arXiv subjects

Qichen Zhang

Publications and source records attributed to Qichen Zhang.

4 recordsLinked to original sources

arXiv2026

GASE: Gaussian Splatting-Based Automated System for Reconstructing Embodied-Simulation Environments

Training embodied agents in the real world requires skilled operators and expensive hardware. Simulation environments offer a compelling alternative by enabling large-scale, cost-effective data augmentation. Consequently, rapidly constructing high-fidelity simulation scenes with a minimal sim-to-real gap has become a critical objective in robot learning. While reconstruction-based methods provide superior visual quality, current workflows are hindered by inefficient data acquisition and subpar foreground object extraction. We thus propose GASE, a highly automated system for simulation scene construction. GASE leverages multi-view video streams from panoramic camera arrays to enable rapid environment scanning. To ensure high-quality asset generation, our pipeline introduces a camera-pose-based strategy that robustly extracts objects across frames in the 2D domain, followed by high-fidelity scene inpainting. Foreground objects and the static background are then reconstructed independently and seamlessly imported into physics simulators for policy training. Extensive experiments demonstrate that GASE outperforms existing 3D Gaussian-based methods in segmentation accuracy by over 10\% while achieving state-of-the-art inpainting quality. Furthermore, real-robot deployments across manipulation and navigation tasks maintains a performance gap of less than 10\% compared to policies trained purely on real-world data. These results confirm that GASE provides an efficient and highly effective solution for bridging the sim-to-real gap. Code will be released.

cs.RO↗

arXiv2026

Beyond Isolation: A Unified Benchmark for General-Purpose Navigation

The pursuit of general-purpose embodied agents is hindered by fragmented evaluation protocols that isolate navigation skills and fixate on specific robot morphologies, failing to reflect real-world scenarios where agents must orchestrate diverse behaviors across varying embodiments. To bridge this gap, we introduce OmniNavBench, a benchmark for cross-skill coordination and cross-embodiment generalization. OmniNavBench introduces three paradigm shifts: (1) Compositional Complexity. We propose composite instructions that interleave sub-tasks from 6 categories (PointNav, VLN, ObjectNav, SocialNav, Human Following and EQA), compelling agents to transition between exploration, interaction, and social compliance within a single episode. (2) Morphological Universality and Sensor Flexibility. We present a simulation platform that breaks the reliance on single-morphology evaluation, enabling generalization tests across humanoid, quadrupedal, and wheeled robots, with a modular sensor interface and 170 environments blending synthetic assets with real-world scans. (3) Demonstrations Quality. Moving beyond shortest-path algorithms, we curate 1779 expert trajectories via human teleoperation, capturing behavioral nuances such as exploratory glance and anticipatory avoidance. Extensive evaluations demonstrate that current methods, despite their claimed unified design, struggle with the complex, interleaved nature of general-purpose navigation. This exposes a critical disparity between existing capabilities and real-world deployment demands, underscoring OmniNavBench as a testbed for the next generation of generalist navigators. Dataset, code, and leaderboard are available at http://omninavbench.cloud-ip.cc.

cs.RO↗

arXiv2025

Dyadic data with ordered outcome variables

We consider ordered logit models for directed network data that allow for flexible sender and receiver fixed effects that can vary arbitrarily across outcome categories. This structure poses a significant incidental parameter problem, particularly challenging under network sparsity or when some outcome categories are rare. We develop the first estimation method for this setting by extending tetrad-differencing conditional maximum likelihood (CML) techniques from binary choice network models. This approach yields conditional probabilities free of the fixed effects, enabling consistent estimation even under sparsity. Applying the CML principle to ordered data yields multiple likelihood contributions corresponding to different outcome thresholds. We propose and analyze two distinct estimators based on aggregating these contributions: an Equally-Weighted Tetrad Logit Estimator (ETLE) and a Pooled Tetrad Logit Estimator (PTLE). We prove PTLE is consistent under weaker identification conditions, requiring only sufficient information when pooling across categories, rather than sufficient information in each category. Monte Carlo simulations confirm the theoretical preference for PTLE, and an empirical application to friendship networks among Dutch university students demonstrates the method's value. Our approach reveals significant positive homophily effects for gender, smoking behavior, and academic program similarities, while standard methods without fixed effects produce counterintuitive results.

econ.EM↗

arXiv2025

A Nonconforming Finite Element Method for Elliptic Interface Problems on Locally Anisotropic Meshes

We propose a new nonconforming \(P_1\) finite element method for elliptic interface problems. The method is constructed on a locally anisotropic mixed mesh, which is generated by fitting the interface through a simple connection of intersection points on an interface-unfitted background mesh, as introduced in \cite{Hu2021optimal}. We first establish interpolation error estimates on quadrilateral elements satisfying the regular decomposition property (RDP). Building on this, the main contribution of this work is a novel consistency error analysis for nonconforming elements, which removes the quasi-regularity assumption commonly required in existing approaches. Numerical results confirm the theoretical convergence rates and demonstrate the robustness and accuracy of the proposed method.

math.NA↗