arXiv subjects

Tao Huang

Publications and source records attributed to Tao Huang.

At least 109 records · Page 6Linked to original sources

arXiv2025

Towards Adaptable Humanoid Control via Adaptive Motion Tracking

Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice imitation accuracy, whereas motion-tracking methods achieve accurate imitation yet require many training motions and a test-time target motion to adapt. To combine their strengths, we introduce AdaMimic, a novel motion tracking algorithm that enables adaptable humanoid control from a single reference motion. To reduce data dependence while ensuring adaptability, our method first creates an augmented dataset by sparsifying the single reference motion into keyframes and applying light editing with minimal physical assumptions. A policy is then initialized by tracking these sparse keyframes to generate dense intermediate motions, and adapters are subsequently trained to adjust tracking speed and refine low-level actions based on the adjustment, enabling flexible time warping that further improves imitation accuracy and adaptability. We validate these significant improvements in our approach in both simulation and the real-world Unitree G1 humanoid robot in multiple tasks across a wide range of adaptation conditions. Videos and code are available at https://taohuang13.github.io/adamimic.github.io/.

cs.RO↗

arXiv2025

PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System

Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability individually, combining them in a unified system is still an ongoing challenge. In this work, we present a physical-world humanoid-scene interaction system, PhysHSI, that enables humanoids to autonomously perform diverse interaction tasks while maintaining natural and lifelike behaviors. PhysHSI comprises a simulation training pipeline and a real-world deployment system. In simulation, we adopt adversarial motion prior-based policy learning to imitate natural humanoid-scene interaction data across diverse scenarios, achieving both generalization and lifelike behaviors. For real-world deployment, we introduce a coarse-to-fine object localization module that combines LiDAR and camera inputs to provide continuous and robust scene perception. We validate PhysHSI on four representative interactive tasks--box carrying, sitting, lying, and standing up--in both simulation and real-world settings, demonstrating consistently high success rates, strong generalization across diverse task goals, and natural motion patterns.

cs.RO↗

arXiv2025

Breaking the Sabatier Principle by Dynamic Adsorption-Desorption Decoupling in Electrocatalytic Hydrogen Evolution

The Sabatier principle establishes a fundamental trade-off in heterogeneous electrocatalysis.In the hydrogen evolution reaction (HER), this trade-off is manifested by the coupling of Volmer step, which requires strong hydrogen adsorption, with the Heyrovsky/Tafel step, which favors facile desorption, thus giving rise to the classical volcano relationship and limiting activity even at $ΔG=0$. Here, we demonstrate a ferroelectric platform with dynamic tunability -- monolayer GeS$_2$ decorated with transition metal atoms as a proof-of-concept -- where polarization-driven surface electronic reconstruction enables real-time modulation of intermediate binding strength, thereby breaking the Sabatier constraint. Reversible control of hydrogen adsorption allows strong H binding to accelerate the Volmer step, followed by weakened adsorption to promote the Heyrovsky/Tafel step.This dynamic adsorption-desorption decoupling not only surpasses the volcano limit to achieve unprecedented HER activity, but also establishes a general paradigm for designing adaptive electrocatalysts capable of reconfiguring under operating conditions.

cond-mat.mtrl-sci↗

arXiv2025

Efficient Conditional Generation on Scale-based Visual Autoregressive Models

Recent advances in autoregressive (AR) models have demonstrated their potential to rival diffusion models in image synthesis. However, for complex spatially-conditioned generation, current AR approaches rely on fine-tuning the pre-trained model, leading to significant training costs. In this paper, we propose the Efficient Control Model (ECM), a plug-and-play framework featuring a lightweight control module that introduces control signals via a distributed architecture. This architecture consists of context-aware attention layers that refine conditional features using real-time generated tokens, and a shared gated feed-forward network (FFN) designed to maximize the utilization of its limited capacity and ensure coherent control feature learning. Furthermore, recognizing the critical role of early-stage generation in determining semantic structure, we introduce an early-centric sampling strategy that prioritizes learning early control sequences. This approach reduces computational cost by lowering the number of training tokens per iteration, while a complementary temperature scheduling during inference compensates for the resulting insufficient training of late-stage tokens. Extensive experiments on scale-based AR models validate that our method achieves high-fidelity and diverse control over image generation, surpassing existing baselines while significantly improving both training and inference efficiency.

cs.CV↗

arXiv2025

LogSage: An LLM-Based Framework for CI/CD Failure Detection and Remediation with Industrial Validation

Continuous Integration and Deployment (CI/CD) pipelines are critical to modern software engineering, yet diagnosing and resolving their failures remains complex and labor-intensive. We present LogSage, the first end-to-end LLM-powered framework for root cause analysis (RCA) and automated remediation of CI/CD failures. LogSage employs a token-efficient log preprocessing pipeline to filter noise and extract critical errors, then performs structured diagnostic prompting for accurate RCA. For solution generation, it leverages retrieval-augmented generation (RAG) to reuse historical fixes and invokes automation fixes via LLM tool-calling. On a newly curated benchmark of 367 GitHub CI/CD failures, LogSage achieves over 98\% precision, near-perfect recall, and an F1 improvement of more than 38\% points in the RCA stage, compared with recent LLM-based baselines. In a year-long industrial deployment at ByteDance, it processed over 1.07M executions, with end-to-end precision exceeding 80\%. These results demonstrate that LogSage provides a scalable and practical solution for automating CI/CD failure management in real-world DevOps workflows.

cs.SE↗

arXiv2025

Design and Verification of the JUNO Liquid Filling Control System

Jiangmen Underground Neutrino Observatory (JUNO) is a large-scale neutrino experiment with multiple physics goals including neutrino mass hierarchy, accurate measurement of neutrino oscillation parameters, neutrino detection from supernova, sun, and earth, etc. This paper presents the design, implementation, and verification of a high-reliability automated control system for the liquid Filling, Overflow, and Circulation system in the JUNO experiment. The system is built upon a Programmable Logic Controller architecture, integrated with high-precision sensors and actuators. It implements advanced control strategies, including Proportional-Integral-Derivative regulation, sequential logic, and safety interlocks, to achieve closed-loop control of critical parameters such as flow rate, liquid level, and pressure. Commissioning tests with both pure water and liquid scintillator demonstrate the system's exceptional performance, achieving flow control stability within 0.5% of the setpoint with a rapid stabilization time. The robust design, featuring hardware redundancy and software safeguards, ensures the system meets the stringent requirements for the safe filling and long-term stable operation of JUNO's 20-kiloton central detector and provides a scalable reference for large underground fluid control experiments.

hep-ex↗

arXiv2025

GLEAM: Learning Generalizable Exploration Policy for Active Mapping in Complex 3D Indoor Scenes

Generalizable active mapping in complex unknown environments remains a critical challenge for mobile robots. Existing methods, constrained by insufficient training data and conservative exploration strategies, exhibit limited generalizability across scenes with diverse layouts and complex connectivity. To enable scalable training and reliable evaluation, we introduce GLEAM-Bench, the first large-scale benchmark designed for generalizable active mapping with 1,152 diverse 3D scenes from synthetic and real-scan datasets. Building upon this foundation, we propose GLEAM, a unified generalizable exploration policy for active mapping. Its superior generalizability comes mainly from our semantic representations, long-term navigable goals, and randomized strategies. It significantly outperforms state-of-the-art methods, achieving 66.50% coverage (+9.49%) with efficient trajectories and improved mapping accuracy on 128 unseen complex scenes. Project page: https://xiao-chen.tech/gleam/.

cs.CV↗

arXiv2025

Can Large Language Models Express Uncertainty Like Human?

Large language models (LLMs) are increasingly used in high-stakes settings, where overconfident responses can mislead users. Reliable confidence estimation has been shown to enhance trust and task accuracy. Yet existing methods face practical barriers: logits are often hidden, multi-sampling is computationally expensive, and verbalized numerical uncertainty (e.g., giving a 0-100 score) deviates from natural communication. We revisit linguistic confidence (LC), where models express uncertainty through hedging language (e.g., probably, might), offering a lightweight and human-centered alternative. To advance this direction, we (1) release the first diverse, large-scale dataset of hedging expressions with human-annotated confidence scores, and (2) propose a lightweight mapper that converts hedges into confidence scores at near-zero cost. Building on these resources, we (3) conduct the first systematic study of LC across modern LLMs and QA benchmarks, revealing that while most LLMs underperform in expressing reliable LC, carefully designed prompting achieves competitive calibration and discriminability. Finally, we (4) introduce a fine-tuning framework that further improves LC reliability. Taken together, our work positions linguistic confidence as a scalable, efficient, and human-aligned approach to LLM uncertainty estimation, and calls for deeper exploration of this promising yet underexplored direction.

cs.CL↗

arXiv2025

SemGuard: Real-Time Semantic Evaluator for Correcting LLM-Generated Code

Large Language Models (LLMs) can translate natural language requirements into code, yet empirical analyses of representative models reveal that semantic errors-programs that compile but behave incorrectly-constitute the majority of observed faults (e.g., >60% on DeepSeek-Coder-6.7B and QwenCoder-7B). Post-hoc repair pipelines detect such faults only after execution, incurring latency, relying on incomplete test suites, and often mis-localizing the defect. Since semantic drift originates in the autoregressive decoding process, intervening while the code is being generated is a direct way to stop error propagation. Constrained-decoding approaches such as ROCODE attempt this, but still wait until the entire program runs to obtain feedback and use entropy heuristics that do not truly capture semantics. A more effective solution must inject semantic signals-early and precisely-into the decoding process.We present SemGuard, a semantic-evaluator-driven framework that performs real-time, line-level semantic supervision. To train the evaluator, we build SemDiff, the first dataset with fine-grained annotations that mark the exact line where a correct and an incorrect implementation diverge. The evaluator, once embedded in the LLM's decoder, flags deviations on partial code, rolls back to the faulty line, and guides regeneration-without executing the program or requiring test cases. Across four benchmarks, SemGuard consistently outperforms state-of-the-art baselines. It lowers the semantic error rate by 19.86% on SemDiff relative to ROCODE, and lifts Pass@1 by 48.92% on the real-world LiveCodeBench with CodeLlama-7B. Similar gains hold for StarCoder2-7B on MBPP and for DeepSeekCoder-6.7B on the Java benchmark SemDiff-Java, demonstrating model- and language-agnostic effectiveness.

cs.SE↗

arXiv2025

Table2LaTeX-RL: High-Fidelity LaTeX Code Generation from Table Images via Reinforced Multimodal Language Models

In this work, we address the task of table image to LaTeX code generation, with the goal of automating the reconstruction of high-quality, publication-ready tables from visual inputs. A central challenge of this task lies in accurately handling complex tables -- those with large sizes, deeply nested structures, and semantically rich or irregular cell content -- where existing methods often fail. We begin with a comprehensive analysis, identifying key challenges and highlighting the limitations of current evaluation protocols. To overcome these issues, we propose a reinforced multimodal large language model (MLLM) framework, where a pre-trained MLLM is fine-tuned on a large-scale table-to-LaTeX dataset. To further improve generation quality, we introduce a dual-reward reinforcement learning strategy based on Group Relative Policy Optimization (GRPO). Unlike standard approaches that optimize purely over text outputs, our method incorporates both a structure-level reward on LaTeX code and a visual fidelity reward computed from rendered outputs, enabling direct optimization of the visual output quality. We adopt a hybrid evaluation protocol combining TEDS-Structure and CW-SSIM, and show that our method achieves state-of-the-art performance, particularly on structurally complex tables, demonstrating the effectiveness and robustness of our approach.

cs.AI↗

arXiv2025

Auto Hair Card Extraction for Smooth Hair with Differentiable Rendering

Hair cards remain a widely used representation for hair modeling in real-time applications, offering a practical trade-off between visual fidelity, memory usage, and performance. However, generating high-quality hair card models remains a challenging and labor-intensive task. This work presents an automated pipeline for converting strand-based hair models into hair card models with a limited number of cards and textures while preserving the hairstyle appearance. Our key idea is a novel differentiable representation where each strand is encoded as a projected 2D spline in the texture space, which enables efficient optimization with differentiable rendering and structured results respecting the hair geometry. Based on this representation, we develop a novel algorithm pipeline, where we first cluster hair strands into initial hair cards and project the strands into the texture space. We then conduct a two-stage optimization where our first stage optimizes the texture and geometry of each hair card separately, and after texture reduction, our second stage conducts joint optimization of all the cards for fine-tuning. Put together, our method is evaluated on a wide range of hairstyles, including straight, wavy, curly, and coily hairs. To better capture the appearance of short or coily hair, we additionally support hair cap and cross-card. Furthermore, our framework supports seamless LoD transitions via texture sharing, balancing texture memory efficiency and visual quality.

cs.GR↗

arXiv2025

LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Clouds

Online multi-object tracking (MOT) plays a pivotal role in autonomous systems. The state-of-the-art approaches usually employ a tracking-by-detection method, and data association plays a critical role. This paper proposes a learning and graph-optimized (LEGO) modular tracker to improve data association performance in the existing literature. The proposed LEGO tracker integrates graph optimization and self-attention mechanisms, which efficiently formulate the association score map, facilitating the accurate and efficient matching of objects across time frames. To further enhance the state update process, the Kalman filter is added to ensure consistent tracking by incorporating temporal coherence in the object states. Our proposed method utilizing LiDAR alone has shown exceptional performance compared to other online tracking approaches, including LiDAR-based and LiDAR-camera fusion-based methods. LEGO ranked 1st at the time of submitting results to KITTI object tracking evaluation ranking board and remains 2nd at the time of submitting this paper, among all online trackers in the KITTI MOT benchmark for cars1

cs.CV↗

arXiv2025

Vehicle-to-Everything Cooperative Perception for Autonomous Driving

Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the limitations of the sensing ability of individual vehicles. Vehicle-to-everything cooperative perception plays a crucial role in extending the perception range, increasing detection accuracy, and supporting more robust decision-making and control in complex environments. This paper provides a comprehensive survey of recent developments in vehicle-to-everything cooperative perception, introducing mathematical models that characterize the perception process under different collaboration strategies. Key techniques for enabling reliable perception sharing, such as agent selection, data alignment, and feature fusion, are examined in detail. In addition, major challenges are discussed, including differences in agents and models, uncertainty in perception outputs, and the impact of communication constraints such as transmission delay and data loss. The paper concludes by outlining promising research directions, including privacy-preserving artificial intelligence methods, collaborative intelligence, and integrated sensing frameworks to support future advancements in vehicle-to-everything cooperative perception.

cs.CV↗

arXiv2025

ProbRadarM3F: mmWave Radar based Human Skeletal Pose Estimation with Probability Map Guided Multi-Format Feature Fusion

Millimeter wave (mmWave) radar is a non-intrusive privacy and relatively convenient and inexpensive device, which has been demonstrated to be applicable in place of RGB cameras in human indoor pose estimation tasks. However, mmWave radar relies on the collection of reflected signals from the target, and the radar signals containing information is difficult to be fully applied. This has been a long-standing hindrance to the improvement of pose estimation accuracy. To address this major challenge, this paper introduces a probability map guided multi-format feature fusion model, ProbRadarM3F. This is a novel radar feature extraction framework using a traditional FFT method in parallel with a probability map based positional encoding method. ProbRadarM3F fuses the traditional heatmap features and the positional features, then effectively achieves the estimation of 14 keypoints of the human body. Experimental evaluation on the HuPR dataset proves the effectiveness of the model proposed in this paper, outperforming other methods experimented on this dataset with an AP of 69.9 %. The emphasis of our study is focusing on the position information that is not exploited before in radar singal. This provides direction to investigate other potential non-redundant information from mmWave rader.

cs.CV↗

arXiv2025

Hermitian K-theory of Lagrangian Grassmannians via reducible Gorenstein models

We construct a family of moduli spaces, called generalized Lagrangian flag schemes, that are reducible Gorenstein (hence singular), and that admit well-behaved pushforward and pullback operations in Hermitian $K$-theory. These schemes arise naturally in our computations. Using them, we prove that the Hermitian $K$-theory of a Lagrangian Grassmannian over a regular base splits as a direct sum of copies of the base's (Hermitian) $K$-theory, indexed by certain shifted Young diagrams. The isomorphism is realized via pullback to each generalized Lagrangian flag scheme followed by pushforward to the Lagrangian Grassmannian. This yields an unusual example in which both the base and the target are regular schemes, while the intermediate reducible Gorenstein models remain sufficient to allow explicit computations in Hermitian K-theory of regular schemes.

math.AG↗

arXiv2025

MetaOcc: Spatio-Temporal Fusion of Surround-View 4D Radar and Camera for 3D Occupancy Prediction with Dual Training Strategies

Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising low-cost solution, effectively extracting and integrating features from these heterogeneous sensors remains challenging. This paper introduces MetaOcc, a novel multi-modal framework for omnidirectional 3D occupancy prediction that leverages both multi-view 4D radar and images. To address the limitations of directly applying LiDAR-oriented encoders to sparse radar data, we propose a Radar Height Self-Attention module that enhances vertical spatial reasoning and feature extraction. Additionally, a Hierarchical Multi-scale Multi-modal Fusion strategy is developed to perform adaptive local-global fusion across modalities and time, mitigating spatio-temporal misalignments and enriching fused feature representations. To reduce reliance on expensive point cloud annotations, we further propose a pseudo-label generation pipeline based on an open-set segmentor. This enables a semi-supervised strategy that achieves 90% of the fully supervised performance using only 50% of the ground truth labels, offering an effective trade-off between annotation cost and accuracy. Extensive experiments demonstrate that MetaOcc under full supervision achieves state-of-the-art performance, outperforming previous methods by +0.47 SC IoU and +4.02 mIoU on the OmniHD-Scenes dataset, and by +1.16 SC IoU and +1.24 mIoU on the SurroundOcc-nuScenes dataset. These results demonstrate the scalability and robustness of MetaOcc across sensor domains and training conditions, paving the way for practical deployment in real-world autonomous systems. Code and data are available at https://github.com/LucasYang567/MetaOcc.

cs.CV↗

arXiv2025

SAM Encoder Breach by Adversarial Simplicial Complex Triggers Downstream Model Failures

While the Segment Anything Model (SAM) transforms interactive segmentation with zero-shot abilities, its inherent vulnerabilities present a single-point risk, potentially leading to the failure of numerous downstream applications. Proactively evaluating these transferable vulnerabilities is thus imperative. Prior adversarial attacks on SAM often present limited transferability due to insufficient exploration of common weakness across domains. To address this, we propose Vertex-Refining Simplicial Complex Attack (VeSCA), a novel method that leverages only the encoder of SAM for generating transferable adversarial examples. Specifically, it achieves this by explicitly characterizing the shared vulnerable regions between SAM and downstream models through a parametric simplicial complex. Our goal is to identify such complexes within adversarially potent regions by iterative vertex-wise refinement. A lightweight domain re-adaptation strategy is introduced to bridge domain divergence using minimal reference data during the initialization of simplicial complex. Ultimately, VeSCA generates consistently transferable adversarial examples through random simplicial complex sampling. Extensive experiments demonstrate that VeSCA achieves performance improved by 12.7% compared to state-of-the-art methods across three downstream model categories across five domain-specific datasets. Our findings further highlight the downstream model risks posed by SAM's vulnerabilities and emphasize the urgency of developing more robust foundation models.

cs.CV↗

arXiv2025

A Design for an Early Quantum Network

With the rapid advancement of quantum information technology, quantum networks have become essential for supporting diverse applications, which often have stringent demands for key metrics such as fidelity and request completion time. In this work, we propose a design for early-stage quantum networks that is compatible with the three existing quantum repeater technologies. The design aims to maximize the ability of the network to accommodate the diverse needs of quantum applications, even under conditions of limited quantum resources and suboptimal network performance. We have also described the required identifiers in the quantum network and the specific process for implementing quantum requests. To assess the feasibility of our design, we conduct simulations based on discrete-event modeling of quantum networks. The simulations consider various types of noise and imperfect parameters that might exist in early-stage networks. We analyze the impact of these parameters on the fidelity of the generated entangled states and the request completion time. Furthermore, we investigated additional decisions that the central controller can make beyond path selection, such as the choice of cutoff time and the allocation of network resources to requests.

quant-ph↗