arXiv subjects

Tianxu Wang

Publications and source records attributed to Tianxu Wang.

12 recordsLinked to original sources

arXiv2026

EvoNav-Bench: Benchmarking Lifelong Navigation in Evolving Environments

Lifelong navigation (LN) requires an embodied agent to solve a sequence of navigation subtasks in the same environment. Since solving each subtask from scratch incurs redundant exploration, an LN agent must consolidate experience from earlier stages and reuse it in later stages, often through persistent scene representations such as scene graphs or visual snapshots. However, existing approaches typically assume a stationary environment, whereas in real-world LN settings, human activities can cause the environment to evolve. With the stationary assumption violated, existing methods may fuse outdated prior observations with new observations, yet current benchmarks cannot reveal this failure mode. In this paper, we present EvoNav-Bench, which extends the GOAT-Bench style LN formulation in the context of evolving environments. Built on the ProcTHOR framework, EvoNav-Bench introduces environment modifications between navigation tasks, making prior experience useful but not fully reliable. This design enables controlled evaluation of how environment evolution affects LN agents that reuse prior scene observations. Using EvoNav-Bench, we benchmark three recent methods that build and reuse scene representations for navigation. We also compare three simple heuristic strategies for handling environment evolution: Frontier-Update, Fail-then-Update, and Stage-Reset. Our results show that existing methods are brittle under environment evolution, while the heuristic strategies enable a controlled analysis of how agents can adapt to scene changes and mitigate their impact.

cs.RO↗

arXiv2026

PRISM: Prompt Refinement via Image-grounded Self-rewarding Mechanism for Text-to-Image Generation

Text-to-image generation models can synthesize high-quality images from natural language descriptions, but their performance remains highly sensitive to prompt formulation. Existing prompt optimization methods mainly rely on text-side rewriting, prompt expansion, or external reward signals, offering limited image-grounded diagnosis and weak support for learning reusable optimisation policies. In this paper, we propose PRISM, a Prompt Refinement framework via Image-grounded Self-rewarding Mechanism. PRISM closes the prompt-image-feedback loop by interpreting generated images with structured visual diagnosis and scoring them along semantic consistency, aesthetic quality, and human preference alignment. It first initializes a unified VLM through multi-task supervised fine-tuning, and then improves the prompt policy via self-rewarding optimization with a hybrid ideal-point and Chebyshev reward. Extensive experiments show that PRISM improves holistic image quality and fine-grained semantic alignment, while providing interpretable feedback for targeted prompt refinement. The code is available at https://anonymous.4open.science/r/PRISM-FF81.

cs.CV↗

arXiv2026

UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation

Mobile manipulation requires a robot to navigate to a target object or receptacle and then perform intended manipulation. However, reaching the vicinity of the target does not guarantee a manipulation-ready base pose, a problem known as last-mile navigation. Prior methods for last-mile navigation either rely on manual pose annotation or task-specific training, limiting their scalability to open-vocabulary settings with fine-grained spatial constraints. We propose UniLM-Nav, a unified framework for zero-shot open-vocabulary last-mile navigation. UniLM-Nav decomposes last-mile navigation into view selection, task-conditioned affordance grounding, and geometry-aware base-pose reasoning, all resolved with a shared multimodal large language model (MLLM) backend. Specifically, UniLM-Nav first selects a reference view that best captures the target object or receptacle from recently collected observations. It then grounds task-relevant affordance point in the selected view and lifts the result into the robot-centric coordinate frame. Finally, conditioned on the grounded affordance, task context, and robot geometry, it infers a manipulation-ready base pose for the robot. We evaluate UniLM-Nav on the OVMM benchmark, where it outperforms the previous state-of-the-art method, MoTo, by 3.13 percentage points. Analyses show that the components of our method are crucial to final performance, and that the choice of MLLM also has a substantial effect. We further deploy UniLM-Nav on a Unitree B2 quadruped robot with a 6-DoF Unitree Z1 manipulator, validating its applicability to real-world mobile manipulation tasks.

cs.RO↗

arXiv2026

V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perception

Modern autonomous vehicle perception systems are often constrained by occlusions, blind spots, and limited sensing range. While existing cooperative perception paradigms, such as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I), have demonstrated their effectiveness in mitigating these challenges, they remain limited to ground-level collaboration and cannot fully address large-scale occlusions or long-range perception in complex environments. To advance research in cross-view cooperative perception, we present V2U4Real, the first large-scale real-world multi-modal dataset for Vehicle-to-UAV (V2U) cooperative object perception. V2U4Real is collected by a ground vehicle and a UAV equipped with multi-view LiDARs and RGB cameras. The dataset covers urban streets, university campuses, and rural roads under diverse traffic scenarios, comprising over 56K LiDAR frames, 56K multi-view camera images, and 700K annotated 3D bounding boxes across four classes. To support a wide range of research tasks, we establish benchmarks for single-agent 3D object detection, cooperative 3D object detection, and object tracking. Comprehensive evaluations of several state-of-the-art models demonstrate the effectiveness of V2U cooperation in enhancing perception robustness and long-range awareness. The V2U4Real dataset and codebase is available at https://github.com/VjiaLi/V2U4Real.

cs.CV↗

arXiv2025

From Objects to Anywhere: A Holistic Benchmark for Multi-level Visual Grounding in 3D Scenes

3D visual grounding has made notable progress in localizing objects within complex 3D scenes. However, grounding referring expressions beyond objects in 3D scenes remains unexplored. In this paper, we introduce Anywhere3D-Bench, a holistic 3D visual grounding benchmark consisting of 2,886 referring expression-3D bounding box pairs spanning four different grounding levels: human-activity areas, unoccupied space beyond objects, individual objects in the scene, and fine-grained object parts. We assess a range of state-of-the-art 3D visual grounding methods alongside large language models (LLMs) and multimodal LLMs (MLLMs) on Anywhere3D-Bench. Experimental results reveal that space-level and part-level visual grounding pose the greatest challenges: space-level tasks require a more comprehensive spatial reasoning ability, for example, modeling distances and spatial relations within 3D space, while part-level tasks demand fine-grained perception of object composition. Even the best-performing models, Google Gemini-2.5-Pro and OpenAI o3, achieve just around 30% accuracy on space-level tasks and around 40% on part-level tasks, significantly lower than its performance on area-level and object-level tasks. These findings underscore a critical gap in current models' capacity to understand and reason about 3D scenes beyond object-level semantics.

cs.CV↗

arXiv2025

Task-oriented Sequential Grounding and Navigation in 3D Scenes

Grounding natural language in 3D environments is a critical step toward achieving robust 3D vision-language alignment. Current datasets and models for 3D visual grounding predominantly focus on identifying and localizing objects from static, object-centric descriptions. These approaches do not adequately address the dynamic and sequential nature of task-oriented scenarios. In this work, we introduce a novel task: Task-oriented Sequential Grounding and Navigation in 3D Scenes, where models must interpret step-by-step instructions for daily activities by either localizing a sequence of target objects in indoor scenes or navigating toward them within a 3D simulator. To facilitate this task, we present SG3D, a large-scale dataset comprising 22,346 tasks with 112,236 steps across 4,895 real-world 3D scenes. The dataset is constructed by combining RGB-D scans from various 3D scene datasets with an automated task generation pipeline, followed by human verification for quality assurance. We benchmark contemporary methods on SG3D, revealing the significant challenges in understanding task-oriented context across multiple steps. Furthermore, we propose SG-LLM, a state-of-the-art approach leveraging a stepwise grounding paradigm to tackle the sequential grounding task. Our findings underscore the need for further research to advance the development of more capable and context-aware embodied agents.

cs.CV↗

arXiv2025

Decoding the spatial spread of cyanobacterial blooms in an epilimnion

Cyanobacterial blooms (CBs) pose significant global challenges due to their harmful toxins and socio-economic impacts, with nutrient availability playing a key role in their growth, as described by ecological stoichiometry (ES). However, real-world ecosystems exhibit spatial heterogeneity, limiting the applicability of simpler, spatially uniform models. To address this, we develop a spatially explicit partial differential equation model based on ES to study cyanobacteria in the epilimnion of freshwater systems. We establish the well-posedness of the model and perform a stability analysis, showing that it admits two linearly stable steady states, leading to either extinction or saturation. We use the finite elements method to numerically solve our system on a real lake domain derived from Geographic Information System (GIS) data and realistic wind conditions extrapolated from ERA5-Land. Our numerical results highlight the importance of lake shape and size in CB monitoring, while global sensitivity analysis using Sobol Indices identifies light attenuation and intensity as primary drivers of bloom variation, with water movement influencing early bloom stages and nutrient input becoming critical over time. This model supports continuous water-quality monitoring, informing agricultural, recreational, economic, and public health strategies for mitigating CBs.

math.AP↗

arXiv2025

The silent threat of methane to ecosystems: Insights from mechanistic modelling

Over the past century, atmospheric methane levels have nearly doubled, posing a significant threat to ecosystems. Despite this, studies on its direct impact on species interactions are lacking. Although bioaccumulation theory explains the effects of contaminants in trophic levels, it is inadequate for gaseous pollutants such as methane. This study aims to bridge the gap by developing a methane-population-detritus model to investigate ecological impacts in aquatic and terrestrial ecosystems. Our findings show that low methane concentrations can enhance species growth, while moderate accumulation may induce sub-lethal effects over time. Elevated methane levels, however, lead to ecosystem collapse. Furthermore, prolonged exposure to the gas increases the sensitivity of species towards rising temperatures. Multiscale analysis reveals that rapid methane accumulation leads to long transients near the extinction states. We argue that high emission rates can push the system towards a critical threshold, where the ecosystem shifts to an alternative stable state characterized by elevated methane concentrations. This work highlights the urgent need for a better understanding of the fatal role of methane in ecosystems for developing strategies to mitigate its effects amid climate change.

q-bio.PE↗

arXiv2025

Existence and asymptotic stability of a generic Lotka-Volterra system with nonlinear spatially heterogeneous cross-diffusion

This article considers a class of Lotka-Volterra systems with multiple nonlinear cross-diffusion, commonly known as prey-taxis models. The existence and stability of classic solutions for such systems with spatially homogeneous sources and taxis have been studied in one- or two-dimensional space, however, the proof is non-trivial for a more general setting with spatially heterogeneous predation functions and taxis coefficient functions in arbitrary dimensions. This study introduces a new weighted \(L_ε^p\)-norm and extends some classical inequalities within this normed space. Coupled energy estimates are employed to establish initial bounds, followed by applying heat kernel properties and an advanced bootstrap process to enhance solution regularity. For stability analysis, we extend LaSalle's invariance principle to a general \( L^\infty \) setting and utilize it alongside Lyapunov functions to analyze the stability of each possible constant equilibrium. All results are achieved without introducing an extra logistic growth term for predators or imposing smallness conditions on taxis coefficients.

math.AP↗

arXiv2025

Shifts of dominant personality and spatial pattern formation due to spatially heterogeneous pollution

Personality traits, such as boldness and shyness, play a significant role in shaping the survival strategies of animals. Industrial pollution has long posed serious threats to ecosystems and is typically distributed heterogeneously. However, how animals with different personalities respond to spatially heterogeneous pollution remains largely unexplored. In this study, we introduce a prey-taxis model with nonlinear cross-diffusion to examine population dynamics in such environments. The global existence of classical solutions is established by deriving initial bounds through energy estimates and improving solution regularity via heat kernel properties and a bootstrap process. Our findings reveal that behavior, population structure, and spatial distribution are heavily influenced by pollution. Bold individuals maintain a competitive advantage in pollution-free or very low-toxin environments, whereas shy individuals become dominant in regions with low to moderate toxin levels. In highly polluted areas, no populations can survive. The spatial pattern of the population is also closely tied to the distribution of toxins. Grazers tend to move along toxin gradient and exhibit periodic behavior. As toxin concentrations rise, aggregation behavior becomes increasingly pronounced across all species. Interestingly, the total population in polluted areas may initially increase when toxin levels are low to moderate, but eventually declines, leading to extinction as toxin levels continue to rise.

q-bio.PE↗

arXiv2024

Derivations of Animal Movement Models with Explicit Memory

Highly evolved animals continuously update their knowledge of social factors, refining movement decisions based on both historical and real-time observations. Despite its significance, research on the underlying mechanisms remains limited. In this study, we explore how the use of explicit memory shapes different mathematical models across various ecological dispersal scenarios. Specifically, we investigate three memory-based dispersal scenarios: gradient-based movement, where individuals respond to environmental gradients; environment matching, which promotes uniform distribution within a population; and location-based movement, where decisions rely solely on local suitability. These scenarios correspond to diffusion advection, Fickian diffusion, and Fokker-Planck diffusion models, respectively. We focus on the derivation of these memory-based movement models using three approaches: spatial and temporal discretization, patch models in continuous time, and discrete-velocity jump process. These derivations highlight how different ways of using memory lead to distinct mathematical models. Numerical simulations reveal that the three dispersal scenarios exhibit distinct behaviors under memory-induced repulsive and attractive conditions. The diffusion advection and Fokker-Planck models display wiggle patterns and aggregation phenomena, while simulations of the Fickian diffusion model consistently stabilize to uniform constant states.

q-bio.PE↗

arXiv2024

Stochastic generalized Kolmogorov systems with small diffusion: II. Explicit approximations for periodic solutions in distribution

This paper is Part II of a two-part series on coexistence states study in stochastic generalized Kolmogorov systems under small diffusion. Part I provided a complete characterization for approximating invariant probability measures and density functions, while here, we focus on explicit approximations for periodic solutions in distribution. Two easily implementable methods are introduced: periodic normal approximation (PNOA) and periodic log-normal approximation (PLNA). These methods offer unified algorithms to calculate the mean and covariance matrix, and verify positive definiteness, without additional constraints like non-degenerate diffusion. Furthermore, we explore essential properties of the covariance matrix, particularly its connection under periodic and non-periodic drift coefficients. Our new approximation methods significantly relax the minimal criteria for positive definiteness of the solution of the discrete-type Lyapunov equation. Some numerical experiments are provided to support our theoretical results.

math.DS↗