arXiv subjects

Wen Zhao

Publications and source records attributed to Wen Zhao.

At least 73 records · Page 4Linked to original sources

arXiv2025

RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense voxels do not effectively exploit the geometry and opacity properties of Gaussians, which limits the network's estimation of complex environments and also limits the description of the scene by 3D Gaussians. In this paper, we propose a 3D occupancy prediction method which enhances the geometric and semantic scene understanding for robots, dubbed RoboOcc. It utilizes the Opacity-guided Self-Encoder (OSE) to alleviate the semantic ambiguity of overlapping Gaussians and the Geometry-aware Cross-Encoder (GCE) to accomplish the fine-grained geometric modeling of the surrounding scene. We conduct extensive experiments on Occ-ScanNet and EmbodiedOcc-ScanNet datasets, and our RoboOcc achieves state-of the-art performance in both local and global camera settings. Further, in ablation studies of Gaussian parameters, the proposed RoboOcc outperforms the state-of-the-art methods by a large margin of (8.47, 6.27) in IoU and mIoU metric, respectively. The codes will be released soon.

cs.RO↗

arXiv2025

CLEAR-KGQA: Clarification-Enhanced Ambiguity Resolution for Knowledge Graph Question Answering

This study addresses the challenge of ambiguity in knowledge graph question answering (KGQA). While recent KGQA systems have made significant progress, particularly with the integration of large language models (LLMs), they typically assume user queries are unambiguous, which is an assumption that rarely holds in real-world applications. To address these limitations, we propose a novel framework that dynamically handles both entity ambiguity (e.g., distinguishing between entities with similar names) and intent ambiguity (e.g., clarifying different interpretations of user queries) through interactive clarification. Our approach employs a Bayesian inference mechanism to quantify query ambiguity and guide LLMs in determining when and how to request clarification from users within a multi-turn dialogue framework. We further develop a two-agent interaction framework where an LLM-based user simulator enables iterative refinement of logical forms through simulated user feedback. Experimental results on the WebQSP and CWQ dataset demonstrate that our method significantly improves performance by effectively resolving semantic ambiguities. Additionally, we contribute a refined dataset of disambiguated queries, derived from interaction histories, to facilitate future research in this direction.

cs.CL↗

arXiv2025

A constraint on superheavy elements of the GRB-kilonova AT 2023vfi

The discovery of the kilonova (KN) AT 2017gfo, accompanying the gravitational wave event GW170817, provides crucial insight into the synthesis of heavy elements during binary neutron star (BNS) mergers. Following this landmark event, another KN was detected in association with the second-brightest gamma-ray burst (GRB) observed to date, GRB 230307A, and subsequently confirmed by observations of the James Webb Space Telescope (JWST). In this work, we conduct an end-to-end simulation to analyze the temporal evolution of the KN AT 2023vfi associated with GRB 230307A, and constrain the abundances of superheavy elements produced. We find that the temporal evolution of AT 2023vfi is similar to AT 2017gfo in the first week post-burst. Additionally, the \textit{r}-process nuclide abundances of lanthanide-rich ejecta, derived from numerical relativity simulations of BNS mergers, can also successfully interpret the temporal evolution of the KN with the lanthanide-rich ejecta mass of $0.02 M_\odot$, which is consistent with the mass range of dynamical ejecta from numerical simulations in literature. Both findings strongly suggest the hypothesis that GRB 230307A originated from a BNS merger, similar to AT 2017gfo. Based on the first time observation of the KN for JWST, we are able to constrain the superheavy elements of another KN following AT 2017gfo. The pre-radioactive-decay abundances of the superheavy nuclides: $^{222}$Rn, $^{223}$Ra, $^{224}$Ra and $^{225}$Ac, are estimated to be at least on the order of $1 \times 10^{-5}$. These abundance estimates provide valuable insight into the synthesis of superheavy elements in BNS mergers, contributing to our understanding of astrophysical \textit{r}-process nucleosynthesis.

astro-ph.HE↗

arXiv2025

ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network

In recent years, quadruped robotics has advanced significantly, particularly in perception and motion control via reinforcement learning, enabling complex motions in challenging environments. Visual sensors like depth cameras enhance stability and robustness but face limitations, such as low operating frequencies relative to joint control and sensitivity to lighting, which hinder outdoor deployment. Additionally, deep neural networks in sensor and control systems increase computational demands. To address these issues, we introduce spiking neural networks (SNNs) and event cameras to perform a challenging quadruped parkour task. Event cameras capture dynamic visual data, while SNNs efficiently process spike sequences, mimicking biological perception. Experimental results demonstrate that this approach significantly outperforms traditional models, achieving excellent parkour performance with just 11.7% of the energy consumption of an artificial neural network (ANN)-based model, yielding an 88.3% energy reduction. By integrating event cameras with SNNs, our work advances robotic reinforcement learning and opens new possibilities for applications in demanding environments.

cs.RO↗

arXiv2025

Minute-cadence observations on Galactic plane with Wide Field Survey Telescope (WFST): Overview, methodology and early results

As the time-domain survey telescope of the highest survey power in the northern hemisphere currently, Wide Field Survey Telescope (WFST) is scheduled to hourly/daily/semi-weekly scan northern sky up to ~23 mag in four optical (ugri) bands. Unlike the observation cadences in the forthcoming regular survey missions, WFST performed "staring" observations toward Galactic plane in a cadence of $\approx$1 minute for a total on-source time of about 13 hours, during the commissioning and pilot observation phases. Such an observation cadence is well applied in producing densely sampling light curves and hunting for stars exhibiting fast stellar variabilities. Here we introduce the primary methodologies in detecting variability, periodicity, and stellar flares among a half million sources from the minute-cadence observations, and present the WFST g-/r-band light curves generated from periodic variable stars and flaring stars. Benefit from high photometric precisions and deep detection limits of WFST, the observations have captured several rare variable stars, such as a variable hot white dwarf (WD) and an ellipsoidal WD binary candidate. By surveying the almost unexplored parameter spaces for variables, WFST will lead to new opportunities in discovering unique variable stars in the northern sky.

astro-ph.SR↗

arXiv2025

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots

The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception framework that synergistically integrates panoramic vision and LiDAR sensing to overcome these limitations. Unlike conventional robot perception systems that rely on monocular cameras or standard multi-sensor configurations, our method establishes geometrically-aware modality alignment through a spherical vision transformer, enabling seamless fusion of 360 visual context with LiDAR's precise depth measurements. First, Spherical Geometry-aware Constraints (SGC) leverage panoramic camera ray properties to guide distortion-regularized sampling offsets for geometric alignment. Second, Spatial Deformable Attention (SDA) aggregates hierarchical 3D features via spherical offsets, enabling efficient 360°-to-BEV fusion with geometrically complete object representations. Third, Panoramic Augmentation (AUG) combines cross-view transformations and semantic alignment to enhance BEV-panoramic feature consistency during data augmentation. Extensive evaluations demonstrate state-of-the-art performance on the 360BEV-Matterport benchmark. Real-world deployment on humanoid platforms validates the system's capability to generate accurate BEV segmentation maps through panoramic-LiDAR co-perception, directly enabling downstream navigation tasks in complex environments. Our work establishes a new paradigm for embodied perception in humanoid robotics.

cs.RO↗

arXiv2025

Interactive-KBQA: Multi-Turn Interactions for Knowledge Base Question Answering with Large Language Models

This study explores the realm of knowledge base question answering (KBQA). KBQA is considered a challenging task, particularly in parsing intricate questions into executable logical forms. Traditional semantic parsing (SP)-based methods require extensive data annotations, which result in significant costs. Recently, the advent of few-shot in-context learning, powered by large language models (LLMs), has showcased promising capabilities. However, fully leveraging LLMs to parse questions into logical forms in low-resource scenarios poses a substantial challenge. To tackle these hurdles, we introduce Interactive-KBQA, a framework designed to generate logical forms through direct interaction with knowledge bases (KBs). Within this framework, we have developed three generic APIs for KB interaction. For each category of complex question, we devised exemplars to guide LLMs through the reasoning processes. Our method achieves competitive results on the WebQuestionsSP, ComplexWebQuestions, KQA Pro, and MetaQA datasets with a minimal number of examples (shots). Importantly, our approach supports manual intervention, allowing for the iterative refinement of LLM outputs. By annotating a dataset with step-wise reasoning processes, we showcase our model's adaptability and highlight its potential for contributing significant enhancements to the field.

cs.CL↗

arXiv2025

Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion

In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics. With the rapid advancement of reinforcement learning, substantial progress has been made in the walking control of humanoid robots. However, existing methods still face challenges when dealing with complex environments and irregular terrains. In the field of perceptive locomotion, existing approaches are generally divided into two-stage methods and end-to-end methods. Two-stage methods first train a teacher policy in a simulated environment and then use distillation techniques, such as DAgger, to transfer the privileged information learned as latent features or actions to the student policy. End-to-end methods, on the other hand, forgo the learning of privileged information and directly learn policies from a partially observable Markov decision process (POMDP) through reinforcement learning. However, due to the lack of supervision from a teacher policy, end-to-end methods often face difficulties in training and exhibit unstable performance in real-world applications. This paper proposes an innovative two-stage perceptive locomotion framework that combines the advantages of teacher policies learned in a fully observable Markov decision process (MDP) to regularize and supervise the student policy. At the same time, it leverages the characteristics of reinforcement learning to ensure that the student policy can continue to learn in a POMDP, thereby enhancing the model's upper bound. Our experimental results demonstrate that our two-stage training framework achieves higher training efficiency and stability in simulated environments, while also exhibiting better robustness and generalization capabilities in real-world applications.

cs.RO↗

arXiv2025

Trinity: A Modular Humanoid Robot AI System

In recent years, research on humanoid robots has garnered increasing attention. With breakthroughs in various types of artificial intelligence algorithms, embodied intelligence, exemplified by humanoid robots, has been highly anticipated. The advancements in reinforcement learning (RL) algorithms have significantly improved the motion control and generalization capabilities of humanoid robots. Simultaneously, the groundbreaking progress in large language models (LLM) and visual language models (VLM) has brought more possibilities and imagination to humanoid robots. LLM enables humanoid robots to understand complex tasks from language instructions and perform long-term task planning, while VLM greatly enhances the robots' understanding and interaction with their environment. This paper introduces \textcolor{magenta}{Trinity}, a novel AI system for humanoid robots that integrates RL, LLM, and VLM. By combining these technologies, Trinity enables efficient control of humanoid robots in complex environments. This innovative approach not only enhances the capabilities but also opens new avenues for future research and applications of humanoid robotics.

cs.RO↗

arXiv2025

LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures

In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthroughs. Compared to traditional model-based control algorithms, reinforcement learning based algorithms demonstrate substantial advantages in handling complex tasks. Leveraging the large-scale parallel computing capabilities of GPUs, contemporary humanoid robots can undergo extensive parallel training in simulated environments. A physical simulation platform capable of large-scale parallel training is crucial for the development of humanoid robots. As one of the most complex robot forms, humanoid robots typically possess intricate mechanical structures, encompassing numerous series and parallel mechanisms. However, many reinforcement learning based humanoid robot control algorithms currently employ open-loop topologies during training, deferring the conversion to series-parallel structures until the sim2real phase. This approach is primarily due to the limitations of physics engines, as current GPU-based physics engines often only support open-loop topologies or have limited capabilities in simulating multi-rigid-body closed-loop topologies. For enabling reinforcement learning-based humanoid robot control algorithms to train in large-scale parallel environments, we propose a novel training method LiPS. By incorporating multi-rigid-body dynamics modeling in the simulation environment, we significantly reduce the sim2real gap and the difficulty of converting to parallel structures during model deployment, thereby robustly supporting large-scale reinforcement learning for humanoid robots.

cs.RO↗

arXiv2025

EDGE: Efficient Data Selection for LLM Agents via Guideline Effectiveness

Large Language Models (LLMs) have shown remarkable capabilities as AI agents. However, existing methods for enhancing LLM-agent abilities often lack a focus on data quality, leading to inefficiencies and suboptimal results in both fine-tuning and prompt engineering. To address this issue, we introduce EDGE, a novel approach for identifying informative samples without needing golden answers. We propose the Guideline Effectiveness (GE) metric, which selects challenging samples by measuring the impact of human-provided guidelines in multi-turn interaction tasks. A low GE score indicates that the human expertise required for a sample is missing from the guideline, making the sample more informative. By selecting samples with low GE scores, we can improve the efficiency and outcomes of both prompt engineering and fine-tuning processes for LLMs. Extensive experiments validate the performance of our method. Our method achieves competitive results on the HotpotQA and WebShop and datasets, requiring 75\% and 50\% less data, respectively, while outperforming existing methods. We also provide a fresh perspective on the data quality of LLM-agent fine-tuning.

cs.LG↗

arXiv2025

Schwarzschild Lensing From Geodesic Deviation

We revisit the gravitational lensing of light or gravitational waves by Schwarzschild black hole in geometric optics. Instead of a single massless particle, we investigate the collective behavior of a congruence of light/gravitational rays, described by the geodesic deviation equation (GDE). By projecting on the Newman-Penrose tetrad, GDE is decoupled, and we find an analytical Dyson-like series solution in the weak deflection and thin lens limits. Based on such a solution, we study the evolution of cross-sectional area and axis ratio. Finally, we reproduce the magnification and axis ratio of the lensing images up to the second order of weak deflection approximation and improve some missing corrections in previous works.

gr-qc↗

arXiv2025

A Heliocentric-orbiting Objects Processing System (HOPS) for the Wide Field Survey Telescope: Architecture, Processing Workflow, and Preliminary Results

Wide-field surveys have markedly enhanced the discovery and study of solar system objects (SSOs). The 2.5-meter Wide Field Survey Telescope (WFST) represents the foremost facility dedicated to optical time-domain surveys in the northern hemisphere. To fully exploit WFST's capabilities for SSO detection, we have developed a heliocentric-orbiting objects processing system (HOPS) tailored for identifying these objects. This system integrates HelioLinC3D, an algorithm well suited for the WFST survey cadence, characterized by revisiting the same sky field twice on the majority of nights. In this paper, we outline the architecture and processing flow of our SSO processing system. The application of the system to the WFST pilot survey data collected between March and May 2024 demonstrates exceptional performance in terms of both temporal efficiency and completeness. A total of 658,489 observations encompassing 38,520 known asteroids have been documented, and 241 newly discovered asteroids have been assigned provisional designations. In particular, 27% of these new discoveries were achieved using merely two observations per night on three nights. The preliminary results not only illuminate the effectiveness of integrating HelioLinC3D within the SSO processing system, but also emphasize the considerable potential contributions of WFST to the field of solar system science.

astro-ph.IM↗

arXiv2025

Forecasts of effects of beam systematics and deprojection on the third-generation ground-based cosmic microwave background experiment

The ground-based cosmic microwave background (CMB) experiments are susceptible to various instrumental errors, especially for $B$-mode measurements. The difference between the response of two polarized detectors, referred to as the beam mismatch, would induce a $T\rightarrow P$ leakage when the detector pair is differenced to cancel the unpolarized signal. We applied the deprojection technique on the time-ordered mock data to mitigate the systematic contamination caused by beam mismatches by assuming the third-generation ground-based CMB experiment (S3). Our results show that the deprojection effectively recovered the input power spectra. We adopted the Needlet ILC (NILC) and constrained ILC (cILC) methods to reconstruct the foreground-cleaned $TEB$ maps, and we evaluated the level of residual systematic errors after the foreground cleaning pipeline by comparing the power spectra between the systematics-added data after deprojection and the systematics-free data. The results show that the residual beam systematics cleaned by deprojection do not bias the CMB measurements of the $T$, $E$, and $B$ modes nor the CMB lensing reconstruction or the estimation of the tensor-to-scalar ratio under the S3 sensitivity.

astro-ph.CO↗

arXiv2024

Extracting overlapping gravitational-wave signals of galactic compact binaries: a mini review

Gravitational wave (GW) observations have provided a novel tool to explore the universe. In the near future, space-borne detectors will further open the window of low-frequency GW band where abundant sources exist and invaluable information for astrophysics, cosmology, and fundamental physics can be revealed. However, there are various new challenges in data analyses for space-borne detectors coming with the abundance of GW signals. For example, there are Galactic compact binaries (GCBs) with an overwhelming number that can produce continuous GW signals existing the entire mission time of detectors. The enormous overlapping GCB signals tangle and correlate with each other, and blend with other types of sources together in the observed data. Extracting source information from overlapping signals is one of the key problems for data analyses of space-borne detectors. In the paper, we present a review of currently available solutions for extracting overlapping GCB signals as thoroughly as possible aiming at promoting more interest in this question and inspiring further improvements. Current solutions can be roughly categorized by two classes, iterative subtraction and global fitting. There are diverse implementations of both strategies with enhancements focusing on different aspects. Meanwhile, the hybrid approach and the machine learning technique are also used in recent years. In the last, we also present an introduction of the stochastic foreground formed by unresolvable faint GCBs about its separation from extra-galactic backgrounds and its utility in exploring the properties of the Galaxy.

gr-qc↗

arXiv2024

E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework

Recent advancements in humanoid robotics, including the integration of hierarchical reinforcement learning-based control and the utilization of LLM planning, have significantly enhanced the ability of robots to perform complex tasks. In contrast to the highly developed humanoid robots, the human factors involved remain relatively unexplored. Directly controlling humanoid robots with the brain has already appeared in many science fiction novels, such as Pacific Rim and Gundam. In this work, we present E2H (EEG-to-Humanoid), an innovative framework that pioneers the control of humanoid robots using high-frequency non-invasive neural signals. As the none-invasive signal quality remains low in decoding precise spatial trajectory, we decompose the E2H framework in an innovative two-stage formation: 1) decoding neural signals (EEG) into semantic motion keywords, 2) utilizing LLM facilitated motion generation with a precise motion imitation control policy to realize humanoid robotics control. The method of directly driving robots with brainwave commands offers a novel approach to human-machine collaboration, especially in situations where verbal commands are impractical, such as in cases of speech impairments, space exploration, or underwater exploration, unlocking significant potential. E2H offers an exciting glimpse into the future, holding immense potential for human-computer interaction.

cs.RO↗

arXiv2024

Could the inter-band lag of active galactic nucleus vary randomly?

The inter-band lags among the optical broad-band continua of active galactic nuclei (AGNs) have been intensively explored over the past decade. However, the nature of the lags remains under debate. Here utilizing two distinct scenarios for AGN variability, i.e., the thermal fluctuation of accretion disk and the reprocessing of both the accretion disk and clouds in the broad line region, we show that, owing to the random nature of AGN variability, the inter-band lags of an individual AGN would vary from one campaign with a finite baseline to another. Specifically, the thermal fluctuation scenario implies larger variations in the lags than the reprocessing scenario. Moreover, the former predicts a positive correlation between the lag and variation amplitude, while the latter does not result in such a correlation. For both scenarios, averaging the lags of an individual AGN measured with repeated and non-overlapping campaigns would give rise to a stable lag, which is larger for a longer baseline and gets saturation for a sufficiently long baseline. However, obtaining the stable lag for an individual AGN is very time-consuming. Alternatively, it can be equivalently inferred by averaging the lags of a sample of AGNs with similar physical properties, thus can be properly compared with predictions of AGN models. In addition, discussed are several new observational tests suggested by our simulations as well as the role of the deep high-cadence surveys of the Wide Field Survey Telescope in enriching our knowledge of the lags.

astro-ph.GA↗

arXiv2024

GRB 240529A: A Tale of Two Shocks

Thanks to the rapidly increasing time-domain facilities, we are entering a golden era of research on gamma-ray bursts (GRBs). In this Letter, we report our observations of GRB 240529A with the Burst Optical Observer and Transient Exploring System, the 1.5-meter telescope at Observatorio Sierra Nevada, the 2.5-meter Wide Field Survey Telescope of China, the Large Binocular Telescope, and the Telescopio Nazionale Galileo. The prompt emission of GRB 240529A shows two comparable energetic episodes separated by a quiescence time of roughly 400 s. Combining all available data on the GRB Coordinates Network, we reveal the simultaneous apparent X-ray plateau and optical re-brightening around $10^3-10^4$ s after the burst. Rather than the energy injection from the magnetar as widely invoked for similar GRBs, the multi-wavelength emissions could be better explained as two shocks launched from the central engine separately. The optical peak time and our numerical modeling suggest that the initial bulk Lorentz factor of the later shock is roughly 50, which indicates that the later jet should be accretion-driven and have a higher mass loading than a typical one. The quiescence time between the two prompt emission episodes may be caused by the transition between different accretion states of a central magnetar or black hole, or the fall-back accretion process. A sample of similar bursts with multiple emission episodes in the prompt phase and sufficient follow-up could help to probe the underlying physics of GRB central engines.

astro-ph.HE↗