arXiv subjects

Shu Jiang

Publications and source records attributed to Shu Jiang.

At least 19 recordsLinked to original sources

arXiv2026

NebulaVLA: A Dual-Frequency Vision-Language-Action Model With Guide Action for Robotic Manipulation

Real-world deployment of Vision-Language-Action (VLA) models is often bottlenecked by efficiency-performance trade-offs, cross-embodiment generalization, and execution smoothness. We present NebulaVLA, an asynchronous dual-frequency architecture that decouples high-level semantic reasoning from low-level action control, optimizing computational resources and modularity. To bridge semantic gaps across heterogeneous robots, we introduce GESTURE-7, a unified language-grounded action representation. Furthermore, our Guide Action algorithm enforces kinematic continuity via mask-based smoothness constraints. Comprehensive evaluations demonstrate that NebulaVLA significantly outperforms synchronous baselines, achieving an 85.5\% average success rate on LIBERO-Plus and accelerating action generation by \textasciitilde 2.7$\times$. This asynchronous design enables highly efficient and responsive control for practical robotics.

cs.RO↗

arXiv2026

Geometry-Aware Anisotropic Boundary Correction for Aerodynamic Simulation

Aerodynamic simulation is a key component of engineering shape design, where core quantities such as the surface pressure coefficient strongly depend on flow dynamics near solid boundaries. Neural operators provide an efficient alternative to expensive Computational Fluid Dynamics (CFD) solvers. However, conventional methods treat the boundary region isotropically, failing to account for the distinct physical behaviors along the boundaries. In reality, the aerodynamic process exhibits anisotropy: along the tangential direction, flow propagates along the wall; along the normal direction, physical quantities are constrained by the wall. To explicitly model the distinct physical behaviors, we propose GeoABC, a geometry-conditioned anisotropic boundary correction framework. GeoABC leverages the boundary geometries to introduce direction-aware boundary correction into the intermediate representations of neural operators, transforming boundary geometry from static input features into a structural prior that modulates physical prediction. On 2D airfoil and 3D car tasks, GeoABC consistently adapts to multiple neural operator backbones, reducing near-boundary relative $L_2$ error by $\sim$38\% on average, narrowing the structural near-wall gap shared by mainstream neural operators, and advancing neural operators toward high-fidelity aerodynamic simulation.

physics.flu-dyn↗

arXiv2026

ReBA-Pred-Net: Weakly-Supervised Regional Brain Age Prediction on MRI

Brain age has become a prominent biomarker of brain health. Yet most prior work targets whole brain age (WBA), a coarse paradigm that struggles to support tasks such as disease characterization and research on development and aging patterns, because relevant changes are typically region-selective rather than brain-wide. Therefore, robust regional brain age (ReBA) estimation is critical, yet a widely generalizable model has yet to be established. In this paper, we propose the Regional Brain Age Prediction Network (ReBA-Pred-Net), a Teacher-Student framework designed for fine-grained brain age estimation. The Teacher produces soft ReBA to guide the Student to yield reliable ReBA estimates with a clinical-prior consistency constraint (regions within the same function should change similarly). For rigorous evaluation, we introduce two indirect metrics: Healthy Control Similarity (HCS), which assesses statistical consistency by testing whether regional brain-age-gap (ReBA minus chronological age) distributions align between training and unseen HC; and Neuro Disease Correlation (NDC), which assesses factual consistency by checking whether clinically confirmed patients show elevated brain-age-gap in disease-associated regions. Experiments across multiple backbones demonstrate the statistical and factual validity of our method.

cs.CV↗

arXiv2025

CPI-C: Cool Planet Imaging Coronagraph on Chinese Space Station Survey Telescope

Cool Planet Imaging Coronagraph (CPI-C) on Chinese Space Station Survey Telescope (CSST) is proposed to direct image the cool planets around nearby solar-type stars (within 40 pc). The core scientific objective of CPI-C is to conduct high-contrast directly imaging surveys of exoplanets ranging in size from Neptune-like to Jupiter-like, located at separations of 0.5 to 5 AU from their host stars, and to perform systematic spectroscopic analysis of the detected planets through high-precision multi-band photometry. CPI-C employs a step-transmission apodization technique to suppress the diffraction noises from the telescope pupil and a precise phase correction technique to eliminate the speckle noises due to imperfections of the optical surfaces. The contrast requirement is better than $10^{-8}$ at an inner working angle (IWA) of $3-4\lambda/D$, in the visible wavelength from 600 nm to 900 nm. CPI-C will be the first space-based instrument capable of directly imaging the reflection light from the cool exoplanets in the visible wavelength enabling the measurement of key physical parameters such as the effective temperature, surface gravity, radius, mass, and other key parameters. The potential observation results will significantly contribute to further understand the formation and evolution mechanisms of planets, which will also lay a solid foundation for future confirmation of the Earth-twins in the next generation space flagship missions.

astro-ph.EP↗

arXiv2025

Thermal design of focal plane assembly of wavefront camera for exoplanet imaging corona module

The focal plane assembly of wavefront camera is the key imaging device of wavefront detection camera and the key load of the exoplanet imaging coronagraph module. In order to ensure the imaging quality and reduce the dark current and thermal noise, it is necessary to effectively dissipate the heat of the focal plane CCD and other high-power electronic devices to ensure the working performance and reliability of the focal plane assembly. Based on the limited space and cooling resources, this paper adopts the flexible graphene heat conducting cable and grooved heat pipes, and carries out detailed thermal design and thermal analysis of its cooling path. The finite element model is established by thermal analysis software and thermal simulation is carried out. in that steady state, the work temperature range of the CCD chip is -12.8 to -10.9 celsius, which meets the temperature control index, and the work temperatures of other components are also within the design requirements, which indicate that the thermal design scheme is reasonable and feasible, and meets the task requirements.

astro-ph.IM↗

arXiv2025

Design and dynamics experiment of filter wheel mechanism of space coronagraph

In order to realize multi-spectral imaging of space coronagraph, a compact filter wheel mechanism is designed. The filters with different spectral transmittance can be cut into the optical path at different times by this mechanism. Because the image contrast of space coronagraph is very high, the high stability requirement for the optical unit of coronagraph is put forward. Small modulus worm gear and worm are taken by the mechanism, in order to realize compact structure, high stiffness, the unidirectional 360 degrees rotation and reverse self-locking function. The precision, stiffness, mechanical properties and reliability of the mechanism are analyzed in the paper. The results show that the position accuracy of the filter wheel can meet the requirement of 0.5mm. The first order modal of the mechanism is 313Hz. The results of vibration test indicate that stiffness, dynamic performance and reliability of the mechanism can be meet. Therefore, the design of filter wheel in this paper can ensure the multi-spectral imaging requirements under complex spatial conditions.

astro-ph.IM↗

arXiv2025

Lightweight design and analysis of optical cover plate for exoplanet imaging coronagraph

In order to reduce the load mass and solve the problem that the aluminum alloy optical cover plate of exoplanet imaging coronagraph was easy to deform, based on the equal generation design method, this paper designed and determined the configuration of the carbon fiber optical cover plate. Through the simulation of layup by finite element analysis, this paper researched the influence of different layering angles and sequences on the stiffness of optical cover plate. Finally, the carbon fiber layup method was determined as [15/-75/-15/75]s. The dynamic response analysis show that all the indexes satisfy the system requirements, and verify the feasibility of carbon fiber optical cover plate.

astro-ph.IM↗

arXiv2025

Optimization design and analysis for the mechanical test platform of scientific probe module of the Cool Planet Imaging Coronagraph

This paper optimizes the design and analysis of the mechanical test platform for the scientific probe module of the Cool Planet Imaging Coronagraph, which is the fifth part of the China Space Station survey Telescope. First, according to the module layout and economic requirements, the preliminary structural design of the module mechanical test platform is carried out, and the stiffness sensitive parameters of the assembly are identified to determine the optimization parameters. The Central Composite Design method is used to design the test platform, and a third-order regression model is constructed for response surface analysis. The third-order response surface model of the fundamental frequency and amplitude of the test platform is obtained by fitting the test data with the least squares method, and the structure of the module mechanical test platform is determined. The modal analysis is carried out to determine the fundamental frequency and vibration modes of the mechanical test platform. The vibration response of the platform is simulated by sine, random and swept frequency vibration simulations. The response surface fitting algorithm is verified by the test platform swept frequency test. The agreement between the response surface fitting algorithm and the experiment is good. The fundamental frequency of the test platform is 436.2Hz (>300Hz), which meets the design index requirements of the test platform and can accurately guide the optimization design work. At the same time, it provides the theoretical basis and design method for the structural design of the Chinese manned space station.

astro-ph.IM↗

arXiv2025

PD-Diag-Net: Clinical-Priors guided Network on Brain MRI for Auxiliary Diagnosis of Parkinson's Disease

Parkinson's disease (PD) is a common neurodegenerative disorder that severely diminishes patients' quality of life. Its global prevalence has increased markedly in recent decades. Current diagnostic workflows are complex and heavily reliant on neurologists' expertise, often resulting in delays in early detection and missed opportunities for timely intervention. To address these issues, we propose an end-to-end automated diagnostic method for PD, termed PD-Diag-Net, which performs risk assessment and auxiliary diagnosis directly from raw MRI scans. This framework first introduces an MRI Pre-processing Module (MRI-Processor) to mitigate inter-subject and inter-scanner variability by flexibly integrating established medical imaging preprocessing tools. It then incorporates two forms of clinical prior knowledge: (1) Brain-Region-Relevance-Prior (Relevance-Prior), which specifies brain regions strongly associated with PD; and (2) Brain-Region-Aging-Prior (Aging-Prior), which reflects the accelerated aging typically observed in PD-associated regions. Building on these priors, we design two dedicated modules: the Relevance-Prior Guided Feature Aggregation Module (Aggregator), which guides the model to focus on PD-associated regions at the inter-subject level, and the Age-Prior Guided Diagnosis Module (Diagnoser), which leverages brain age gaps as auxiliary constraints at the intra-subject level to enhance diagnostic accuracy and clinical interpretability. Furthermore, we collected external test data from our collaborating hospital. Experimental results show that PD-Diag-Net achieves 86\% accuracy on external tests and over 96% accuracy in early-stage diagnosis, outperforming existing advanced methods by more than 20%.

cs.CV↗

arXiv2025

VisionLaw: Inferring Interpretable Intrinsic Dynamics from Visual Observations via Bilevel Optimization

The intrinsic dynamics of an object governs its physical behavior in the real world, playing a critical role in enabling physically plausible interactive simulation with 3D assets. Existing methods have attempted to infer the intrinsic dynamics of objects from visual observations, but generally face two major challenges: one line of work relies on manually defined constitutive priors, making it difficult to align with actual intrinsic dynamics; the other models intrinsic dynamics using neural networks, resulting in limited interpretability and poor generalization. To address these challenges, we propose VisionLaw, a bilevel optimization framework that infers interpretable expressions of intrinsic dynamics from visual observations. At the upper level, we introduce an LLMs-driven decoupled constitutive evolution strategy, where LLMs are prompted to act as physics experts to generate and revise constitutive laws, with a built-in decoupling mechanism that substantially reduces the search complexity of LLMs. At the lower level, we introduce a vision-guided constitutive evaluation mechanism, which utilizes visual simulation to evaluate the consistency between the generated constitutive law and the underlying intrinsic dynamics, thereby guiding the upper-level evolution. Experiments on both synthetic and real-world datasets demonstrate that VisionLaw can effectively infer interpretable intrinsic dynamics from visual observations. It significantly outperforms existing state-of-the-art methods and exhibits strong generalization for interactive simulation in novel scenarios.

cs.CV↗

arXiv2025

Fading the Digital Ink: A Universal Black-Box Attack Framework for 3DGS Watermarking Systems

With the rise of 3D Gaussian Splatting (3DGS), a variety of digital watermarking techniques, embedding either 1D bitstreams or 2D images, are used for copyright protection. However, the robustness of these watermarking techniques against potential attacks remains underexplored. This paper introduces the first universal black-box attack framework, the Group-based Multi-objective Evolutionary Attack (GMEA), designed to challenge these watermarking systems. We formulate the attack as a large-scale multi-objective optimization problem, balancing watermark removal with visual quality. In a black-box setting, we introduce an indirect objective function that blinds the watermark detector by minimizing the standard deviation of features extracted by a convolutional network, thus rendering the feature maps uninformative. To manage the vast search space of 3DGS models, we employ a group-based optimization strategy to partition the model into multiple, independent sub-optimization problems. Experiments demonstrate that our framework effectively removes both 1D and 2D watermarks from mainstream 3DGS watermarking methods while maintaining high visual fidelity. This work reveals critical vulnerabilities in existing 3DGS copyright protection schemes and calls for the development of more robust watermarking systems.

cs.CR↗

arXiv2025

UITron-Speech: Towards Automated GUI Agents Based on Speech Instructions

Autonomous agents for Graphical User Interfaces (GUIs) are revolutionizing human-computer interaction, yet their reliance on text-based instructions imposes limitations on accessibility and convenience, particularly in hands-free scenarios. To address this issue, we propose replacing text with speech as the instruction input modality for GUI agents, and introduce UITron-Speech, which is the first end-to-end GUI agent capable of directly processing speech instructions and on-device screenshots to predict user actions. To tackle the problem of data scarcity, we synthesize high-quality speech instruction datasets using a random-speaker text-to-speech model. Additionally, we design a mixed-modality training strategy to mitigate the inherent modality imbalance in pre-trained foundation models. Furthermore, we conduct a statistical analysis of the distribution of GUI grounding prediction errors and propose a training-free two-step grounding refinement method to alleviate minor localization deviations. Extensive experiments on multiple benchmarks demonstrate that UITron-Speech achieves robust performance and superior adaptability, underscoring the feasibility and potential of speech-driven GUI agents for more accessible and intelligent human-computer interaction. Our code and datasets are available at https://github.com/UITron-hub/UITron-Speech.

cs.CL↗

arXiv2025

Adversarial Data Collection: Human-Collaborative Perturbations for Efficient and Robust Robotic Imitation Learning

The pursuit of data efficiency, where quality outweighs quantity, has emerged as a cornerstone in robotic manipulation, especially given the high costs associated with real-world data collection. We propose that maximizing the informational density of individual demonstrations can dramatically reduce reliance on large-scale datasets while improving task performance. To this end, we introduce Adversarial Data Collection, a Human-in-the-Loop (HiL) framework that redefines robotic data acquisition through real-time, bidirectional human-environment interactions. Unlike conventional pipelines that passively record static demonstrations, ADC adopts a collaborative perturbation paradigm: during a single episode, an adversarial operator dynamically alters object states, environmental conditions, and linguistic commands, while the tele-operator adaptively adjusts actions to overcome these evolving challenges. This process compresses diverse failure-recovery behaviors, compositional task variations, and environmental perturbations into minimal demonstrations. Our experiments demonstrate that ADC-trained models achieve superior compositional generalization to unseen task instructions, enhanced robustness to perceptual perturbations, and emergent error recovery capabilities. Strikingly, models trained with merely 20% of the demonstration volume collected through ADC significantly outperform traditional approaches using full datasets. These advances bridge the gap between data-centric learning paradigms and practical robotic deployment, demonstrating that strategic data acquisition, not merely post-hoc processing, is critical for scalable, real-world robot learning. Additionally, we are curating a large-scale ADC-Robotics dataset comprising real-world manipulation tasks with adversarial perturbations. This benchmark will be open-sourced to facilitate advancements in robotic imitation learning.

cs.RO↗

arXiv2025

AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.

cs.RO↗

arXiv2024

Phys4DGen: Physics-Compliant 4D Generation with Multi-Material Composition Perception

4D content generation aims to create dynamically evolving 3D content that responds to specific input objects such as images or 3D representations. Current approaches typically incorporate physical priors to animate 3D representations, but these methods suffer from significant limitations: they not only require users lacking physics expertise to manually specify material properties but also struggle to effectively handle the generation of multi-material composite objects. To address these challenges, we propose Phys4DGen, a novel 4D generation framework that integrates multi-material composition perception with physical simulation. The framework achieves automated, physically plausible 4D generation through three innovative modules: first, the 3D Material Grouping module partitions heterogeneous material regions on 3D representations' surfaces via semantic segmentation; second, the Internal Physical Structure Discovery module constructs the mechanical structure of object interiors; finally, we distill physical prior knowledge from multimodal large language models to enable rapid and automatic material properties identification for both objects' surfaces and interiors. Experiments on both synthetic and real-world datasets demonstrate that Phys4DGen can generate high-fidelity 4D content with physical realism in open-world scenarios, significantly outperforming state-of-the-art methods.

cs.CV↗

arXiv2024

BatGPT-Chem: A Foundation Large Model For Retrosynthesis Prediction

Retrosynthesis analysis is pivotal yet challenging in drug discovery and organic chemistry. Despite the proliferation of computational tools over the past decade, AI-based systems often fall short in generalizing across diverse reaction types and exploring alternative synthetic pathways. This paper presents BatGPT-Chem, a large language model with 15 billion parameters, tailored for enhanced retrosynthesis prediction. Integrating chemical tasks via a unified framework of natural language and SMILES notation, this approach synthesizes extensive instructional data from an expansive chemical database. Employing both autoregressive and bidirectional training techniques across over one hundred million instances, BatGPT-Chem captures a broad spectrum of chemical knowledge, enabling precise prediction of reaction conditions and exhibiting strong zero-shot capabilities. Superior to existing AI methods, our model demonstrates significant advancements in generating effective strategies for complex molecules, as validated by stringent benchmark tests. BatGPT-Chem not only boosts the efficiency and creativity of retrosynthetic analysis but also establishes a new standard for computational tools in synthetic design. This development empowers chemists to adeptly address the synthesis of novel compounds, potentially expediting the innovation cycle in drug manufacturing and materials science. We release our trial platform at \url{https://www.batgpt.net/dapp/chem}.

cs.LG↗

arXiv2024

FMDNN: A Fuzzy-guided Multi-granular Deep Neural Network for Histopathological Image Classification

Histopathological image classification constitutes a pivotal task in computer-aided diagnostics. The precise identification and categorization of histopathological images are of paramount significance for early disease detection and treatment. In the diagnostic process of pathologists, a multi-tiered approach is typically employed to assess abnormalities in cell regions at different magnifications. However, feature extraction is often performed at a single granularity, overlooking the multi-granular characteristics of cells. To address this issue, we propose the Fuzzy-guided Multi-granularity Deep Neural Network (FMDNN). Inspired by the multi-granular diagnostic approach of pathologists, we perform feature extraction on cell structures at coarse, medium, and fine granularity, enabling the model to fully harness the information in histopathological images. We incorporate the theory of fuzzy logic to address the challenge of redundant key information arising during multi-granular feature extraction. Cell features are described from different perspectives using multiple fuzzy membership functions, which are fused to create universal fuzzy features. A fuzzy-guided cross-attention module guides universal fuzzy features toward multi-granular features. We propagate these features through an encoder to all patch tokens, aiming to achieve enhanced classification accuracy and robustness. In experiments on multiple public datasets, our model exhibits a significant improvement in accuracy over commonly used classification methods for histopathological image classification and shows commendable interpretability.

cs.CV↗

arXiv2021

Seeking Common but Distinguishing Difference, A Joint Aspect-based Sentiment Analysis Model

Aspect-based sentiment analysis (ABSA) task consists of three typical subtasks: aspect term extraction, opinion term extraction, and sentiment polarity classification. These three subtasks are usually performed jointly to save resources and reduce the error propagation in the pipeline. However, most of the existing joint models only focus on the benefits of encoder sharing between subtasks but ignore the difference. Therefore, we propose a joint ABSA model, which not only enjoys the benefits of encoder sharing but also focuses on the difference to improve the effectiveness of the model. In detail, we introduce a dual-encoder design, in which a pair encoder especially focuses on candidate aspect-opinion pair classification, and the original encoder keeps attention on sequence labeling. Empirical results show that our proposed model shows robustness and significantly outperforms the previous state-of-the-art on four benchmark datasets.

cs.CL↗