arXiv subjects

Tianyi Zhang

Publications and source records attributed to Tianyi Zhang.

At least 181 records · Page 10Linked to original sources

arXiv2025

NANO-SLAM : Natural Gradient Gaussian Approximation for Vehicle SLAM

Accurate localization is a challenging task for autonomous vehicles, particularly in GPS-denied environments such as urban canyons and tunnels. In these scenarios, simultaneous localization and mapping (SLAM) offers a more robust alternative to GPS-based positioning, enabling vehicles to determine their position using onboard sensors and surrounding environment's landmarks. Among various vehicle SLAM approaches, Rao-Blackwellized particle filter (RBPF) stands out as one of the most widely adopted methods due to its efficient solution with logarithmic complexity relative to the map size. RBPF approximates the posterior distribution of the vehicle pose using a set of Monte Carlo particles through two main steps: sampling and importance weighting. The key to effective sampling lies in solving a distribution that closely approximates the posterior, known as the sampling distribution, to accelerate convergence. Existing methods typically derive this distribution via linearization, which introduces significant approximation errors due to the inherent nonlinearity of the system. To address this limitation, we propose a novel vehicle SLAM method called \textit{N}atural Gr\textit{a}dient Gaussia\textit{n} Appr\textit{o}ximation (NANO)-SLAM, which avoids linearization errors by modeling the sampling distribution as the solution to an optimization problem over Gaussian parameters and solving it using natural gradient descent. This approach improves the accuracy of the sampling distribution and consequently enhances localization performance. Experimental results on the long-distance Sydney Victoria Park vehicle SLAM dataset show that NANO-SLAM achieves over 50\% improvement in localization accuracy compared to the most widely used vehicle SLAM algorithms, with minimal additional computational cost.

cs.RO↗

arXiv2025

Improved Streaming Edge Coloring

Given a graph, an edge coloring assigns colors to edges so that no pairs of adjacent edges share the same color. We are interested in edge coloring algorithms under the W-streaming model. In this model, the algorithm does not have enough memory to hold the entire graph, so the edges of the input graph are read from a data stream one by one in an unknown order, and the algorithm needs to print a valid edge coloring in an output stream. The performance of the algorithm is measured by the amount of space and the number of different colors it uses. This streaming edge coloring problem has been studied by several works in recent years. When the input graph contains $n$ vertices and has maximum vertex degree $Δ$, it is known that in the W-streaming model, an $O(Δ^2)$-edge coloring can be computed deterministically with $\tilde{O}(n)$ space [Ansari, Saneian, and Zarrabi-Zadeh, 2022], or an $O(Δ^{1.5})$-edge coloring can be computed by a $\tilde{O}(n)$-space randomized algorithm [Behnezhad, Saneian, 2024] [Chechik, Mukhtar, Zhang, 2024]. In this paper, we achieve polynomial improvement over previous results. Specifically, we show how to improve the number of colors to $\tilde{O}(Δ^{4/3+ε})$ using space $\tilde{O}(n)$ deterministically, for any constant $ε> 0$. This is the first deterministic result that bypasses the quadratic bound on the number of colors while using near-linear space.

cs.DS↗

arXiv2025

Neighbor-Based Feature and Index Enhancement for Person Re-Identification

Person re-identification (Re-ID) aims to match the same pedestrian in a large gallery with different cameras and views. Enhancing the robustness of the extracted feature representations is a main challenge in Re-ID. Existing methods usually improve feature representation by improving model architecture, but most methods ignore the potential contextual information, which limits the effectiveness of feature representation and retrieval performance. Neighborhood information, especially the potential information of multi-order neighborhoods, can effectively enrich feature expression and improve retrieval accuracy, but this has not been fully explored in existing research. Therefore, we propose a novel model DMON-ARO that leverages latent neighborhood information to enhance both feature representation and index performance. Our approach is built on two complementary modules: Dynamic Multi-Order Neighbor Modeling (DMON) and Asymmetric Relationship Optimization (ARO). The DMON module dynamically aggregates multi-order neighbor relationships, allowing it to capture richer contextual information and enhance feature representation through adaptive neighborhood modeling. Meanwhile, ARO refines the distance matrix by optimizing query-to-gallery relationships, improving the index accuracy. Extensive experiments on three benchmark datasets demonstrate that our approach achieves performance improvements against baseline models, which illustrate the effectiveness of our model. Specifically, our model demonstrates improvements in Rank-1 accuracy and mAP. Moreover, this method can also be directly extended to other re-identification tasks.

cs.CV↗

arXiv2025

FairPy: A Toolkit for Evaluation of Prediction Biases and their Mitigation in Large Language Models

Recent studies have demonstrated that large pretrained language models (LLMs) such as BERT and GPT-2 exhibit biases in token prediction, often inherited from the data distributions present in their training corpora. In response, a number of mathematical frameworks have been proposed to quantify, identify, and mitigate these the likelihood of biased token predictions. In this paper, we present a comprehensive survey of such techniques tailored towards widely used LLMs such as BERT, GPT-2, etc. We additionally introduce Fairpy, a modular and extensible toolkit that provides plug-and-play interfaces for integrating these mathematical tools, enabling users to evaluate both pretrained and custom language models. Fairpy supports the implementation of existing debiasing algorithms. The toolkit is open-source and publicly available at: \href{https://github.com/HrishikeshVish/Fairpy}{https://github.com/HrishikeshVish/Fairpy}

cs.CL↗

arXiv2025

Zero-shot Autonomous Microscopy for Scalable and Intelligent Characterization of 2D Materials

Characterization of atomic-scale materials traditionally requires human experts with months to years of specialized training. Even for trained human operators, accurate and reliable characterization remains challenging when examining newly discovered materials such as two-dimensional (2D) structures. This bottleneck drives demand for fully autonomous experimentation systems capable of comprehending research objectives without requiring large training datasets. In this work, we present ATOMIC (Autonomous Technology for Optical Microscopy & Intelligent Characterization), an end-to-end framework that integrates foundation models to enable fully autonomous, zero-shot characterization of 2D materials. Our system integrates the vision foundation model (i.e., Segment Anything Model), large language models (i.e., ChatGPT), unsupervised clustering, and topological analysis to automate microscope control, sample scanning, image segmentation, and intelligent analysis through prompt engineering, eliminating the need for additional training. When analyzing typical MoS2 samples, our approach achieves 99.7% segmentation accuracy for single layer identification, which is equivalent to that of human experts. In addition, the integrated model is able to detect grain boundary slits that are challenging to identify with human eyes. Furthermore, the system retains robust accuracy despite variable conditions including defocus, color temperature fluctuations, and exposure variations. It is applicable to a broad spectrum of common 2D materials-including graphene, MoS2, WSe2, SnSe-regardless of whether they were fabricated via chemical vapor deposition or mechanical exfoliation. This work represents the implementation of foundation models to achieve autonomous analysis, establishing a scalable and data-efficient characterization paradigm that fundamentally transforms the approach to nanoscale materials research.

cond-mat.mtrl-sci↗

arXiv2025

MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking

Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US imaging presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip visibility. In this paper, a Mamba-based US needle tracker MambaXCTrack utilizing structured state space models cross-correlation (SSMX-Corr) and implicit motion prompt is proposed, which is the first application of Mamba in US needle tracking. The SSMX-Corr enhances cross-correlation by long-range modeling and global searching of distant semantic features between template and search maps, benefiting the tracking under noise and artifacts by implicitly learning potential distant semantic cues. By combining with cross-map interleaved scan (CIS), local pixel-wise interaction with positional inductive bias can also be introduced to SSMX-Corr. The implicit low-level motion descriptor is proposed as a non-visual prompt to enhance tracking robustness, addressing the intermittent tip visibility problem. Extensive experiments on a dataset with motorized needle insertion in both phantom and tissue samples demonstrate that the proposed tracker outperforms other state-of-the-art trackers while ablation studies further highlight the effectiveness of each proposed tracking module.

cs.CV↗

arXiv2025

GraphSeg: Segmented 3D Representations via Graph Edge Addition and Contraction

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment Anything (SAM) offer strong performance in 2D image segmentation. These advances do not translate directly to performance in the physical 3D world, where they often over-segment objects and fail to produce consistent mask correspondences across views. In this paper, we present GraphSeg, a framework for generating consistent 3D object segmentations from a sparse set of 2D images of the environment without any depth information. GraphSeg adds edges to graphs and constructs dual correspondence graphs: one from 2D pixel-level similarities and one from inferred 3D structure. We formulate segmentation as a problem of edge addition, then subsequent graph contraction, which merges multiple 2D masks into unified object-level segmentations. We can then leverage \emph{3D foundation models} to produce segmented 3D representations. GraphSeg achieves robust segmentation with significantly fewer images and greater accuracy than prior methods. We demonstrate state-of-the-art performance on tabletop scenes and show that GraphSeg enables improved performance on downstream robotic manipulation tasks. Code available at https://github.com/tomtang502/graphseg.git.

cs.RO↗

arXiv2025

Synthesis-related nanoscale defects in Mo-based Janus monolayers revealed by cross-correlated AFM and TERS imaging

Two-dimensional (2D) Janus transition metal dichalcogenides (TMDs) are promising candidates for various applications in non-linear optics, energy harvesting, and catalysis. These materials are usually synthesized via chemical conversion of pristine TMDs. Nanometer-scale characterization of the obtained Janus materials' morphology and local composition is crucial for both the synthesis optimization and the future device applications. In this work, we present a cross-correlated atomic force microscopy (AFM) and tip-enhanced Raman spectroscopy (TERS) study of Janus $\mathrm{Mo}_{\mathrm{Se}}^{\mathrm{S}}$ and Janus $\mathrm{Mo}_{\mathrm{S}}^{\mathrm{Se}}$ monolayers synthesized by the hydrogen plasma-assisted chemical conversion of $\mathrm{MoSe}_2$ and $\mathrm{MoS}_2$, respectively. We demonstrate how the choice of the growth substrate and the starting TMD affects the morphology of the resulting Janus material. Furthermore, by employing TERS imaging, we demonstrate the presence of nanoscale islands (~20 nm across) of $\mathrm{MoSe}_2$-$\mathrm{Mo}_{\mathrm{Se}}^{\mathrm{S}}$ ($\mathrm{MoS}_2$-$\mathrm{Mo}_{\mathrm{S}}^{\mathrm{Se}}$) vertical heterostructures originating from the bilayer nanoislands in the precursor monolayer crystals. The understanding of the origins of nanoscale defects in Janus TMDs revealed in our study can help with further optimization of the Janus conversion process towards uniform and wrinkle-/crack-free Janus materials. Moreover, our work shows that cross-correlated AFM and TERS imaging is a powerful and accessible method for studying nanoscale composition and defects in Janus TMD monolayers.

cond-mat.mtrl-sci↗

arXiv2025

Diffusion Transformer Policy

Recent large vision-language-action models pretrained on diverse robot datasets have demonstrated the potential for generalizing to new environments with a few in-domain data. However, those approaches usually predict individual discretized or continuous action by a small action head, which limits the ability in handling diverse action spaces. In contrast, we model the continuous action sequence with a large multi-modal diffusion transformer, dubbed as Diffusion Transformer Policy, in which we directly denoise action chunks by a large transformer model rather than a small action head for action embedding. By leveraging the scaling capability of transformers, the proposed approach can effectively model continuous end-effector actions across large diverse robot datasets, and achieve better generalization performance. Extensive experiments demonstrate the effectiveness and generalization of Diffusion Transformer Policy on Maniskill2, Libero, Calvin and SimplerEnv, as well as the real-world Franka arm, achieving consistent better performance on Real-to-Sim benchmark SimplerEnv, real-world Franka Arm and Libero compared to OpenVLA and Octo. Specifically, without bells and whistles, the proposed approach achieves state-of-the-art performance with only a single third-view camera stream in the Calvin task ABC->D, improving the average number of tasks completed in a row of 5 to 3.6, and the pretraining stage significantly facilitates the success sequence length on the Calvin by over 1.2.

cs.RO↗

arXiv2025

AraRACH: Enhancing NextG Random Access Reliability in Programmable Wireless Living Labs

The rapid evolution of wireless technologies has intensified interest in open and fully programmable radio access networks for whole-stack research, innovation, and evaluation of emerging solutions. Large-scale wireless living labs, such as ARA, equipped with real-world infrastructure play a vital role in this evolution by enabling researchers to prototype and evaluate advanced algorithms for next-generation wireless systems in outdoor and over-the-air environments benefiting from real-world fidelity and end-to-end programmability. However, at the core of this innovation is the performance in terms of coverage and reliability of these wireless living labs. For instance, interfacing power amplifiers and low noise amplifiers with software-defined radios (SDRs) for experimenting outdoors introduces issues in random access procedure-a process crucial in establishing connectivity between user equipment (UE) and the core network in 5G and 6G systems. Therefore, to ensure seamless connectivity and reliable communications in open-source 5G software stacks such as OpenAirInterface (OAI), we propose a slot-based approach to the 5G random access procedure leveraging full downlink (DL) and uplink (UL) slots instead of using special or mixed slots. We highlight how this approach achieves reliable 5G connectivity over 1 mile-the longest communication range that has been achieved so far in real-world settings using open-source 5G software stacks and the Universal Software Radio Peripheral (USRP) SDRs. We also demonstrate that, in a highly obstructed environment such as an industrial setting, we can increase the probability of a successful random access procedure to 90%-100% when we use at least 9 OFDM symbols to transmit msg2 and msg3.

cs.NI↗

arXiv2025

Your voice is your voice: Supporting Self-expression through Speech Generation and LLMs in Augmented and Alternative Communication

In this paper, we present Speak Ease: an augmentative and alternative communication (AAC) system to support users' expressivity by integrating multimodal input, including text, voice, and contextual cues (conversational partner and emotional tone), with large language models (LLMs). Speak Ease combines automatic speech recognition (ASR), context-aware LLM-based outputs, and personalized text-to-speech technologies to enable more personalized, natural-sounding, and expressive communication. Through an exploratory feasibility study and focus group evaluation with speech and language pathologists (SLPs), we assessed Speak Ease's potential to enable expressivity in AAC. The findings highlight the priorities and needs of AAC users and the system's ability to enhance user expressivity by supporting more personalized and contextually relevant communication. This work provides insights into the use of multimodal inputs and LLM-driven features to improve AAC systems and support expressivity.

cs.HC↗

arXiv2025

From Poses to Identity: Training-Free Person Re-Identification via Feature Centralization

Person re-identification (ReID) aims to extract accurate identity representation features. However, during feature extraction, individual samples are inevitably affected by noise (background, occlusions, and model limitations). Considering that features from the same identity follow a normal distribution around identity centers after training, we propose a Training-Free Feature Centralization ReID framework (Pose2ID) by aggregating the same identity features to reduce individual noise and enhance the stability of identity representation, which preserves the feature's original distribution for following strategies such as re-ranking. Specifically, to obtain samples of the same identity, we introduce two components: Identity-Guided Pedestrian Generation: by leveraging identity features to guide the generation process, we obtain high-quality images with diverse poses, ensuring identity consistency even in complex scenarios such as infrared, and occlusion. Neighbor Feature Centralization: it explores each sample's potential positive samples from its neighborhood. Experiments demonstrate that our generative model exhibits strong generalization capabilities and maintains high identity consistency. With the Feature Centralization framework, we achieve impressive performance even with an ImageNet pre-trained model without ReID training, reaching mAP/Rank-1 of 52.81/78.92 on Market1501. Moreover, our method sets new state-of-the-art results across standard, cross-modality, and occluded ReID tasks, showcasing strong adaptability.

cs.CV↗

arXiv2025

Infinite Leagues Under the Sea: Photorealistic 3D Underwater Terrain Generation by Latent Fractal Diffusion Models

This paper tackles the problem of generating representations of underwater 3D terrain. Off-the-shelf generative models, trained on Internet-scale data but not on specialized underwater images, exhibit downgraded realism, as images of the seafloor are relatively uncommon. To this end, we introduce DreamSea, a generative model to generate hyper-realistic underwater scenes. DreamSea is trained on real-world image databases collected from underwater robot surveys. Images from these surveys contain massive real seafloor observations and covering large areas, but are prone to noise and artifacts from the real world. We extract 3D geometry and semantics from the data with visual foundation models, and train a diffusion model that generates realistic seafloor images in RGBD channels, conditioned on novel fractal distribution-based latent embeddings. We then fuse the generated images into a 3D map, building a 3DGS model supervised by 2D diffusion priors which allows photorealistic novel view rendering. DreamSea is rigorously evaluated, demonstrating the ability to robustly generate large-scale underwater scenes that are consistent, diverse, and photorealistic. Our work drives impact in multiple domains, spanning filming, gaming, and robot simulation.

cs.GR↗

arXiv2025

Towards Ambiguity-Free Spatial Foundation Model: Rethinking and Decoupling Depth Ambiguity

Depth ambiguity is a fundamental challenge in spatial scene understanding, especially in transparent scenes where single-depth estimates fail to capture full 3D structure. Existing models, limited to deterministic predictions, overlook real-world multi-layer depth. To address this, we introduce a paradigm shift from single-prediction to multi-hypothesis spatial foundation models. We first present \texttt{MD-3k}, a benchmark exposing depth biases in expert and foundational models through multi-layer spatial relationship labels and new metrics. To resolve depth ambiguity, we propose Laplacian Visual Prompting (LVP), a training-free spectral prompting technique that extracts hidden depth from pre-trained models via Laplacian-transformed RGB inputs. By integrating LVP-inferred depth with standard RGB-based estimates, our approach elicits multi-layer depth without model retraining. Extensive experiments validate the effectiveness of LVP in zero-shot multi-layer depth estimation, unlocking more robust and comprehensive geometry-conditioned visual generation, 3D-grounded spatial reasoning, and temporally consistent video-level depth inference. Our benchmark and code will be available at https://github.com/Xiaohao-Xu/Ambiguity-in-Space.

cs.CV↗

arXiv2025

HEPHA: A Mixed-Initiative Image Labeling Tool for Specialized Domains

Image labeling is an important task for training computer vision models. In specialized domains, such as healthcare, it is expensive and challenging to recruit specialists for image labeling. We propose HEPHA, a mixed-initiative image labeling tool that elicits human expertise via inductive logic learning to infer and refine labeling rules. Each rule comprises visual predicates that describe the image. HEPHA enables users to iteratively refine the rules by either direct manipulation through a visual programming interface or by labeling more images. To facilitate rule refinement, HEPHA recommends which rule to edit and which predicate to update. For users unfamiliar with visual programming, HEPHA suggests diverse and informative images to users for further labeling. We conducted a within-subjects user study with 16 participants and compared HEPHA with a variant of HEPHA and a deep learning-based approach. We found that HEPHA outperforms the two baselines in both specialized-domain and general-domain image labeling tasks. Our code is available at https://github.com/Neural-Symbolic-Image-Labeling/NSILWeb.

cs.HC↗

arXiv2025

Dango: A Mixed-Initiative Data Wrangling System using Large Language Model

Data wrangling is a time-consuming and challenging task in a data science pipeline. While many tools have been proposed to automate or facilitate data wrangling, they often misinterpret user intent, especially in complex tasks. We propose Dango, a mixed-initiative multi-agent system for data wrangling. Compared to existing tools, Dango enhances user communication of intent by allowing users to demonstrate on multiple tables and use natural language prompts in a conversation interface, enabling users to clarify their intent by answering LLM-posed multiple-choice clarification questions, and providing multiple forms of feedback such as step-by-step natural language explanations and data provenance to help users evaluate the data wrangling scripts. We conducted a within-subjects user study with 38 participants and demonstrated that Dango's features can significantly improve intent clarification, accuracy, and efficiency in data wrangling. Furthermore, we demonstrated the generalizability of Dango by applying it to a broader set of data wrangling tasks.

cs.HC↗

arXiv2025

Show Me Why It's Correct: Saving 1/3 of Debugging Time in Program Repair with Interactive Runtime Comparison

Automated Program Repair (APR) holds the promise of alleviating the burden of debugging and fixing software bugs. Despite this, developers still need to manually inspect each patch to confirm its correctness, which is tedious and time-consuming. This challenge is exacerbated in the presence of plausible patches, which accidentally pass test cases but may not correctly fix the bug. To address this challenge, we propose an interactive approach called iFix to facilitate patch understanding and comparison based on their runtime difference. iFix performs static analysis to identify runtime variables related to the buggy statement and captures their runtime values during execution for each patch. These values are then aligned across different patch candidates, allowing users to compare and contrast their runtime behavior. To evaluate iFix, we conducted a within-subjects user study with 28 participants. Compared with manual inspection and a state-of-the-art interactive patch filtering technique, iFix reduced participants' task completion time by 36% and 33% while also improving their confidence by 50% and 20%, respectively. Besides, quantitative experiments demonstrate that iFix improves the ranking of correct patches by at least 39% compared with other patch ranking methods and is generalizable to different APR tools.

cs.SE↗

arXiv2025

FederBoost: Private Federated Learning for GBDT

Federated Learning (FL) has been an emerging trend in machine learning and artificial intelligence. It allows multiple participants to collaboratively train a better global model and offers a privacy-aware paradigm for model training since it does not require participants to release their original training data. However, existing FL solutions for vertically partitioned data or decision trees require heavy cryptographic operations. In this paper, we propose a framework named FederBoost for private federated learning of gradient boosting decision trees (GBDT). It supports running GBDT over both vertically and horizontally partitioned data. Vertical FederBoost does not require any cryptographic operation and horizontal FederBoost only requires lightweight secure aggregation. The key observation is that the whole training process of GBDT relies on the ordering of the data instead of the values. We fully implement FederBoost and evaluate its utility and efficiency through extensive experiments performed on three public datasets. Our experimental results show that both vertical and horizontal FederBoost achieve the same level of accuracy with centralized training where all data are collected in a central server, and they are 4-5 orders of magnitude faster than the state-of-the-art solutions for federated decision tree training; hence offering practical solutions for industrial applications.

cs.CR↗