arXiv subjects

Shuguang Cui

Publications and source records attributed to Shuguang Cui.

At least 73 records · Page 4Linked to original sources

arXiv2025

RadioDiff-3D: A 3D$\times$3D Radio Map Dataset and Generative Diffusion Based Benchmark for 6G Environment-Aware Communication

Radio maps (RMs) serve as a critical foundation for enabling environment-aware wireless communication, as they provide the spatial distribution of wireless channel characteristics. Despite recent progress in RM construction using data-driven approaches, most existing methods focus solely on pathloss prediction in a fixed 2D plane, neglecting key parameters such as direction of arrival (DoA), time of arrival (ToA), and vertical spatial variations. Such a limitation is primarily due to the reliance on static learning paradigms, which hinder generalization beyond the training data distribution. To address these challenges, we propose UrbanRadio3D, a large-scale, high-resolution 3D RM dataset constructed via ray tracing in realistic urban environments. UrbanRadio3D is over 37$\times$3 larger than previous datasets across a 3D space with 3 metrics as pathloss, DoA, and ToA, forming a novel 3D$\times$33D dataset with 7$\times$3 more height layers than prior state-of-the-art (SOTA) dataset. To benchmark 3D RM construction, a UNet with 3D convolutional operators is proposed. Moreover, we further introduce RadioDiff-3D, a diffusion-model-based generative framework utilizing the 3D convolutional architecture. RadioDiff-3D supports both radiation-aware scenarios with known transmitter locations and radiation-unaware settings based on sparse spatial observations. Extensive evaluations on UrbanRadio3D validate that RadioDiff-3D achieves superior performance in constructing rich, high-dimensional radio maps under diverse environmental dynamics. This work provides a foundational dataset and benchmark for future research in 3D environment-aware communication. The dataset is available at https://github.com/UNIC-Lab/UrbanRadio3D.

cs.LG↗

arXiv2025

Point Cloud Environment-Based Channel Knowledge Map Construction

Channel knowledge map (CKM) provides certain levels of channel state information (CSI) for an area of interest, serving as a critical enabler for environment-aware communications by reducing the overhead of frequent CSI acquisition. However, existing CKM construction schemes adopt over-simplified environment information, which significantly compromises their accuracy. To address this issue, this work proposes a joint model- and data-driven approach to construct CKM by leveraging point cloud environmental data along with a few samples of location-tagged channel information. First, we propose a novel point selector to identify subsets of point cloud that contain environmental information relevant to multipath channel gains, by constructing a set of co-focal ellipsoids based on different time of arrival (ToAs). Then, we trained a neural channel gain estimator to learn the mapping between each selected subset and its corresponding channel gain, using a real-world dataset we collected through field measurements, comprising environmental point clouds and corresponding channel data. Finally, experimental results demonstrate that: For CKM construction of power delay profile (PDP), the proposed method achieves a root mean squared error (RMSE) of 2.95 dB, significantly lower than the 7.32 dB achieved by the conventional ray-tracing method; for CKM construction of received power values, i.e., radio map, it achieves an RMSE of 1.04 dB, surpassing the Kriging interpolation method with an RMSE of 1.68 dB.

eess.SP↗

arXiv2025

SCDM: Score-Based Channel Denoising Model for Digital Semantic Communications

Score-based diffusion models represent a significant variant within the diffusion model family and have seen extensive application in the increasingly popular domain of generative tasks. Recent investigations have explored the denoising potential of diffusion models in semantic communications. However, in previous paradigms, noise distortion in the diffusion process does not match precisely with digital channel noise characteristics. In this work, we introduce the Score-Based Channel Denoising Model (SCDM) for Digital Semantic Communications (DSC). SCDM views the distortion of constellation symbol sequences in digital transmission as a score-based forward diffusion process. We design a tailored forward noise corruption to align digital channel noise properties in the training phase. During the inference stage, the well-trained SCDM can effectively denoise received semantic symbols under various SNR conditions, reducing the difficulty for the semantic decoder in extracting semantic information from the received noisy symbols and thereby enhancing the robustness of the reconstructed semantic information. Experimental results show that SCDM outperforms the baseline model in PSNR, SSIM, and MSE metrics, particularly at low SNR levels. Moreover, SCDM reduces storage requirements by a factor of 7.8. This efficiency in storage, combined with its robust denoising capability, makes SCDM a practical solution for DSC across diverse channel conditions.

eess.SP↗

arXiv2025

Scene-R1: Video-Grounded Large Language Models for 3D Scene Reasoning without 3D Annotations

Currently, utilizing large language models to understand the 3D world is becoming popular. Yet existing 3D-aware LLMs act as black boxes: they output bounding boxes or textual answers without revealing how those decisions are made, and they still rely on pre-trained 3D detectors to supply object proposals. We introduce Scene-R1, a video-grounded framework that learns to reason about 3D scenes without any point-wise 3D instance supervision by pairing reinforcement-learning-driven reasoning with a two-stage grounding pipeline. In the temporal grounding stage, we explicitly reason about the video and select the video snippets most relevant to an open-ended query. In the subsequent image grounding stage, we analyze the image and predict the 2D bounding box. After that, we track the object using SAM2 to produce pixel-accurate masks in RGB frames, and project them back into 3D, thereby eliminating the need for 3D detector-based proposals while capturing fine geometry and material cues. Scene-R1 can also adapt to the 3D visual question answering task to answer free-form questions directly from video. Our training pipeline only needs task-level 2D boxes or textual labels without dense 3D point-wise labels. Scene-R1 surpasses existing open-vocabulary baselines on multiple datasets, while delivering transparent, step-by-step rationales. These results show that reinforcement-learning-based reasoning combined with RGB-D video alone offers a practical, annotation-efficient route to trustworthy 3D scene understanding.

cs.CV↗

arXiv2025

VisionPAD: A Vision-Centric Pre-training Paradigm for Autonomous Driving

This paper introduces VisionPAD, a novel self-supervised pre-training paradigm designed for vision-centric algorithms in autonomous driving. In contrast to previous approaches that employ neural rendering with explicit depth supervision, VisionPAD utilizes more efficient 3D Gaussian Splatting to reconstruct multi-view representations using only images as supervision. Specifically, we introduce a self-supervised method for voxel velocity estimation. By warping voxels to adjacent frames and supervising the rendered outputs, the model effectively learns motion cues in the sequential data. Furthermore, we adopt a multi-frame photometric consistency approach to enhance geometric perception. It projects adjacent frames to the current frame based on rendered depths and relative poses, boosting the 3D geometric representation through pure image supervision. Extensive experiments on autonomous driving datasets demonstrate that VisionPAD significantly improves performance in 3D object detection, occupancy prediction and map segmentation, surpassing state-of-the-art pre-training strategies by a considerable margin.

cs.CV↗

arXiv2025

Sensing-Enhanced Channel Estimation for Near-Field XL-MIMO Systems

Future sixth-generation (6G) systems are expected to leverage extremely large-scale multiple-input multiple-output (XL-MIMO) technology, which significantly expands the range of the near-field region. The spherical wavefront characteristics in the near field introduce additional degrees of freedom (DoFs), namely distance and angle, into the channel model, which leads to unique challenges in channel estimation (CE). In this paper, we propose a new sensing-enhanced uplink CE scheme for near-field XL-MIMO, which notably reduces the required quantity of baseband samples and the dictionary size. In particular, we first propose a sensing method that can be accomplished in a single time slot. It employs power sensors embedded within the antenna elements to measure the received power pattern rather than baseband samples. A time inversion algorithm is then proposed to precisely estimate the locations of users and scatterers, which offers a substantially lower computational complexity. Based on the estimated locations from sensing, a novel dictionary is then proposed by considering the eigen-problem based on the near-field transmission model, which facilitates efficient near-field CE with less baseband sampling and a more lightweight dictionary. Moreover, we derive the general form of the eigenvectors associated with the near-field channel matrix, revealing their noteworthy connection to the discrete prolate spheroidal sequence (DPSS). Simulation results unveil that the proposed time inversion algorithm achieves accurate localization with power measurements only, and remarkably outperforms various widely-adopted algorithms in terms of computational complexity. Furthermore, the proposed eigen-dictionary considerably improves the accuracy in CE with a compact dictionary size and a drastic reduction in baseband samples by up to 66%.

cs.IT↗

arXiv2025

MVHumanNet++: A Large-scale Dataset of Multi-view Daily Dressing Human Captures with Richer Annotations for 3D Human Digitization

In this era, the success of large language models and text-to-image models can be attributed to the driving force of large-scale datasets. However, in the realm of 3D vision, while significant progress has been achieved in object-centric tasks through large-scale datasets like Objaverse and MVImgNet, human-centric tasks have seen limited advancement, largely due to the absence of a comparable large-scale human dataset. To bridge this gap, we present MVHumanNet++, a dataset that comprises multi-view human action sequences of 4,500 human identities. The primary focus of our work is on collecting human data that features a large number of diverse identities and everyday clothing using multi-view human capture systems, which facilitates easily scalable data collection. Our dataset contains 9,000 daily outfits, 60,000 motion sequences and 645 million frames with extensive annotations, including human masks, camera parameters, 2D and 3D keypoints, SMPL/SMPLX parameters, and corresponding textual descriptions. Additionally, the proposed MVHumanNet++ dataset is enhanced with newly processed normal maps and depth maps, significantly expanding its applicability and utility for advanced human-centric research. To explore the potential of our proposed MVHumanNet++ dataset in various 2D and 3D visual tasks, we conducted several pilot studies to demonstrate the performance improvements and effective applications enabled by the scale provided by MVHumanNet++. As the current largest-scale 3D human dataset, we hope that the release of MVHumanNet++ dataset with annotations will foster further innovations in the domain of 3D human-centric tasks at scale. MVHumanNet++ is publicly available at https://kevinlee09.github.io/research/MVHumanNet++/.

cs.CV↗

arXiv2025

Reinforcement Learning With LLMs Interaction For Distributed Diffusion Model Services

Distributed Artificial Intelligence-Generated Content (AIGC) has attracted significant attention, but two key challenges remain: maximizing subjective Quality of Experience (QoE) and improving energy efficiency, which are particularly pronounced in widely adopted Generative Diffusion Model (GDM)-based image generation services. In this paper, we propose a novel user-centric Interactive AI (IAI) approach for service management, with a distributed GDM-based AIGC framework that emphasizes efficient and cooperative deployment. The proposed method restructures the GDM inference process by allowing users with semantically similar prompts to share parts of the denoising chain. Furthermore, to maximize the users' subjective QoE, we propose an IAI approach, i.e., Reinforcement Learning With Large Language Models Interaction (RLLI), which utilizes Large Language Model (LLM)-empowered generative agents to replicate user interaction, providing real-time and subjective QoE feedback aligned with diverse user personalities. Lastly, we present the GDM-based Deep Deterministic Policy Gradient (GDDPG) algorithm, adapted to the proposed RLLI framework, to allocate communication and computing resources effectively while accounting for subjective user traits and dynamic wireless conditions. Simulation results demonstrate that G-DDPG improves total QoE by 15% compared with the standard DDPG algorithm.

cs.NI↗

arXiv2025

Scalable Transceiver Design for Multi-User Communication in FDD Massive MIMO Systems via Deep Learning

This paper addresses the joint transceiver design, including pilot transmission, channel feature extraction and feedback, as well as precoding, for low-overhead downlink massive multiple-input multiple-output (MIMO) communication in frequency-division duplex (FDD) systems. Although deep learning (DL) has shown great potential in tackling this problem, existing methods often suffer from poor scalability in practical systems, as the solution obtained in the training phase merely works for a fixed feedback capacity and a fixed number of users in the deployment phase. To address this limitation, we propose a novel DL-based framework comprised of choreographed neural networks, which can utilize one training phase to generate all the transceiver solutions used in the deployment phase with varying sizes of feedback codebooks and numbers of users. The proposed framework includes a residual vector-quantized variational autoencoder (RVQ-VAE) for efficient channel feedback and an edge graph attention network (EGAT) for robust multiuser precoding. It can adapt to different feedback capacities by flexibly adjusting the RVQ codebook sizes using the hierarchical codebook structure, and scale with the number of users through a feedback module sharing scheme and the inherent scalability of EGAT. Moreover, a progressive training strategy is proposed to further enhance data transmission performance and generalization capability. Numerical results on a real-world dataset demonstrate the superior scalability and performance of our approach over existing methods.

eess.SP↗

arXiv2025

PIR: Photometric Inverse Rendering with Shading Cues Modeling and Surface Reflectance Regularization

This paper addresses the problem of inverse rendering from photometric images. Existing approaches for this problem suffer from the effects of self-shadows, inter-reflections, and lack of constraints on the surface reflectance, leading to inaccurate decomposition of reflectance and illumination due to the ill-posed nature of inverse rendering. In this work, we propose a new method for neural inverse rendering. Our method jointly optimizes the light source position to account for the self-shadows in images, and computes indirect illumination using a differentiable rendering layer and an importance sampling strategy. To enhance surface reflectance decomposition, we introduce a new regularization by distilling DINO features to foster accurate and consistent material decomposition. Extensive experiments on synthetic and real datasets demonstrate that our method outperforms the state-of-the-art methods in reflectance decomposition.

cs.CV↗

arXiv2025

Generative Semantic Communication for Joint Image Transmission and Segmentation

Semantic communication has emerged as a promising technology for enhancing communication efficiency. However, most existing research emphasizes single-task reconstruction, neglecting model adaptability and generalization across multi-task systems. In this paper, we propose a novel generative semantic communication system that supports both image reconstruction and segmentation tasks. Our approach builds upon semantic knowledge bases (KBs) at both the transmitter and receiver, with each semantic KB comprising a source KB and a task KB. The source KB at the transmitter leverages a hierarchical Swin-Transformer, a generative AI scheme, to extract multi-level features from the input image. Concurrently, the counterpart source KB at the receiver utilizes hierarchical residual blocks to generate task-specific knowledge. Furthermore, the task KBs adopt a semantic similarity model to map different task requirements into pre-defined task instructions, thereby facilitating the feature selection of the source KBs. Additionally, we develop a unified residual block-based joint source and channel (JSCC) encoder and two task-specific JSCC decoders to achieve the two image tasks. In particular, a generative diffusion model is adopted to construct the JSCC decoder for the image reconstruction task. Experimental results show that our multi-task generative semantic communication system outperforms previous single-task communication systems in terms of peak signal-to-noise ratio and segmentation accuracy.

cs.IT↗

arXiv2025

Empowering Large Language Models with 3D Situation Awareness

Driven by the great success of Large Language Models (LLMs) in the 2D image domain, their applications in 3D scene understanding has emerged as a new trend. A key difference between 3D and 2D is that the situation of an egocentric observer in 3D scenes can change, resulting in different descriptions (e.g., ''left" or ''right"). However, current LLM-based methods overlook the egocentric perspective and simply use datasets from a global viewpoint. To address this issue, we propose a novel approach to automatically generate a situation-aware dataset by leveraging the scanning trajectory during data collection and utilizing Vision-Language Models (VLMs) to produce high-quality captions and question-answer pairs. Furthermore, we introduce a situation grounding module to explicitly predict the position and orientation of observer's viewpoint, thereby enabling LLMs to ground situation description in 3D scenes. We evaluate our approach on several benchmarks, demonstrating that our method effectively enhances the 3D situational awareness of LLMs while significantly expanding existing datasets and reducing manual effort.

cs.CV↗

arXiv2025

Latency Minimization for UAV-Enabled Federated Learning: Trajectory Design and Resource Allocation

Federated learning (FL) has become a transformative paradigm for distributed machine learning across wireless networks. However, the performance of FL is often hindered by the unreliable communication links between resource-constrained Internet of Things (IoT) devices and the central server. To overcome this challenge, we propose a novel framework that employs an unmanned aerial vehicle (UAV) as a mobile server to enhance the FL training process. By capitalizing on the UAV's mobility, we establish strong line-of-sight connections with IoT devices, thereby enhancing communication reliability and capacity. To maximize training efficiency, we formulate a latency minimization problem that jointly optimizes bandwidth allocation, computing frequencies, transmit power for both the UAV and IoT devices, and the UAV's flight trajectory. Subsequently, we analyze the required rounds of the IoT devices training and the UAV aggregation for FL convergence. Based on the convergence constraint, we transform the problem into three subproblems and develop an efficient alternating optimization algorithm to solve this problem effectively. Additionally, we provide a thorough analysis of the algorithm's convergence and computational complexity. Extensive numerical results demonstrate that our proposed scheme not only surpasses existing benchmark schemes in reducing latency up to 15.29%, but also achieves training efficiency that nearly matches the ideal scenario.

eess.SP↗

arXiv2025

GenMetaLoc: Learning to Learn Environment-Aware Fingerprint Generation for Sample Efficient Wireless Localization

Existing fingerprinting-based localization methods often require extensive data collection and struggle to generalize to new environments. In contrast to previous environment-unknown MetaLoc, we propose GenMetaLoc in this paper, which first introduces meta-learning to enable the generation of dense fingerprint databases from an environment-aware perspective. In the model aspect, the learning-to-learn mechanism accelerates the fingerprint generation process by facilitating rapid adaptation to new environments with minimal data. Additionally, we incorporate 3D point cloud data from the first Fresnel zone between the transmitter and receiver, which describes the obstacles distribution in the environment and serves as a condition to guide the diffusion model in generating more accurate fingerprints. In the data processing aspect, unlike most studies that focus solely on channel state information (CSI) amplitude or phase, we present a comprehensive processing that addresses both, correcting errors from WiFi hardware limitations such as amplitude discrepancies and frequency offsets. For the data collection platform, we develop an uplink wireless localization system that leverages the sensing capabilities of existing commercial WiFi devices and mobile phones, thus reducing the need for additional deployment costs. Experimental results on real datasets show that our framework outperforms baseline methods.

eess.SP↗

arXiv2025

DriveGEN: Generalized and Robust 3D Detection in Driving via Controllable Text-to-Image Diffusion Generation

In autonomous driving, vision-centric 3D detection aims to identify 3D objects from images. However, high data collection costs and diverse real-world scenarios limit the scale of training data. Once distribution shifts occur between training and test data, existing methods often suffer from performance degradation, known as Out-of-Distribution (OOD) problems. To address this, controllable Text-to-Image (T2I) diffusion offers a potential solution for training data enhancement, which is required to generate diverse OOD scenarios with precise 3D object geometry. Nevertheless, existing controllable T2I approaches are restricted by the limited scale of training data or struggle to preserve all annotated 3D objects. In this paper, we present DriveGEN, a method designed to improve the robustness of 3D detectors in Driving via Training-Free Controllable Text-to-Image Diffusion Generation. Without extra diffusion model training, DriveGEN consistently preserves objects with precise 3D geometry across diverse OOD generations, consisting of 2 stages: 1) Self-Prototype Extraction: We empirically find that self-attention features are semantic-aware but require accurate region selection for 3D objects. Thus, we extract precise object features via layouts to capture 3D object geometry, termed self-prototypes. 2) Prototype-Guided Diffusion: To preserve objects across various OOD scenarios, we perform semantic-aware feature alignment and shallow feature alignment during denoising. Extensive experiments demonstrate the effectiveness of DriveGEN in improving 3D detection. The code is available at https://github.com/Hongbin98/DriveGEN.

cs.CV↗

arXiv2025

STMA: A Spatio-Temporal Memory Agent for Long-Horizon Embodied Task Planning

A key objective of embodied intelligence is enabling agents to perform long-horizon tasks in dynamic environments while maintaining robust decision-making and adaptability. To achieve this goal, we propose the Spatio-Temporal Memory Agent (STMA), a novel framework designed to enhance task planning and execution by integrating spatio-temporal memory. STMA is built upon three critical components: (1) a spatio-temporal memory module that captures historical and environmental changes in real time, (2) a dynamic knowledge graph that facilitates adaptive spatial reasoning, and (3) a planner-critic mechanism that iteratively refines task strategies. We evaluate STMA in the TextWorld environment on 32 tasks, involving multi-step planning and exploration under varying levels of complexity. Experimental results demonstrate that STMA achieves a 31.25% improvement in success rate and a 24.7% increase in average score compared to the state-of-the-art model. The results highlight the effectiveness of spatio-temporal memory in advancing the memory capabilities of embodied agents.

cs.AI↗

arXiv2025

CLEA: Closed-Loop Embodied Agent for Enhancing Task Execution in Dynamic Environments

Large Language Models (LLMs) exhibit remarkable capabilities in the hierarchical decomposition of complex tasks through semantic reasoning. However, their application in embodied systems faces challenges in ensuring reliable execution of subtask sequences and achieving one-shot success in long-term task completion. To address these limitations in dynamic environments, we propose Closed-Loop Embodied Agent (CLEA) -- a novel architecture incorporating four specialized open-source LLMs with functional decoupling for closed-loop task management. The framework features two core innovations: (1) Interactive task planner that dynamically generates executable subtasks based on the environmental memory, and (2) Multimodal execution critic employing an evaluation framework to conduct a probabilistic assessment of action feasibility, triggering hierarchical re-planning mechanisms when environmental perturbations exceed preset thresholds. To validate CLEA's effectiveness, we conduct experiments in a real environment with manipulable objects, using two heterogeneous robots for object search, manipulation, and search-manipulation integration tasks. Across 12 task trials, CLEA outperforms the baseline model, achieving a 67.3% improvement in success rate and a 52.8% increase in task completion rate. These results demonstrate that CLEA significantly enhances the robustness of task planning and execution in dynamic environments.

cs.RO↗

arXiv2025

Energy-Efficient Edge Inference in Integrated Sensing, Communication, and Computation Networks

Task-oriented integrated sensing, communication, and computation (ISCC) is a key technology for achieving low-latency edge inference and enabling efficient implementation of artificial intelligence (AI) in industrial cyber-physical systems (ICPS). However, the constrained energy supply at edge devices has emerged as a critical bottleneck. In this paper, we propose a novel energy-efficient ISCC framework for AI inference at resource-constrained edge devices, where adjustable split inference, model pruning, and feature quantization are jointly designed to adapt to diverse task requirements. A joint resource allocation design problem for the proposed ISCC framework is formulated to minimize the energy consumption under stringent inference accuracy and latency constraints. To address the challenge of characterizing inference accuracy, we derive an explicit approximation for it by analyzing the impact of sensing, communication, and computation processes on the inference performance. Building upon the analytical results, we propose an iterative algorithm employing alternating optimization to solve the resource allocation problem. In each subproblem, the optimal solutions are available by respectively applying a golden section search method and checking the Karush-Kuhn-Tucker (KKT) conditions, thereby ensuring the convergence to a local optimum of the original problem. Numerical results demonstrate the effectiveness of the proposed ISCC design, showing a significant reduction in energy consumption of up to 40% compared to existing methods, particularly in low-latency scenarios.

cs.IT↗