve the obstacles. At the core of our method, gradient regularization plays two key roles: (1) enforcing the gradient not to harm the discriminative ability of source features which can, in turn, benefit the adaptation ability of the model to target domains; (2) constraining the gradient not to increase the classification loss on old target domains, which enables the model to preserve the performance on old target domains when adapting to an in-coming target domain. Experiments on Digits, DomainNet and Office-Caltech benchmarks demonstrate the strong performance of our approach when compared to the other state-of-the-art methods.

cs.CV↗

arXiv2020

Investigation of BERT Model on Biomedical Relation Extraction Based on Revised Fine-tuning Mechanism

With the explosive growth of biomedical literature, designing automatic tools to extract information from the literature has great significance in biomedical research. Recently, transformer-based BERT models adapted to the biomedical domain have produced leading results. However, all the existing BERT models for relation classification only utilize partial knowledge from the last layer. In this paper, we will investigate the method of utilizing the entire layer in the fine-tuning process of BERT model. To the best of our knowledge, we are the first to explore this method. The experimental results illustrate that our method improves the BERT model performance and outperforms the state-of-the-art methods on three benchmark datasets for different relation extraction tasks. In addition, further analysis indicates that the key knowledge about the relations can be learned from the last layer of BERT model.

cs.CL↗

arXiv2020

Contrastive Visual-Linguistic Pretraining

Several multi-modality representation learning approaches such as LXMERT and ViLBERT have been proposed recently. Such approaches can achieve superior performance due to the high-level semantic information captured during large-scale multimodal pretraining. However, as ViLBERT and LXMERT adopt visual region regression and classification loss, they often suffer from domain gap and noisy label problems, based on the visual features having been pretrained on the Visual Genome dataset. To overcome these issues, we propose unbiased Contrastive Visual-Linguistic Pretraining (CVLP), which constructs a visual self-supervised loss built upon contrastive learning. We evaluate CVLP on several down-stream tasks, including VQA, GQA and NLVR2 to validate the superiority of contrastive learning on multi-modality representation learning. Our code is available at: https://github.com/ArcherYunDong/CVLP-.

cs.CV↗