arXiv subjects

Qinghongbing Xie

Publications and source records attributed to Qinghongbing Xie.

8 recordsLinked to original sources

arXiv2026

Highlight-Then-Summarize: Learning to Compress Evidence for Long-Context Understanding

Long-context understanding requires large language models (LLMs) to reason over lengthy documents, conversations, and code, yet task-relevant evidence is often sparse and scattered amid substantial irrelevant and redundant content. We propose Highlight-Then-Summarize (H2S), a compress-then-reason paradigm that first identifies source-grounded, question-relevant evidence and then integrates it into a compact, question-conditioned summary before producing the final answer. To train this behavior, we construct H2S-Dataset, comprising 6,647 examples from 11 benchmark families with an average context length of 43.9K tokens, and introduce H2S-RL, which provides process-level rewards for evidence selection and summary construction in addition to final-answer correctness. We evaluate on H2S-Bench, a seven-task long-context suite. Under a shared 128K input and 4K output budget, H2S-14B achieves an average score of 32.60, outperforming Qwen3.8-27B by 10.17 points and obtaining the strongest overall result among the evaluated open-source models. H2S-14B also achieves the highest Evidence-Summary Quality score and retains 97.1% of its 16K-budget performance with only a 4K output budget. These results show that explicitly selecting and integrating evidence improves long-context reasoning while enabling more compact generation.

cs.CL↗

arXiv2026

Embodied intelligent industrial robotics: Framework and techniques

The combination of embodied intelligence and robots has great prospects and is becoming increasingly common. In order to work more efficiently, accurately, reliably, and safely in industrial scenarios, robots should have at least general knowledge, working-environment knowledge, and operating-object knowledge. These pose significant challenges to existing embodied intelligent robotics (EIR) techniques. Thus, this paper first briefly reviews the history of industrial robotics and analyzes the limitations of mainstream EIR frameworks. Then, a new knowledge-driven technical framework of embodied intelligent industrial robotics (EIIR) is proposed for various industrial environments. It has five modules: a world model, a high-level task planner, a low-level skill controller, a simulator, and a physical system. The development of techniques related to each module are also thoroughly reviewed, and recent progress regarding their adaption to industrial applications are discussed. A case study of real-world assembly system is given to demonstrate the newly proposed EIIR framework's applicability and potentiality. Finally, the key challenges that EIIR encounters in industrial scenarios are summarized and future research directions are suggested. The authors believe that EIIR technology is shaping the next generation of industrial robotics and EIIR-based industrial systems supply a new technological paradigm for intelligent manufacturing. It is expected that this review could serve as a valuable reference for scholars and engineers that are interested in industrial embodied intelligence. Together, scholars can use this research to drive their rapid advancement and application of EIIR techniques. The authors would continue to track and contribute new studies in the project page https://github.com/jackyzengl/EIIR

cs.RO↗

arXiv2026

GTR-Bench: Evaluating Geo-Temporal Reasoning in Vision-Language Models

Recently spatial-temporal intelligence of Visual-Language Models (VLMs) has attracted much attention due to its importance for autonomous driving, embodied AI and general AI. Existing spatial-temporal benchmarks mainly focus on egocentric (first-person) perspective reasoning using images/video contexts, or geographic reasoning with graphical context (e.g., maps), thus fail to assess VLMs' geographic spatial-temporal intelligence that requires integrating both images/video and graphical context, which is crucial for real-world scenarios such as traffic management and emergency response. To address the gaps, we introduce Geo-Temporal Reasoning benchmark (GTR-Bench), a novel challenge for geographic temporal reasoning of moving targets in a large-scale camera network. GTR-Bench is more challenging as it requires multiple perspective switches between maps and videos, joint reasoning across multiple videos with non-overlapping fields of view, and inference over spatial-temporal regions that are unobserved by any video context. Evaluations of more than 10 popular VLMs on GTR-Bench show that even the best proprietary model, Gemini-2.5-Pro (34.9\%), significantly lags behind human performance (78.61\%) on geo-temporal reasoning. Moreover, our comprehensive analysis on GTR-Bench reveals three major deficiencies of current models for geo-temporal reasoning. (1) VLMs exhibit imbalanced utilization of spatial and temporal context during reasoning. (2) they show weak temporal forecasting ability, leading to poorer performance on temporally focused tasks. (3) they lack the capability to effectively align and integrate map data with multi-view video inputs. We believe GTR-Bench offers valuable insights and opens up new opportunities for research and applications in spatial-temporal intelligence. Benchmark and code will be released at https://github.com/X-Luffy/GTR-Bench.

cs.CV↗

arXiv2026

AssemMate: Graph-Based LLM for Robotic Assembly Assistance

Large Language Model (LLM)-based robotic assembly assistance has gained significant research attention. It requires the injection of domain-specific knowledge to guide the assembly process through natural language interaction with humans. Despite some progress, existing methods represent knowledge in the form of natural language text. Due to the long context and redundant content, they struggle to meet the robots' requirements for real-time and precise reasoning. In order to bridge this gap, we present AssemMate, which utilizes the graph\textemdash a concise and accurate form of knowledge representation\textemdash as input. This graph-based LLM enables knowledge graph question answering (KGQA), supporting human-robot interaction and assembly task planning for specific products. Beyond interactive QA, AssemMate also supports sensing stacked scenes and executing grasping to assist with assembly. Specifically, a self-supervised Graph Convolutional Network (GCN) encodes knowledge graph entities and relations into a latent space and aligns them with LLM's representation, enabling the LLM to understand graph information. In addition, a vision-enhanced strategy is employed to address stacked scenes in grasping. Through training and evaluation, AssemMate outperforms existing methods, achieving 6.4\% higher accuracy, 3 times faster inference, and 28 times shorter context length, while demonstrating strong generalization ability on random graphs. And our approach further demonstrates superiority through robotic grasping experiments in both simulated and real-world settings. More details can be found on the project page: https://github.com/cristina304/AssemMate.git

cs.RO↗

arXiv2025

Imaginarium: Vision-guided High-Quality 3D Scene Layout Generation

Generating artistic and coherent 3D scene layouts is crucial in digital content creation. Traditional optimization-based methods are often constrained by cumbersome manual rules, while deep generative models face challenges in producing content with richness and diversity. Furthermore, approaches that utilize large language models frequently lack robustness and fail to accurately capture complex spatial relationships. To address these challenges, this paper presents a novel vision-guided 3D layout generation system. We first construct a high-quality asset library containing 2,037 scene assets and 147 3D scene layouts. Subsequently, we employ an image generation model to expand prompt representations into images, fine-tuning it to align with our asset library. We then develop a robust image parsing module to recover the 3D layout of scenes based on visual semantics and geometric information. Finally, we optimize the scene layout using scene graphs and overall visual semantics to ensure logical coherence and alignment with the images. Extensive user testing demonstrates that our algorithm significantly outperforms existing methods in terms of layout richness and quality. The code and dataset will be available at https://github.com/HiHiAllen/Imaginarium.

cs.CV↗

arXiv2025

DSM: Constructing a Diverse Semantic Map for 3D Visual Grounding

Effective scene representation is critical for the visual grounding ability of representations, yet existing methods for 3D Visual Grounding are often constrained. They either only focus on geometric and visual cues, or, like traditional 3D scene graphs, lack the multi-dimensional attributes needed for complex reasoning. To bridge this gap, we introduce the Diverse Semantic Map (DSM) framework, a novel scene representation framework that enriches robust geometric models with a spectrum of VLM-derived semantics, including appearance, physical properties, and affordances. The DSM is first constructed online by fusing multi-view observations within a temporal sliding window, creating a persistent and comprehensive world model. Building on this foundation, we propose DSM-Grounding, a new paradigm that shifts grounding from free-form VLM queries to a structured reasoning process over the semantic-rich map, markedly improving accuracy and interpretability. Extensive evaluations validate our approach's superiority. On the ScanRefer benchmark, DSM-Grounding achieves a state-of-the-art 59.06% overall accuracy of IoU@0.5, surpassing others by 10%. In semantic segmentation, our DSM attains a 67.93% F-mIoU, outperforming all baselines, including privileged ones. Furthermore, successful deployment on physical robots for complex navigation and grasping tasks confirms the framework's practical utility in real-world scenarios.

cs.CV↗

arXiv2025

Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks

With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data interoperability. This restricts task decomposition and multi-task learning. Additionally, current simulation platforms face challenges in dynamic pedestrian modeling, scene editability, and synchronization between virtual and real assets. These limitations hinder real world robot deployment and feedback. To address these challenges, we propose DVS (Dynamic Virtual-Real Simulation Platform), a platform for dynamic virtual-real synchronization in mobile robotic tasks. DVS integrates a random pedestrian behavior modeling plugin and large-scale, customizable indoor scenes for generating annotated training datasets. It features an optical motion capture system, synchronizing object poses and coordinates between virtual and real world to support dynamic task benchmarking. Experimental validation shows that DVS supports tasks such as pedestrian trajectory prediction, robot path planning, and robotic arm grasping, with potential for both simulation and real world deployment. In this way, DVS represents more than just a versatile robotic platform; it paves the way for research in human intervention in robot execution tasks and real-time feedback algorithms in virtual-real fusion environments. More information about the simulation platform is available on https://immvlab.github.io/DVS/.

cs.RO↗

arXiv2024

GRID: Scene-Graph-based Instruction-driven Robotic Task Planning

Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in understanding environmental information. However, this approach not only limits the scope of observation but also typically necessitates extensive multimodal data collection and large-scale models. In this paper, we propose a novel approach called Graph-based Robotic Instruction Decomposer (GRID), which leverages scene graphs instead of images to perceive global scene information and iteratively plan subtasks for a given instruction. Our method encodes object attributes and relationships in graphs through an LLM and Graph Attention Networks, integrating instruction features to predict subtasks consisting of pre-defined robot actions and target objects in the scene graph. This strategy enables robots to acquire semantic knowledge widely observed in the environment from the scene graph. To train and evaluate GRID, we establish a dataset construction pipeline to generate synthetic datasets for graph-based robotic task planning. Experiments have shown that our method outperforms GPT-4 by over 25.4% in subtask accuracy and 43.6% in task accuracy. Moreover, our method achieves a real-time speed of 0.11s per inference. Experiments conducted on datasets of unseen scenes and scenes with varying numbers of objects demonstrate that the task accuracy of GRID declined by at most 3.8%, showcasing its robust cross-scene generalization ability. We validate our method in both physical simulation and the real world. More details can be found on the project page https://jackyzengl.github.io/GRID.github.io/.

cs.RO↗