arXiv subjects

Wenhao Feng

Publications and source records attributed to Wenhao Feng.

9 recordsLinked to original sources

arXiv2026

MMGenre: Benchmarking Singing Voice Synthesis across Multiple Musical Genres

Singing voice synthesis (SVS) has progressed rapidly, yet its ability to generalize across diverse musical genres remains underexplored. Existing benchmarks are heavily biased toward pop music, limiting systematic analysis of genre-dependent behavior. We introduce MMGenre, a benchmark for multi-genre SVS diagnosis, supported by an automatic pipeline for constructing genre-aligned music scores. MMGenre spans 10 major genres and 26 subgenres, enabling comprehensive analysis of genre-aware synthesis. Extensive evaluation of representative SVS models reveals limited genre discrimination: synthesized vocals across genres exhibit highly similar acoustic characteristics and weak separability. While zero-shot genre adaptation yields only marginal improvements, lightweight genre-specific continued training leads to substantial gains. MMGenre provides a standardized framework for multi-genre SVS evaluation and exposes critical challenges in achieving genre-aware singing voice synthesis.

cs.SD↗

arXiv2026

Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation

Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extended aerial duration increases landing impact sensitivity and makes stable attitude regulation over rough planetary terrain difficult. Existing approaches primarily address single jumps on flat surfaces and lack both continuous-terrain solutions and realistic hardware validation. This work presents a Dual-Horizon Hybrid Internal Model for continuous quadrupedal jumping under lunar gravity using proprioceptive sensing only. Two temporal encoders capture complementary time scales: a short-horizon branch models rapid vertical dynamics with explicit vertical velocity estimation, while a long-horizon branch models horizontal motion trends and center-of-mass height evolution across the jump cycle. The fused representation enables stable and continuous jumping under extended aerial phases characteristic of lunar gravity. To provide hardware-in-the-loop validation, we develop the MATRIX (Mixed-reality Adaptive Testbed for Robotic Integrated eXploration) platform, a digital-twin-driven system that offloads gravity through a pulley-counterweight mechanism and maps Unreal Engine lunar terrain to a motion platform and treadmill in real time. Using MATRIX, we demonstrate continuous jumping of a quadruped robot under lunar-gravity emulation across cratered lunar-like terrain.

cs.RO↗

arXiv2025

SingingSDS: A Singing-Capable Spoken Dialogue System for Conversational Roleplay Applications

With recent advances in automatic speech recognition (ASR), large language models (LLMs), and text-to-speech (TTS) technologies, spoken dialogue systems (SDS) have become widely accessible. However, most existing SDS are limited to conventional spoken responses. We present SingingSDS, a cascaded SDS that responds through singing rather than speaking, fostering more affective, memorable, and pleasurable interactions in character-based roleplay and interactive entertainment scenarios. SingingSDS employs a modular ASR-LLM-SVS pipeline and supports a wide range of configurations across character personas, ASR and LLM backends, SVS models, melody sources, and voice profiles, tailored to different needs in terms of latency, quality, and musical style. SingingSDS is available as a plug-and-play web demo, featuring modular, open-source code that supports customization and extension. Demo: https://huggingface.co/spaces/espnet/SingingSDS. Code: https://github.com/SingingSDS/SingingSDS.

cs.SD↗

arXiv2025

HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments

Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant challenge. To address these limitations, this paper proposes HAFO, a dual-agent reinforcement learning framework that concurrently optimizes both a robust locomotion strategy and a precise upper-body manipulation strategy via coupled training. We employ a constrained residual action space to improve dual-agent training stability and sample efficiency. The external tension disturbances are explicitly modeled using a spring-damper system, allowing for fine-grained force control through manipulation of the virtual spring. In this process, the reinforcement learning policy autonomously generates a disturbance-rejection response by utilizing environmental feedback. The experimental results demonstrate that HAFO achieves whole-body control for humanoid robots across diverse force-interaction environments using a single dual-agent policy, delivering outstanding performance under load-bearing and thrust-disturbance conditions, while maintaining stable operation even under rope suspension state.

cs.RO↗

arXiv2025

SingMOS-Pro: An Comprehensive Benchmark for Singing Quality Assessment

Singing voice generation progresses rapidly, yet evaluating singing quality remains a critical challenge. Human subjective assessment, typically in the form of listening tests, is costly and time consuming, while existing objective metrics capture only limited perceptual aspects. In this work, we introduce SingMOS-Pro, a dataset for automatic singing quality assessment. Building on our preview version SingMOS, which provides only overall ratings, SingMOS-Pro extends the annotations of the additional data to include lyrics, melody, and overall quality, offering broader coverage and greater diversity. The dataset contains 7,981 singing clips generated by 41 models across 12 datasets, spanning from early systems to recent state-of-the-art approaches. Each clip is rated by at least five experienced annotators to ensure reliability and consistency. Furthermore, we investigate strategies for effectively utilizing MOS data annotated under heterogeneous standards and benchmark several widely used evaluation methods from related tasks on SingMOS-Pro, establishing strong baselines and practical references for future research. The dataset is publicly available at https://huggingface.co/datasets/TangRain/SingMOS-Pro.

cs.SD↗

arXiv2025

VLM-Empowered Multi-Mode System for Efficient and Safe Planetary Navigation

The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous navigation for planetary rovers. Vision-Language Model (VLM) is used to parse scene information by image inputs to achieve a human-level understanding of terrain complexity. Based on the complexity classification, the system switches to the most suitable navigation mode, composing of perception, mapping and planning modules designed for different terrain types, to traverse the terrain ahead before reaching the next waypoint. By integrating the local navigation system with a map server and a global waypoint generation module, the rover is equipped to handle long-distance navigation tasks in complex scenarios. The navigation system is evaluated in various simulation environments. Compared to the single-mode conservative navigation method, our multi-mode system is able to bootstrap the time and energy efficiency in a long-distance traversal with varied type of obstacles, enhancing efficiency by 79.5%, while maintaining its avoidance capabilities against terrain hazards to guarantee rover safety. More system information is shown at https://chengsn1234.github.io/multi-mode-planetary-navigation/.

cs.RO↗

arXiv2024

CausalVE: Face Video Privacy Encryption via Causal Video Prediction

Advanced facial recognition technologies and recommender systems with inadequate privacy technologies and policies for facial interactions increase concerns about bioprivacy violations. With the proliferation of video and live-streaming websites, public-face video distribution and interactions pose greater privacy risks. Existing techniques typically address the risk of sensitive biometric information leakage through various privacy enhancement methods but pose a higher security risk by corrupting the information to be conveyed by the interaction data, or by leaving certain biometric features intact that allow an attacker to infer sensitive biometric information from them. To address these shortcomings, in this paper, we propose a neural network framework, CausalVE. We obtain cover images by adopting a diffusion model to achieve face swapping with face guidance and use the speech sequence features and spatiotemporal sequence features of the secret video for dynamic video inference and prediction to obtain a cover video with the same number of frames as the secret video. In addition, we hide the secret video by using reversible neural networks for video hiding so that the video can also disseminate secret data. Numerous experiments prove that our CausalVE has good security in public video dissemination and outperforms state-of-the-art methods from a qualitative, quantitative, and visual point of view.

cs.CV↗

arXiv2023

Development of a resource-efficient FPGA-based neural network regression model for the ATLAS muon trigger upgrades

This paper reports on the development of a resource-efficient FPGA-based neural network regression model for potential applications in the future hardware muon trigger system of the ATLAS experiment at the Large Hadron Collider (LHC). Effective real-time selection of muon candidates is the cornerstone of the ATLAS physics programme. With the planned ATLAS upgrades for the High Luminosity LHC, an entirely new FPGA-based hardware muon trigger system will be installed that will process full muon detector data within a 10 $μs$ latency window. The large FPGA devices planned for this upgrade should have sufficient spare resources to allow deployment of machine learning methods for improving identification of muon candidates and searching for new exotic particles. Our neural network regression model promises to improve rejection of the dominant source of background trigger events in the central detector region, which are due to muon candidates with low transverse momenta. This model was implemented in FPGA using 157 digital signal processors and about 5,000 lookup tables. The simulated network latency and deadtime are 122 and 25 ns, respectively, when implemented in the FPGA device using a 320 MHz clock frequency. Two other FPGA implementations were also developed to study the impact of design choices on resource utilisation and latency. The performance parameters of our FPGA implementation are well within the requirements of the future muon trigger system, therefore opening a possibility for deploying machine learning methods for future data taking by the ATLAS experiment.

physics.ins-det↗

arXiv2020

Predicting Terrain Mechanical Properties in Sight for Planetary Rovers with Semantic Clues

Non-geometric mobility hazards such as rover slippage and sinkage posing great challenges to costly planetary missions are closely related to the mechanical properties of terrain. In-situ proprioceptive processes for rovers to estimate terrain mechanical properties need to experience different slip as well as sinkage and are helpless to untraversed regions. This paper proposes to predict terrain mechanical properties with vision in the distance, which expands the sensing range to the whole view and can partly halt potential slippage and sinkage hazards in the planning stage. A semantic-based method is designed to predict bearing and shearing properties of terrain in two stages connected with semantic clues. The former segmentation phase segments terrain with a light-weighted network promising to be applied onboard with competitive 93% accuracy and high recall rate over 96%, while the latter inference phase predicts terrain properties in a quantitative manner based on human-like inference principles. The prediction results in several test routes are 12.5% and 10.8% in full-scale error and help to plan appropriate strategies to avoid suffering non-geometric hazards.

cs.RO↗