arXiv subjects

Wenjun Xu

Publications and source records attributed to Wenjun Xu.

At least 37 records · Page 2Linked to original sources

arXiv2025

Error-Resilient Semantic Communication for Speech Transmission over Packet-Loss Networks

Real-time speech communication over wireless networks remains challenging, as conventional channel protection mechanisms cannot effectively counter packet loss under stringent bandwidth and latency constraints. Semantic communication has emerged as a promising paradigm for enhancing the robustness of speech transmission by means of joint source-channel coding (JSCC). However, its cross-layer design hinders practical deployment due to the incompatibility with existing digital communication systems. In this case, the robustness of speech communication is consequently evaluated primarily by the error-resilience to packet loss over wireless networks. To address these challenges, we propose \emph{Glaris}, a generative latent-prior-based resilient speech semantic communication framework that performs resilient speech coding in the generative latent space. Generative latent priors enable high-quality packet loss concealment (PLC) at the receiver side, well-balancing semantic consistency and reconstruction fidelity. Additionally, an integrated error resilience mechanism is designed to mitigate the error propagation and improve the effectiveness of PLC. Compared with traditional packet-level forward error correction (FEC) strategies, our new method achieves enhanced robustness over dynamic wireless networks while reducing redundancy overhead significantly. Experimental results on the LibriSpeech dataset demonstrate that \emph{Glaris} consistently outperforms existing error-resilient codecs, achieving JSCC-level robustness while maintaining seamless compatibility with existing systems, and it also strikes a favorable balance between transmission efficiency and speech reconstruction quality.

cs.SD↗

arXiv2025

SONAR: Semantic-Object Navigation with Aggregated Reasoning through a Cross-Modal Inference Paradigm

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor generalization. Vision-Language Model based methods, while demonstrating strong generalization capabilities, tend to perform unsatisfactorily when semantic cues are weak. To address these issues, this paper proposes SONAR, an aggregated reasoning approach through a cross modal paradigm. The proposed method integrates a semantic map based target prediction module with a Vision-Language Model based value map module, enabling more robust navigation in unknown environments with varying levels of semantic cues, and effectively balancing generalization ability with scene adaptability. In terms of target localization, we propose a strategy that integrates multi-scale semantic maps with confidence maps, aiming to mitigate false detections of target objects. We conducted an evaluation of the SONAR within the Gazebo simulator, leveraging the most challenging Matterport 3D (MP3D) dataset as the experimental benchmark. Experimental results demonstrate that SONAR achieves a success rate of 38.4% and an SPL of 17.7%.

cs.RO↗

arXiv2025

Explicit Semantic-Base-Empowered Communications for 6G Mobile Networks

Increasing demands for massive data transmission pose significant challenges to communication systems. Compared with traditional communication systems that focus on the accurate reconstruction of bit sequences, SemComs, which aim to deliver information connotation, are regarded as a key technology for 6G mobile networks. Most current SemComs utilize an end-to-end trained NN for semantic extraction and interpretation, which lacks interpretability for further optimization. Moreover, NN-based SemComs assume that the application and physical layers of the protocol stack can be jointly trained, which is incompatible with current digital communication systems. To overcome those drawbacks, we propose a SemCom system that employs explicit semantic bases (Sebs) as the basic units to represent semantic connotations. First, a mathematical model of Sebs is proposed to build an explicit KB. Then, the Seb-based SemCom architecture is proposed, including both a communication mode and a KB update mode to enable the evolution of communication systems. Sem-codec and channel codec modules are designed specifically, with the assistance of an explicit KB for the efficient and robust transmission of semantics. Moreover, UEP is strategically implemented, considering communication intent and the importance of Sebs, thereby ensuring the reliability of critical semantics. In addition, a Seb-based SemCom protocol stack that is compatible with the 5G protocol stack is proposed. To assess the effectiveness and compatibility of the proposed Seb-based SemComs, a case study focusing on an image-transmission task is conducted. The simulations show that our Seb-based SemComs outperform state-of-the-art works in LPIPS by over 20% under varying communication intents and exhibit robustness under fluctuating channel conditions, highlighting the advantages of the interpretability and flexibility afforded by explicit Sebs.

eess.SP↗

arXiv2025

SemHARQ: Semantic-Aware Hybrid Automatic Repeat Request for Multi-Task Semantic Communications

Intelligent task-oriented semantic communications~(SemComs) have witnessed great progress with the development of deep learning~(DL), where multi-task SemComs that perform multiple tasks simultaneously attach great importance due to its high efficiency. However, the study of robust multi-task-oriented semantics transmission is still in early stages. In this paper, we propose a semantic-aware hybrid automatic repeat request~(SemHARQ) framework for the robust and efficient transmissions of multi-task semantic features. First, to improve the robustness and effectiveness of semantic coding, a multi-task semantic encoder is proposed. Meanwhile, a feature importance ranking~(FIR) method is investigated to ensure the important features delivery under limited channel resources. Then, to accurately detect the possible transmission errors, a novel feature distortion evaluation~(FDE) network is designed to identify the distortion level of each feature, based on which an efficient HARQ method is proposed. Specifically, the corrupted features are retransmitted, where the remaining channel resources are used for incremental transmissions. The system performance is evaluated under different channel conditions in multi-task scenarios in the Internet of Vehicles. Extensive experiments show that the proposed framework outperforms state-of-the-art works by more than $20\%$ in rank-1 accuracy for vehicle re-identification, and $10\%$ in vehicle color classification accuracy in the low signal-to-noise ratio regime.

eess.SP↗

arXiv2025

Way to Build Native AI-driven 6G Air Interface: Principles, Roadmap, and Outlook

Artificial intelligence (AI) is expected to serve as a foundational capability across the entire lifecycle of 6G networks, spanning design, deployment, and operation. This article proposes a native AI-driven air interface architecture built around two core characteristics: compression and adaptation. On one hand, compression enables the system to understand and extract essential semantic information from the source data, focusing on task relevance rather than symbol-level accuracy. On the other hand, adaptation allows the air interface to dynamically transmit semantic information across diverse tasks, data types, and channel conditions, ensuring scalability and robustness. This article first introduces the native AI-driven air interface architecture, then discusses representative enabling methodologies, followed by a case study on semantic communication in 6G non-terrestrial networks. Finally, it presents a forward-looking discussion on the future of native AI in 6G, outlining key challenges and research opportunities.

cs.IT↗

arXiv2025

Neural Coding Is Not Always Semantic: Toward the Standardized Coding Workflow in Semantic Communications

Semantic communication, leveraging advanced deep learning techniques, emerges as a new paradigm that meets the requirements of next-generation wireless networks. However, current semantic communication systems, which employ neural coding for feature extraction from raw data, have not adequately addressed the fundamental question: Is general feature extraction through deep neural networks sufficient for understanding semantic meaning within raw data in semantic communication? This article is thus motivated to clarify two critical aspects: semantic understanding and general semantic representation. This article presents a standardized definition on semantic coding, an extensive neural coding scheme for general semantic representation that clearly represents underlying data semantics based on contextual modeling. With these general semantic representations obtained, both human- and machine-centric end-to-end data transmission can be achieved through only minimal specialized modifications, such as fine-tuning and regularization. This article contributes to establishing a commonsense that semantic communication extends far beyond mere feature transmission, focusing instead on conveying compact semantic representations through context-aware coding schemes.

cs.IT↗

arXiv2025

FLAF: Focal Line and Feature-constrained Active View Planning for Visual Teach and Repeat

This paper presents FLAF, a focal line and feature-constrained active view planning method for tracking failure avoidance in feature-based visual navigation of mobile robots. Our FLAF-based visual navigation is built upon a feature-based visual teach and repeat (VT\&R) framework, which supports many robotic applications by teaching a robot to navigate on various paths that cover a significant portion of daily autonomous navigation requirements. However, tracking failure in feature-based visual simultaneous localization and mapping (VSLAM) caused by textureless regions in human-made environments is still limiting VT\&R to be adopted in the real world. To address this problem, the proposed view planner is integrated into a feature-based visual SLAM system to build up an active VT\&R system that avoids tracking failure. In our system, a pan-tilt unit (PTU)-based active camera is mounted on the mobile robot. Using FLAF, the active camera-based VSLAM operates during the teaching phase to construct a complete path map and in the repeat phase to maintain stable localization. FLAF orients the robot toward more map points to avoid mapping failures during path learning and toward more feature-identifiable map points beneficial for localization while following the learned trajectory. Experiments in real scenarios demonstrate that FLAF outperforms the methods that do not consider feature-identifiability, and our active VT\&R system performs well in complex environments by effectively dealing with low-texture regions.

cs.RO↗

arXiv2025

Token Communication in the Era of Large Models: An Information Bottleneck-Based Approach

This letter proposes UniToCom, a unified token communication paradigm that treats tokens as the fundamental units for both processing and wireless transmission. Specifically, to enable efficient token representations, we propose a generative information bottleneck (GenIB) principle, which facilitates the learning of tokens that preserve essential information while supporting reliable generation across multiple modalities. By doing this, GenIB-based tokenization is conducive to improving the communication efficiency and reducing computational complexity. Additionally, we develop $σ$-GenIB to address the challenges of variance collapse in autoregressive modeling, maintaining representational diversity and stability. Moreover, we employ a causal Transformer-based multimodal large language model (MLLM) at the receiver to unify the processing of both discrete and continuous tokens under the next-token prediction paradigm. Simulation results validate the effectiveness and superiority of the proposed UniToCom compared to baselines under dynamic channel conditions. By integrating token processing with MLLMs, UniToCom enables scalable and generalizable communication in favor of multimodal understanding and generation, providing a potential solution for next-generation intelligent communications.

eess.SP↗

arXiv2025

A deep shotgun method for solving high-dimensional parabolic partial differential equations

Recent advances in deep learning makes solving parabolic partial differential equations (PDEs) in high dimensional spaces possible via forward-backward stochastic differential equation (FBSDE) formulations. The implementation of most existing methods requires simulating multiple trajectories of stochastic processes with a small step size of time discretization to ensure accuracy, hence having limited performance, especially when solving on a large time interval. To address such issue, we propose a deep "shotgun method" that does not exploit full trajectories, but only utilizes the data distribution of them. Numerical results including examples with dimensionality up to 10000 demonstrate the competitiveness of the proposed shotgun method in both performance and accuracy.

math.NA↗

arXiv2025

Zero-Shot Semantic Communication with Multimodal Foundation Models

Most existing semantic communication (SemCom) systems use deep joint source-channel coding (DeepJSCC) to encode task-specific semantics in a goal-oriented manner. However, their reliance on predefined tasks and datasets significantly limits their flexibility and generalizability in practical deployments. Multi-modal foundation models provide a promising solution by generating universal semantic tokens. Inspired by this, we introduce SemCLIP, a zero-shot SemCom framework leveraging the contrastive language-image pre-training (CLIP) model. By transmitting CLIP-generated image tokens instead of raw images, SemCLIP enables efficient SemCom under low bandwidth and challenging channel conditions, facilitating diverse downstream tasks and zero-shot applications. Specifically, we propose a DeepJSCC scheme for efficient CLIP token encoding. To mitigate potential degradation caused by compression and channel noise, a multi-modal transmission-aware prompt learning mechanism is designed at the receiver, which adapts prompts based on transmission quality, enhancing system robustness and channel adaptability. Simulation results demonstrate that SemCLIP outperforms the baselines, achieving a $41\%$ improvement in zero-shot performance at low signal-to-noise ratios. Meanwhile, SemCLIP reduces bandwidth usage by more than $50$-fold compared to alternative image transmission methods, demonstrating the potential of foundation models towards a generalized, task-agnostic SemCom solution.

eess.SP↗

arXiv2025

Task-Agnostic Semantic Communications Relying on Information Bottleneck and Federated Meta-Learning

As a paradigm shift towards pervasive intelligence, semantic communication (SemCom) has shown great potentials to improve communication efficiency and provide user-centric services by delivering task-oriented semantic meanings. However, the exponential growth in connected devices, data volumes, and communication demands presents significant challenges for practical SemCom design, particularly in resource-constrained wireless networks. In this work, we first propose a task-agnostic SemCom (TASC) framework that can handle diverse tasks with multiple modalities. Aiming to explore the interplay between communications and intelligent tasks from the information-theoretical perspective, we leverage information bottleneck (IB) theory and propose a distributed multimodal IB (DMIB) principle to learn minimal and sufficient unimodal and multimodal information effectively by discarding redundancy while preserving task-related information. To further reduce the communication overhead, we develop an adaptive semantic feature transmission method under dynamic channel conditions. Then, TASC is trained based on federated meta-learning (FML) for rapid adaptation and generalization in wireless networks. To gain deep insights, we rigorously conduct theoretical analysis and devise resource management to accelerate convergence while minimizing the training latency and energy consumption. Moreover, we develop a joint user selection and resource allocation algorithm to address the non-convex problem with theoretical guarantees. Extensive simulation results validate the effectiveness and superiority of the proposed TASC compared to baselines.

eess.SP↗

arXiv2025

Effects of Flagellar Morphology on Swimming Performance and Directional Control in Microswimmers

In a fluid environment, flagellated microswimmers propel themselves by rotating their flagella. The morphology of these flagella significantly influences forward speed, swimming efficiency, and directional stability, which are critical for their survival. This study begins by simulating the three-dimensional motion trajectories of microswimmers to analyze their kinematic characteristics. The simulation results demonstrate that microswimmers can actively adjust their forward direction by modifying the orientation of their flagella. We subsequently perform numerical simulations to visualize the flow fields generated by a microswimmer and examine the hydrodynamic interactions between the cell body and the flagella, focusing on their impacts on forward speed and swimming efficiency. We conclude that forward speed and swimming efficiency are closely related to the filament radius, pitch angle, and contour length of the flagella, while the yaw angle of locomotion is determined by the helix radius and contour length of the flagella. We conclude that the pitch angle for maximum forward speed is slightly smaller than that for maximum swimming efficiency, which suggests that microswimmers can effectively alternate between states of maximum forward speed and maximum swimming efficiency by fine-tuning their pitch angle and adapting to varying ecological conditions. These morphological characteristics of microswimmers may result from species competition and natural selection. This research establishes an optimized model for microswimmers, providing valuable insights for the design of enhanced microrobots tailored to specific applications.

physics.flu-dyn↗

arXiv2024

Rate-Distortion-Perception Controllable Joint Source-Channel Coding for High-Fidelity Generative Communications

End-to-end image transmission has recently become a crucial trend in intelligent wireless communications, driven by the increasing demand for high bandwidth efficiency. However, existing methods primarily optimize the trade-off between bandwidth cost and objective distortion, often failing to deliver visually pleasing results aligned with human perception. In this paper, we propose a novel rate-distortion-perception (RDP) jointly optimized joint source-channel coding (JSCC) framework to enhance perception quality in human communications. Our RDP-JSCC framework integrates a flexible plug-in conditional Generative Adversarial Networks (GANs) to provide detailed and realistic image reconstructions at the receiver, overcoming the limitations of traditional rate-distortion optimized solutions that typically produce blurry or poorly textured images. Based on this framework, we introduce a distortion-perception controllable transmission (DPCT) model, which addresses the variation in the perception-distortion trade-off. DPCT uses a lightweight spatial realism embedding module (SREM) to condition the generator on a realism map, enabling the customization of appearance realism for each image region at the receiver from a single transmission. Furthermore, for scenarios with scarce bandwidth, we propose an interest-oriented content-controllable transmission (CCT) model. CCT prioritizes the transmission of regions that attract user attention and generates other regions from an instance label map, ensuring both content consistency and appearance realism for all regions while proportionally reducing channel bandwidth costs. Comprehensive experiments demonstrate the superiority of our RDP-optimized image transmission framework over state-of-the-art engineered image transmission systems and advanced perceptual methods.

eess.IV↗

arXiv2024

All Robots in One: A New Standard and Unified Dataset for Versatile, General-Purpose Embodied Agents

Embodied AI is transforming how AI systems interact with the physical world, yet existing datasets are inadequate for developing versatile, general-purpose agents. These limitations include a lack of standardized formats, insufficient data diversity, and inadequate data volume. To address these issues, we introduce ARIO (All Robots In One), a new data standard that enhances existing datasets by offering a unified data format, comprehensive sensory modalities, and a combination of real-world and simulated data. ARIO aims to improve the training of embodied AI agents, increasing their robustness and adaptability across various tasks and environments. Building upon the proposed new standard, we present a large-scale unified ARIO dataset, comprising approximately 3 million episodes collected from 258 series and 321,064 tasks. The ARIO standard and dataset represent a significant step towards bridging the gaps of existing data resources. By providing a cohesive framework for data collection and representation, ARIO paves the way for the development of more powerful and versatile embodied AI agents, capable of navigating and interacting with the physical world in increasingly complex and diverse ways. The project is available on https://imaei.github.io/project_pages/ario/

cs.RO↗

arXiv2024

Diagnosis of Multiple Fundus Disorders Amidst a Scarcity of Medical Experts Via Self-supervised Machine Learning

Fundus diseases are major causes of visual impairment and blindness worldwide, especially in underdeveloped regions, where the shortage of ophthalmologists hinders timely diagnosis. AI-assisted fundus image analysis has several advantages, such as high accuracy, reduced workload, and improved accessibility, but it requires a large amount of expert-annotated data to build reliable models. To address this dilemma, we propose a general self-supervised machine learning framework that can handle diverse fundus diseases from unlabeled fundus images. Our method's AUC surpasses existing supervised approaches by 15.7%, and even exceeds performance of a single human expert. Furthermore, our model adapts well to various datasets from different regions, races, and heterogeneous image sources or qualities from multiple cameras or devices. Our method offers a label-free general framework to diagnose fundus diseases, which could potentially benefit telehealth programs for early screening of people at risk of vision loss.

eess.IV↗

arXiv2024

SSVT: Self-Supervised Vision Transformer For Eye Disease Diagnosis Based On Fundus Images

Machine learning-based fundus image diagnosis technologies trigger worldwide interest owing to their benefits such as reducing medical resource power and providing objective evaluation results. However, current methods are commonly based on supervised methods, bringing in a heavy workload to biomedical staff and hence suffering in expanding effective databases. To address this issue, in this article, we established a label-free method, name 'SSVT',which can automatically analyze un-labeled fundus images and generate high evaluation accuracy of 97.0% of four main eye diseases based on six public datasets and two datasets collected by Beijing Tongren Hospital. The promising results showcased the effectiveness of the proposed unsupervised learning method, and the strong application potential in biomedical resource shortage regions to improve global eye health.

eess.IV↗

arXiv2024

Codebook-Based Beam Tracking for Conformal ArrayEnabled UAV MmWave Networks

Millimeter wave (mmWave) communications can potentially meet the high data-rate requirements of unmanned aerial vehicle (UAV) networks. However, as the prerequisite of mmWave communications, the narrow directional beam tracking is very challenging because of the three-dimensional (3D) mobility and attitude variation of UAVs. Aiming to address the beam tracking difficulties, we propose to integrate the conformal array (CA) with the surface of each UAV, which enables the full spatial coverage and the agile beam tracking in highly dynamic UAV mmWave networks. More specifically, the key contributions of our work are three-fold. 1) A new mmWave beam tracking framework is established for the CA-enabled UAV mmWave network. 2) A specialized hierarchical codebook is constructed to drive the directional radiating element (DRE)-covered cylindrical conformal array (CCA), which contains both the angular beam pattern and the subarray pattern to fully utilize the potential of the CA. 3) A codebook-based multiuser beam tracking scheme is proposed, where the Gaussian process machine learning enabled UAV position/attitude predication is developed to improve the beam tracking efficiency in conjunction with the tracking-error aware adaptive beamwidth control. Simulation results validate the effectiveness of the proposed codebook-based beam tracking scheme in the CA-enabled UAV mmWave network, and demonstrate the advantages of CA over the conventional planner array in terms of spectrum efficiency and outage probability in the highly dynamic scenarios.

eess.SP↗

arXiv2024

Semantic Communications with Explicit Semantic Base for Image Transmission

Semantic communications, aiming at ensuring the successful delivery of the meaning of information, are expected to be one of the potential techniques for the next generation communications. However, the knowledge forming and synchronizing mechanism that enables semantic communication systems to extract and interpret the semantics of information according to the communication intents is still immature. In this paper, we propose a semantic image transmission framework with explicit semantic base (Seb), where Sebs are generated and employed as the knowledge shared between the transmitter and the receiver with flexible granularity. To represent images with Sebs, a novel Seb-based reference image generator is proposed to generate Sebs and then decompose the transmitted images. To further encode/decode the residual information for precise image reconstruction, a Seb-based image encoder/decoder is proposed. The key components of the proposed framework are optimized jointly by end-to-end (E2E) training, where the loss function is dedicatedly designed to tackle the problem of nondifferentiable operation in Seb-based reference image generator by introducing a gradient approximation mechanism. Extensive experiments show that the proposed framework outperforms state-of-art works by 0.5 - 1.5 dB in peak signal-to-noise ratio (PSNR) w.r.t. different signal-to-noise ratios (SNR).

eess.IV↗