arXiv subjects

Tao Tang

Publications and source records attributed to Tao Tang.

At least 55 records · Page 3Linked to original sources

arXiv2025

RoboPearls: Editable Video Simulation for Robot Manipulation

The development of generalist robot manipulation policies has seen significant progress, driven by large-scale demonstration data across diverse environments. However, the high cost and inefficiency of collecting real-world demonstrations hinder the scalability of data acquisition. While existing simulation platforms enable controlled environments for robotic learning, the challenge of bridging the sim-to-real gap remains. To address these challenges, we propose RoboPearls, an editable video simulation framework for robotic manipulation. Built on 3D Gaussian Splatting (3DGS), RoboPearls enables the construction of photo-realistic, view-consistent simulations from demonstration videos, and supports a wide range of simulation operators, including various object manipulations, powered by advanced modules like Incremental Semantic Distillation (ISD) and 3D regularized NNFM Loss (3D-NNFM). Moreover, by incorporating large language models (LLMs), RoboPearls automates the simulation production process in a user-friendly manner through flexible command interpretation and execution. Furthermore, RoboPearls employs a vision-language model (VLM) to analyze robotic learning issues to close the simulation loop for performance enhancement. To demonstrate the effectiveness of RoboPearls, we conduct extensive experiments on multiple datasets and scenes, including RLBench, COLOSSEUM, Ego4D, Open X-Embodiment, and a real-world robot, which demonstrate our satisfactory simulation performance.

cs.CV↗

arXiv2025

Foundation Models for Anomaly Detection: Vision and Challenges

As data continues to grow in volume and complexity across domains such as finance, manufacturing, and healthcare, effective anomaly detection is essential for identifying irregular patterns that may signal critical issues. Recently, foundation models (FMs) have emerged as a powerful tool for advancing anomaly detection. They have demonstrated unprecedented capabilities in enhancing anomaly identification, generating detailed data descriptions, and providing visual explanations. This survey presents the first comprehensive review of recent advancements in FM-based anomaly detection. We propose a novel taxonomy that classifies FMs into three categories based on their roles in anomaly detection tasks, i.e., as encoders, detectors, or interpreters. We provide a systematic analysis of state-of-the-art methods and discuss key challenges in leveraging FMs for improved anomaly detection. We also outline future research directions in this rapidly evolving field.

cs.LG↗

arXiv2025

Does Your 3D Encoder Really Work? When Pretrain-SFT from 2D VLMs Meets 3D VLMs

Remarkable progress in 2D Vision-Language Models (VLMs) has spurred interest in extending them to 3D settings for tasks like 3D Question Answering, Dense Captioning, and Visual Grounding. Unlike 2D VLMs that typically process images through an image encoder, 3D scenes, with their intricate spatial structures, allow for diverse model architectures. Based on their encoder design, this paper categorizes recent 3D VLMs into 3D object-centric, 2D image-based, and 3D scene-centric approaches. Despite the architectural similarity of 3D scene-centric VLMs to their 2D counterparts, they have exhibited comparatively lower performance compared with the latest 3D object-centric and 2D image-based approaches. To understand this gap, we conduct an in-depth analysis, revealing that 3D scene-centric VLMs show limited reliance on the 3D scene encoder, and the pre-train stage appears less effective than in 2D VLMs. Furthermore, we observe that data scaling benefits are less pronounced on larger datasets. Our investigation suggests that while these models possess cross-modal alignment capabilities, they tend to over-rely on linguistic cues and overfit to frequent answer distributions, thereby diminishing the effective utilization of the 3D encoder. To address these limitations and encourage genuine 3D scene understanding, we introduce a novel 3D Relevance Discrimination QA dataset designed to disrupt shortcut learning and improve 3D understanding. Our findings highlight the need for advanced evaluation and improved strategies for better 3D understanding in 3D VLMs.

cs.CV↗

arXiv2025

Co-designed Quantum Discrete Adiabatic Linear System Solver Via Dynamic Circuits

Existing quantum discrete adiabatic approaches are hindered by circuit depth that increases linearly with the number of evolution steps, a significant challenge for current quantum hardware with limited coherence times. To address this, we propose a co-designed framework that synergistically integrates dynamic circuit capabilities with real-time classical processing. This framework reformulates the quantum adiabatic evolution into discrete, dynamically adjustable segments. The unitary operator for each segment is optimized on-the-fly using classical computation, and circuit multiplexing techniques are leveraged to reduce the overall circuit depth scaling from $O(\text{steps}\times\text{depth}(U))$ to $O(\text{depth}(U))$. We implement and benchmark a quantum discrete adiabatic linear solver based on this framework for linear systems of $W \in \{2,4,8,16\}$ dimensions with condition numbers $κ\in \{10,20,30,40,50\}$. Our solver successfully overcomes previous depth limitations, maintaining over 80% solution fidelity even under realistic noise models. Key algorithmic optimizations contributing to this performance include a first-order approximation of the discrete evolution operator, a tailored dynamic circuit design exploiting real-imaginary component separation, and noise-resilient post-processing techniques.

quant-ph↗

arXiv2025

S2-Track: A Simple yet Strong Approach for End-to-End 3D Multi-Object Tracking

3D multiple object tracking (MOT) plays a crucial role in autonomous driving perception. Recent end-to-end query-based trackers simultaneously detect and track objects, which have shown promising potential for the 3D MOT task. However, existing methods are still in the early stages of development and lack systematic improvements, failing to track objects in certain complex scenarios, like occlusions and the small size of target object's situations. In this paper, we first summarize the current end-to-end 3D MOT framework by decomposing it into three constituent parts: query initialization, query propagation, and query matching. Then we propose corresponding improvements, which lead to a strong yet simple tracker: S2-Track. Specifically, for query initialization, we present 2D-Prompted Query Initialization, which leverages predicted 2D object and depth information to prompt an initial estimate of the object's 3D location. For query propagation, we introduce an Uncertainty-aware Probabilistic Decoder to capture the uncertainty of complex environment in object prediction with probabilistic attention. For query matching, we propose a Hierarchical Query Denoising strategy to enhance training robustness and convergence. As a result, our S2-Track achieves state-of-the-art performance on nuScenes benchmark, i.e., 66.3% AMOTA on test split, surpassing the previous best end-to-end solution by a significant margin of 8.9% AMOTA. We achieve 1st place on the nuScenes tracking task leaderboard.

cs.CV↗

arXiv2025

Integral regularization PINNs for evolution equations

Evolution equations, including both ordinary differential equations (ODEs) and partial differential equations (PDEs), play a pivotal role in modeling dynamic systems. However, achieving accurate long-time integration for these equations remains a significant challenge. While physics-informed neural networks (PINNs) provide a mesh-free framework for solving PDEs, they often suffer from temporal error accumulation, which limits their effectiveness in capturing long-time behaviors. To alleviate this issue, we propose integral regularization PINNs (IR-PINNs), a novel approach that enhances temporal accuracy by incorporating an integral-based residual term into the loss function. This method divides the entire time interval into smaller sub-intervals and enforces constraints over these sub-intervals, thereby improving the resolution and correlation of temporal dynamics. Furthermore, IR-PINNs leverage adaptive sampling to dynamically refine the distribution of collocation points based on the evolving solution, ensuring higher accuracy in regions with sharp gradients or rapid variations. Numerical experiments on benchmark problems demonstrate that IR-PINNs outperform original PINNs and other state-of-the-art methods in capturing long-time behaviors, offering a robust and accurate solution for evolution equations.

math.NA↗

arXiv2025

UniGS: Unified Language-Image-3D Pretraining with Gaussian Splatting

Recent advancements in multi-modal 3D pre-training methods have shown promising efficacy in learning joint representations of text, images, and point clouds. However, adopting point clouds as 3D representation fails to fully capture the intricacies of the 3D world and exhibits a noticeable gap between the discrete points and the dense 2D pixels of images. To tackle this issue, we propose UniGS, integrating 3D Gaussian Splatting (3DGS) into multi-modal pre-training to enhance the 3D representation. We first rely on the 3DGS representation to model the 3D world as a collection of 3D Gaussians with color and opacity, incorporating all the information of the 3D scene while establishing a strong connection with 2D images. Then, to achieve Language-Image-3D pertaining, UniGS starts with a pre-trained vision-language model to establish a shared visual and textual space through extensive real-world image-text pairs. Subsequently, UniGS employs a 3D encoder to align the optimized 3DGS with the Language-Image representations to learn unified multi-modal representations. To facilitate the extraction of global explicit 3D features by the 3D encoder and achieve better cross-modal alignment, we additionally introduce a novel Gaussian-Aware Guidance module that guides the learning of fine-grained representations of the 3D domain. Through extensive experiments across the Objaverse, ABO, MVImgNet and SUN RGBD datasets with zero-shot classification, text-driven retrieval and open-world understanding tasks, we demonstrate the effectiveness of UniGS in learning a more general and stronger aligned multi-modal representation. Specifically, UniGS achieves leading results across different 3D tasks with remarkable improvements over previous SOTA, Uni3D, including on zero-shot classification (+9.36%), text-driven retrieval (+4.3%) and open-world understanding (+7.92%).

cs.CV↗

arXiv2025

Automatic Annotation Augmentation Boosts Translation between Molecules and Natural Language

Recent advancements in AI for biological research focus on integrating molecular data with natural language to accelerate drug discovery. However, the scarcity of high-quality annotations limits progress in this area. This paper introduces LA$^3$, a Language-based Automatic Annotation Augmentation framework that leverages large language models to augment existing datasets, thereby improving AI training. We demonstrate the effectiveness of LA$^3$ by creating an enhanced dataset, LaChEBI-20, where we systematically rewrite the annotations of molecules from an established dataset. These rewritten annotations preserve essential molecular information while providing more varied sentence structures and vocabulary. Using LaChEBI-20, we train LaMolT5 based on a benchmark architecture to learn the mapping between molecular representations and augmented annotations. Experimental results on text-based *de novo* molecule generation and molecule captioning demonstrate that LaMolT5 outperforms state-of-the-art models. Notably, incorporating LA$^3$ leads to improvements of up to 301% over the benchmark architecture. Furthermore, we validate the effectiveness of LA$^3$ notable applications in *image*, *text* and *graph* tasks, affirming its versatility and utility.

cs.LG↗

arXiv2025

Environmental Factors Can Have Opposite Biodiversity Influences on the Community Temporal Stability In Aquatic Ecosystems

1. An understanding of how biodiversity confers ecosystem stability is crucial in managing ecosystems under major environmental changes. Multiple biodiversity drivers can stabilize ecosystem functions over time. However, we know little about how local environmental conditions can influence these biodiversity drivers, and consequently how they indirectly shape the ecological stability of ecosystems. 2. We hypothesized that environmental factors can have opposite influences (i.e., not necessarily either positive or negative) on the temporal stability of communities in different environmental ranges depending on the biodiversity drivers involved. We tested this novel hypothesis by using data from a 4-year-long field study of submerged macrophyte across a water depth gradient in 8 heterogeneous bays of Erhai lake (with total sample size of 30,071 quadrats), a large lentic system in China. 3. Results indicate that a unimodal pattern of stability in temporal biomass measurements occurred along the water-depth gradient, and that multiple biodiversity drivers (the asynchrony in species dynamics, and the stability of dominant species) generally increased the temporal stability of aquatic primary producers. However, the effect of water depth either increased or decreased the stability of biomass according to the environmental conditions associated with sites along the water depth gradient. 4. Synthesis. These results reveal the influence of local environmental conditions on the biodiversity drivers of stability may help predict the functional consequences of biodiversity change across different scenarios of environmental change.

q-bio.PE↗

arXiv2024

A class of refined implicit-explicit Runge-Kutta methods with robust time adaptability and unconditional convergence for the Cahn-Hilliard model

One of main obstacles in verifying the energy dissipation laws of implicit-explicit Runge-Kutta (IERK) methods for phase field equations is to establish the uniform boundedness of stage solutions without the global Lipschitz continuity assumption of nonlinear bulk. With the help of discrete orthogonal convolution kernels, an updated time-space splitting technique is developed to establish the uniform boundedness of stage solutions for a refined class of IERK methods in which the associated differentiation matrices and the average dissipation rates are always independent of the time-space discretization meshes. This makes the refined IERK methods highly advantageous in self-adaptive time-stepping procedures as some larger adaptive step-sizes in actual simulations become possible. From the perspective of optimizing the average dissipation rate, we construct some parameterized refined IERK methods up to third-order accuracy, in which the involved diagonally implicit Runge-Kutta methods for the implicit part have an explicit first stage and allow a stage-order of two such that they are not necessarily algebraically stable. Then we are able to establish, for the first time, the original energy dissipation law and the unconditional $L^2$ norm convergence. Extensive numerical tests are presented to support our theory.

math.NA↗

arXiv2024

Dual-Branch Graph Transformer Network for 3D Human Mesh Reconstruction from Video

Human Mesh Reconstruction (HMR) from monocular video plays an important role in human-robot interaction and collaboration. However, existing video-based human mesh reconstruction methods face a trade-off between accurate reconstruction and smooth motion. These methods design networks based on either RNNs or attention mechanisms to extract local temporal correlations or global temporal dependencies, but the lack of complementary long-term information and local details limits their performance. To address this problem, we propose a \textbf{D}ual-branch \textbf{G}raph \textbf{T}ransformer network for 3D human mesh \textbf{R}econstruction from video, named DGTR. DGTR employs a dual-branch network including a Global Motion Attention (GMA) branch and a Local Details Refine (LDR) branch to parallelly extract long-term dependencies and local crucial information, helping model global human motion and local human details (e.g., local motion, tiny movement). Specifically, GMA utilizes a global transformer to model long-term human motion. LDR combines modulated graph convolutional networks and the transformer framework to aggregate local information in adjacent frames and extract crucial information of human details. Experiments demonstrate that our DGTR outperforms state-of-the-art video-based methods in reconstruction accuracy and maintains competitive motion smoothness. Moreover, DGTR utilizes fewer parameters and FLOPs, which validate the effectiveness and efficiency of the proposed DGTR. Code is publicly available at \href{https://github.com/TangTao-PKU/DGTR}{\textcolor{myBlue}{https://github.com/TangTao-PKU/DGTR}}.

cs.CV↗

arXiv2024

Unveiling the anisotropy of linear and nonlinear charge-spin conversion in Weyl semimetal TaIrTe4

In Weyl semimetals, the nonlinear planar Hall effect (NPHE) and spin-orbit torque (SOT) are prominent manifestations of nonlinear and linear charge-spin conversion, respectively. However, simultaneous investigations of these phenomena within a single material system are scarce, limiting our understanding of their intrinsic connection and underlying mechanisms. Here, we report the first simultaneous observation of NPHE and SOT in a TaIrTe4/Py heterostructure. By employing harmonic Hall measurements and developing a magnetic field-dependent method, we successfully separated the contributions from NPHE, field-like SOT, and damping-like SOT, enabling accurate characterization of both linear and nonlinear charge-spin conversion properties. Our experiments revealed significant anisotropy along the [100] and [010] crystallographic directions of TaIrTe4, with stronger nonlinear responses and field-like SOT along the [100] direction, and larger damping-like SOT along the [010] direction. The distinct directional dependence of these phenomena provides new insights into the interplay between surface and bulk contributions to charge-spin conversion in Weyl semimetals. These findings enhance our understanding of anisotropic charge-spin conversion mechanisms in Weyl semimetals, which may inform future research and development of spintronic devices based on topological materials.

cond-mat.mtrl-sci↗

arXiv2024

ARTS: Semi-Analytical Regressor using Disentangled Skeletal Representations for Human Mesh Recovery from Videos

Although existing video-based 3D human mesh recovery methods have made significant progress, simultaneously estimating human pose and shape from low-resolution image features limits their performance. These image features lack sufficient spatial information about the human body and contain various noises (e.g., background, lighting, and clothing), which often results in inaccurate pose and inconsistent motion. Inspired by the rapid advance in human pose estimation, we discover that compared to image features, skeletons inherently contain accurate human pose and motion. Therefore, we propose a novel semiAnalytical Regressor using disenTangled Skeletal representations for human mesh recovery from videos, called ARTS. Specifically, a skeleton estimation and disentanglement module is proposed to estimate the 3D skeletons from a video and decouple them into disentangled skeletal representations (i.e., joint position, bone length, and human motion). Then, to fully utilize these representations, we introduce a semi-analytical regressor to estimate the parameters of the human mesh model. The regressor consists of three modules: Temporal Inverse Kinematics (TIK), Bone-guided Shape Fitting (BSF), and Motion-Centric Refinement (MCR). TIK utilizes joint position to estimate initial pose parameters and BSF leverages bone length to regress bone-aligned shape parameters. Finally, MCR combines human motion representation with image features to refine the initial human model parameters. Extensive experiments demonstrate that our ARTS surpasses existing state-of-the-art video-based methods in both per-frame accuracy and temporal consistency on popular benchmarks: 3DPW, MPI-INF-3DHP, and Human3.6M. Code is available at https://github.com/TangTao-PKU/ARTS.

cs.CV↗

arXiv2024

One Shot is Enough for Sequential Infrared Small Target Segmentation

Infrared small target sequences exhibit strong similarities between frames and contain rich contextual information, which motivates us to achieve sequential infrared small target segmentation (IRSTS) with minimal data. Inspired by the success of Segment Anything Model (SAM) across various downstream tasks, we propose a one-shot and training-free method that perfectly adapts SAM's zero-shot generalization capability to sequential IRSTS. Specifically, we first obtain a confidence map through local feature matching (LFM). The highest point in the confidence map is used as the prompt to replace the manual prompt. Then, to address the over-segmentation issue caused by the domain gap, we design the point prompt-centric focusing (PPCF) module. Subsequently, to prevent miss and false detections, we introduce the triple-level ensemble (TLE) module to produce the final mask. Experiments demonstrate that our method requires only one shot to achieve comparable performance to state-of-the-art IRSTS methods and significantly outperforms other one-shot segmentation methods. Moreover, ablation studies confirm the robustness of our method in the type of annotations and the selection of reference images.

cs.CV↗

arXiv2024

A hybrid FEM-PINN method for time-dependent partial differential equations

In this work, we present a hybrid numerical method for solving evolution partial differential equations (PDEs) by merging the time finite element method with deep neural networks. In contrast to the conventional deep learning-based formulation where the neural network is defined on a spatiotemporal domain, our methodology utilizes finite element basis functions in the time direction where the space-dependent coefficients are defined as the output of a neural network. We then apply the Galerkin or collocation projection in the time direction to obtain a system of PDEs for the space-dependent coefficients which is approximated in the framework of PINN. The advantages of such a hybrid formulation are twofold: statistical errors are avoided for the integral in the time direction, and the neural network's output can be regarded as a set of reduced spatial basis functions. To further alleviate the difficulties from high dimensionality and low regularity, we have developed an adaptive sampling strategy that refines the training set. More specifically, we use an explicit density model to approximate the distribution induced by the PDE residual and then augment the training set with new time-dependent random samples given by the learned density model. The effectiveness and efficiency of our proposed method have been demonstrated through a series of numerical experiments.

math.NA↗

arXiv2024

Making Large Language Models Better Planners with Reasoning-Decision Alignment

Data-driven approaches for autonomous driving (AD) have been widely adopted in the past decade but are confronted with dataset bias and uninterpretability. Inspired by the knowledge-driven nature of human driving, recent approaches explore the potential of large language models (LLMs) to improve understanding and decision-making in traffic scenarios. They find that the pretrain-finetune paradigm of LLMs on downstream data with the Chain-of-Thought (CoT) reasoning process can enhance explainability and scene understanding. However, such a popular strategy proves to suffer from the notorious problems of misalignment between the crafted CoTs against the consequent decision-making, which remains untouched by previous LLM-based AD methods. To address this problem, we motivate an end-to-end decision-making model based on multimodality-augmented LLM, which simultaneously executes CoT reasoning and carries out planning results. Furthermore, we propose a reasoning-decision alignment constraint between the paired CoTs and planning results, imposing the correspondence between reasoning and decision-making. Moreover, we redesign the CoTs to enable the model to comprehend complex scenarios and enhance decision-making performance. We dub our proposed large language planners with reasoning-decision alignment as RDA-Driver. Experimental evaluations on the nuScenes and DriveLM-nuScenes benchmarks demonstrate the effectiveness of our RDA-Driver in enhancing the performance of end-to-end AD systems. Specifically, our RDA-Driver achieves state-of-the-art planning performance on the nuScenes dataset with 0.80 L2 error and 0.32 collision rate, and also achieves leading results on challenging DriveLM-nuScenes benchmarks with 0.82 L2 error and 0.38 collision rate.

cs.CV↗

arXiv2024

BEV-TSR: Text-Scene Retrieval in BEV Space for Autonomous Driving

The rapid development of the autonomous driving industry has led to a significant accumulation of autonomous driving data. Consequently, there comes a growing demand for retrieving data to provide specialized optimization. However, directly applying previous image retrieval methods faces several challenges, such as the lack of global feature representation and inadequate text retrieval ability for complex driving scenes. To address these issues, firstly, we propose the BEV-TSR framework which leverages descriptive text as an input to retrieve corresponding scenes in the Bird's Eye View (BEV) space. Then to facilitate complex scene retrieval with extensive text descriptions, we employ a large language model (LLM) to extract the semantic features of the text inputs and incorporate knowledge graph embeddings to enhance the semantic richness of the language embedding. To achieve feature alignment between the BEV feature and language embedding, we propose Shared Cross-modal Embedding with a set of shared learnable embeddings to bridge the gap between these two modalities, and employ a caption generation task to further enhance the alignment. Furthermore, there lack of well-formed retrieval datasets for effective evaluation. To this end, we establish a multi-level retrieval dataset, nuScenes-Retrieval, based on the widely adopted nuScenes dataset. Experimental results on the multi-level nuScenes-Retrieval show that BEV-TSR achieves state-of-the-art performance, e.g., 85.78% and 87.66% top-1 accuracy on scene-to-text and text-to-scene retrieval respectively. Codes and datasets will be available.

cs.CV↗

arXiv2024

Marking the Pace: A Blockchain-Enhanced Privacy-Traceable Strategy for Federated Recommender Systems

Federated recommender systems have been crucially enhanced through data sharing and continuous model updates, attributed to the pervasive connectivity and distributed computing capabilities of Internet of Things (IoT) devices. Given the sensitivity of IoT data, transparent data processing in data sharing and model updates is paramount. However, existing methods fall short in tracing the flow of shared data and the evolution of model updates. Consequently, data sharing is vulnerable to exploitation by malicious entities, raising significant data privacy concerns, while excluding data sharing will result in sub-optimal recommendations. To mitigate these concerns, we present LIBERATE, a privacy-traceable federated recommender system. We design a blockchain-based traceability mechanism, ensuring data privacy during data sharing and model updates. We further enhance privacy protection by incorporating local differential privacy in user-server communication. Extensive evaluations with the real-world dataset corroborate LIBERATE's capabilities in ensuring data privacy during data sharing and model update while maintaining efficiency and performance. Results underscore blockchain-based traceability mechanism as a promising solution for privacy-preserving in federated recommender systems.

cs.LG↗