arXiv subjects

Wei Mei

Publications and source records attributed to Wei Mei.

7 recordsLinked to original sources

arXiv2026

ABot-N1: Toward a General Visual Language Navigation Foundation Model

Visual Language Navigation foundation models aim to unify deep reasoning for grounded spatial decisions with broad versatility for diverse embodied tasks. Current approaches typically achieve this integration via monolithic policies that map observations directly to actions, yet they often suffer from coordinate drift and poor handling of long-tail semantics. Furthermore, these black-box mappings lack interpretability, hindering the simultaneous achievement of generality, robustness, and transparency. We present ABot-N1, a step toward a general Visual Language Navigation foundation model, that addresses these challenges by decoupling cognition from control via a slow-fast architecture guided by dual visual-language signals. More specifically, a slow vision-language reasoner performs explicit Chain-of-Thought reasoning while producing a pixel goal. This compact set of image-space anchor points serves as a universal interface for diverse tasks, including point-goal, object-goal, poi-goal, instruction-following, and person-following. Subsequently, a fast action expert leverages both the textual cues and the pixel guidance to generate continuous waypoints at the native control frequency. By bridging high-level intents and low-level control through pixel-grounded anchors paired with explicit linguistic traces, our approach ensures robust, generalizable, and interpretable navigation across simulation and real-world benchmarks. ABot-N1 establishes new state-of-the-art records, delivering massive gains specifically in urban-scale navigation: boosting POI arrival by 35.0% (to 77.3%) and achieving 95.4%/92.9% SR in complex indoor and outdoor scenes. It also maintains superior robustness across object-reaching, person-following, and instruction-following tasks. New Point-Goal/POI-Goal benchmarks are released as open source to advance the field of urban-scale navigation.

cs.CV↗

arXiv2026

ABot-M0.5: Unified Mobility-and-Manipulation World Action Model

Mobile manipulation is a key capability for general-purpose robots, yet remains challenging for current embodied learning methods. VLA policies are typically reactive and lack explicit world modeling, while existing World Action Models (WAMs) are still poorly aligned with the structure of mobile manipulation: they operate on coarse video chunks, model entangled navigation-manipulation actions, and train inverse dynamics under supervision that does not match autoregressive inference. As a result, they often miss fine-grained contact dynamics, suffer from action-distribution conflicts, and accumulate errors over long-horizon rollouts. We propose ABot-M0.5, a new WAM built on the insight that mobile manipulation requires alignment at three levels: temporal granularity, action space, and train-test consistency. To align temporal granularity, we introduce intermediate latent actions that capture local visual state transitions and serve as an bridging action space between video latents and embodiment-specific controls. To align action space, we design a dual-level Mixture-of-Transformers architecture that disentangles both modality representations and heterogeneous action subspaces such as base movement and arm manipulation. To align inference conditions, we propose the dream-forcing training strategy that progressively trains inverse dynamics on model-predicted videos, improving train-test alignment and robustness during autoregressive prediction. Experiments on challenging mobile and fine-grained manipulation benchmarks demonstrate that ABot-M0.5 achieves state-of-the-art performance in both long-horizon task success and finegrained control accuracy. These results highlight the critical importance of granularity-aligned, action-disentangled, and inference-consistent world-action modeling.

cs.CV↗

arXiv2025

Motion Estimation for Multi-Object Tracking using KalmanNet with Semantic-Independent Encoding

Motion estimation is a crucial component in multi-object tracking (MOT). It predicts the trajectory of objects by analyzing the changes in their positions in consecutive frames of images, reducing tracking failures and identity switches. The Kalman filter (KF) based on the linear constant-velocity model is one of the most commonly used methods in MOT. However, it may yield unsatisfactory results when KF's parameters are mismatched and objects move in non-stationary. In this work, we utilize the learning-aided filter to handle the motion estimation of MOT. In particular, we propose a novel method named Semantic-Independent KalmanNet (SIKNet), which encodes the state vector (the input feature) using a Semantic-Independent Encoder (SIE) by two steps. First, the SIE uses a 1D convolution with a kernel size of 1, which convolves along the dimension of homogeneous-semantic elements across different state vectors to encode independent semantic information. Then it employs a fully-connected layer and a nonlinear activation layer to encode nonlinear and cross-dependency information between heterogeneous-semantic elements. To independently evaluate the performance of the motion estimation module in MOT, we constructed a large-scale semi-simulated dataset from several open-source MOT datasets. Experimental results demonstrate that the proposed SIKNet outperforms the traditional KF and achieves superior robustness and accuracy than existing learning-aided filters. The code is available at (https://github.com/SongJgit/filternet and https://github.com/SongJgit/TBDTracker).

cs.CV↗

arXiv2021

Estimation & Recognition under Perspective of Random-Fuzzy Dual Interpretation of Unknown Quantity: with Demonstration of IMM Filter

This paper is to consider the problems of estimation and recognition from the perspective of sigma-max inference (probability-possibility inference), with a focus on discovering whether some of the unknown quantities involved could be more faithfully modeled as fuzzy uncertainty. Two related key issues are addressed: 1) the random-fuzzy dual interpretation of unknown quantity being estimated; 2) the principle of selecting sigma-max operator for practical problems, such as estimation and recognition. Our perspective, conceived from definitions of randomness and fuzziness, is that continuous unknown quantity involved in estimation with inaccurate prior should be more appropriately modeled as randomness and handled by sigma inference; whereas discrete unknown quantity involved in recognition with insufficient (and inaccurate) prior could be better modeled as fuzziness and handled by max inference. The philosophy was demonstrated by an updated version of the well-known interacting multiple model (IMM) filter, for which the jump Markovian System is reformulated as a hybrid uncertainty system, with continuous state evolution modeled as usual as model-conditioned stochastic system and discrete mode transitions modeled as fuzzy system by a possibility (instead of probability) transition matrix, and hypotheses mixing is conducted by using the operation of "max" instead of "sigma". For our example of maneuvering target tracking using simulated data from both a short-range fire control radar and a long-range surveillance radar, the updated IMM filter shows significant improvement over the classic IMM filter, due to its peculiarity of hard decision of system model and a faster response to the transition of discrete mode.

eess.SY↗

arXiv2021

The Sigma-max System Induced from Randomness & Fuzziness and its Application in Time Series Prediction

This paper managed to induce probability theory (sigma system) and possibility theory (max system) respectively from the clearly-defined randomness and fuzziness, while focusing the question why the key axiom of "maxitivity" is adopted for possibility measure. Such an objective is achieved by following three steps: a) the establishment of mathematical definitions of randomness and fuzziness; b) the development of intuitive definition of possibility as measure of fuzziness based on compatibility interpretation; c) the abstraction of the axiomatic definitions of probability/ possibility from their intuitive definitions, by taking advantage of properties of the well-defined randomness and fuzziness. We derived the conclusion that "max" is the only but un-strict disjunctive operator that is applicable across the fuzzy event space, and is an exact operator for extracting the value from the fuzzy sample space that leads to the largest possibility of one. Then a demonstration example of stock price prediction is presented, which confirms that max inference indeed exhibits distinctive performance, with an improvement up to 18.99%, over sigma inference for the investigated application. Our work provides a physical foundation for the axiomatic definition of possibility for the measure of fuzziness, which hopefully would facilitate wider adoption of possibility theory in practice.

cs.AI↗

arXiv2017

B tensors and tensor complementarity problems

In this paper, one of our main purposes is to prove the boundedness of solution set of tensor complementarity problem with B tensor such that the specific bounds only depend on the structural properties of tensor. To achieve this purpose, firstly, we present that each B tensor is strictly semi-positive and each B$_0$ tensor is semi-positive. Subsequencely, the strictly lower and upper bounds of different operator norms are given for two positively homogeneous operators defined by B tensor. Finally, with the help of the upper bounds of different operator norms, we show the strcitly lower bound of solution set of tensor complementarity problem with B tensor. Furthermore, the upper bounds of spectral radius and $E$-spectral radius of B (B$_0$) tensor are obtained, respectively, which achieves our another objective. In particular, such the upper bounds only depend on the principal diagonal entries of tensors.

math.OC↗

arXiv2016

Infinite and finite dimensional generalized Hilbert tensors

In this paper, we introduce the concept of an $m$-order $n$-dimensional generalized Hilbert tensor $\mathcal{H}_{n}=(\mathcal{H}_{i_{1}i_{2}\cdots i_{m}})$, $$ \mathcal{H}_{i_{1}i_{2}\cdots i_{m}}=\frac{1}{i_{1}+i_{2}+\cdots i_{m}-m+a},\ a\in \mathbb{R}\setminus\mathbb{Z}^-;\ i_{1},i_{2},\cdots,i_{m}=1,2,\cdots,n, $$ and show that its $H$-spectral radius and its $Z$-spectral radius are smaller than or equal to $M(a)n^{m-1}$ and $M(a)n^{\frac{m}{2}}$, respectively, here $M(a)$ is a constant only dependent on $a$. Moreover, both infinite and finite dimensional generalized Hilbert tensors are positive definite for $a\geq1$. For an $m$-order infinite dimensional generalized Hilbert tensor $\mathcal{H}_{\infty}$ with $a>0$, we prove that $\mathcal{H}_{\infty}$ defines a bounded and positively $(m-1)$-homogeneous operator from $l^{1}$ into $l^{p}\ (1<p<\infty)$. The upper bounds of norm of corresponding positively homogeneous operators are obtained.

math.SP↗