arXiv subjects

Wenze Zhang

Publications and source records attributed to Wenze Zhang.

5 recordsLinked to original sources

arXiv2026

Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics

While 3D Scene Graphs (3DSGs) provide crucial structured representations for embodied agents, conventional Ahead-of-Time, build-everything-then-filter pipelines conflict with the real-time, low-latency demands of edge platforms, inducing a perceptual saturation effect via severe observation redundancy. To resolve this, we present JITOMA (Just-In-Time On-demand Memory Activation), a closed-loop framework that unifies task reasoning, perception, and memory into a just-in-time growth process. Instead of exhaustively mapping the entire environment, JITOMA leverages a top-down task heatmap at the frontend to filter continuous observations, routing minimal streams to maintain a global foundation of low-cost, dormant anchors. Upon a cognitive query, the backend Large Language Model (LLM) parses the robotic intent to dynamically awaken task-relevant anchors, triggering resource-intensive operations -- such as dense node captioning and functional inference -- exclusively within the activated local subgraph. To evaluate these dynamic capabilities and study perceptual saturation trade-offs, we introduce JITOMA-Bench, a comprehensive suite for long-horizon multi-tasking and complex multi-step reasoning. Extensive experiments demonstrate that JITOMA substantially reduces active graph size and captioning latency, while maintaining stable processing time under long-horizon task switching.

cs.CV↗

arXiv2026

Multi-material Direct Ink Writing and Embroidery for Stretchable Wearable Sensors

The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper presents a textile-compatible fabrication workflow that integrates multi-material direct ink writing with automated embroidery to create stretchable strain sensors directly embedded into garments. The process combines sequential multi-material printing of a silicone-carbon grease-silicone stack with automated embroidery that provides both mechanical fixation and electrical interfacing in a single step. The resulting hybrid sensor demonstrates stretchability up to 120% strain while maintaining electrical continuity, with approximately linear behaviour up to 60% strain (R^2 = 0.99), a gauge factor of 31.4, and hysteresis of 22.9%. Repeated loading-unloading tests over 80 cycles show baseline and peak drift of 0.135% and 0.236% per cycle, respectively, indicating moderate cycle-to-cycle stability. Mechanical testing further confirms that the silicone-fabric interface remains intact under large deformation, with failure occurring in the textile rather than at the stitched boundary. As a preliminary proof of concept, the sensor was integrated into wearable elbow and knee sleeves for joint angle monitoring, showing a clear correlation between normalised resistance change and bending angle. By addressing both mechanical fixation and electrical interfacing through embroidery-based integration, this approach provides a reproducible and scalable pathway for incorporating printed stretchable electronics into textile systems for motion capture and soft robotic applications.

cs.RO↗

arXiv2025

High-Precision Temperature Estimation Based on Magnetic Nanoparticles Dominated by Brownian Relaxation under Combined AC and DC Magnetic Fields

Brownian relaxation is one of the primary mechanisms that allows magnetic nanoparticles (MNPs) to convert magnetic energy into thermal energy under an excitation magnetic field. Accurately characterizing the MNPs' magnetization dynamics dominated by Brownian relaxation is crucial for achieving high-precision temperature estimation. However, the lack of a readily applicable analytical expression remains a major obstacle to the advancement of magnetic nanoparticle hyperthermia (MNPH). In this paper, the perturbation method was applied to derive analytical expressions from the Fokker-Planck equation, which characterized MNPs' magnetization behaviors under the AC and DC magnetic fields. Numerical simulations were conducted to validate the accuracy of the analytical expressions and to explore the correlation between temperature and the magnetization response. Then, a temperature analysis model based on magnetization harmonics was constructed. The first and second harmonic ratios and first harmonic phase were used to calculate MNPs' temperature, respectively. The experimental results demonstrate that within 310 K to 320 K, the estimation error of the temperature using the amplitude ratio of the first to second harmonics is below 0.0151 K, while the error using the first harmonic phase is below 0.0218 K. The derived analytical expressions are expected to enhance the accuracy of MNP-based temperature measurements and facilitate their broader applications in MNPH and MNP imaging.

cond-mat.mes-hall↗

arXiv2023

OphGLM: Training an Ophthalmology Large Language-and-Vision Assistant based on Instructions and Dialogue

Large multimodal language models (LMMs) have achieved significant success in general domains. However, due to the significant differences between medical images and text and general web content, the performance of LMMs in medical scenarios is limited. In ophthalmology, clinical diagnosis relies on multiple modalities of medical images, but unfortunately, multimodal ophthalmic large language models have not been explored to date. In this paper, we study and construct an ophthalmic large multimodal model. Firstly, we use fundus images as an entry point to build a disease assessment and diagnosis pipeline to achieve common ophthalmic disease diagnosis and lesion segmentation. Then, we establish a new ophthalmic multimodal instruction-following and dialogue fine-tuning dataset based on disease-related knowledge data and publicly available real-world medical dialogue. We introduce visual ability into the large language model to complete the ophthalmic large language and vision assistant (OphGLM). Our experimental results demonstrate that the OphGLM model performs exceptionally well, and it has the potential to revolutionize clinical applications in ophthalmology. The dataset, code, and models will be made publicly available at https://github.com/ML-AILab/OphGLM.

cs.CV↗

arXiv2023

Rank-Aware Negative Training for Semi-Supervised Text Classification

Semi-supervised text classification-based paradigms (SSTC) typically employ the spirit of self-training. The key idea is to train a deep classifier on limited labeled texts and then iteratively predict the unlabeled texts as their pseudo-labels for further training. However, the performance is largely affected by the accuracy of pseudo-labels, which may not be significant in real-world scenarios. This paper presents a Rank-aware Negative Training (RNT) framework to address SSTC in learning with noisy label manner. To alleviate the noisy information, we adapt a reasoning with uncertainty-based approach to rank the unlabeled texts based on the evidential support received from the labeled texts. Moreover, we propose the use of negative training to train RNT based on the concept that ``the input instance does not belong to the complementary label''. A complementary label is randomly selected from all labels except the label on-target. Intuitively, the probability of a true label serving as a complementary label is low and thus provides less noisy information during the training, resulting in better performance on the test data. Finally, we evaluate the proposed solution on various text classification benchmark datasets. Our extensive experiments show that it consistently overcomes the state-of-the-art alternatives in most scenarios and achieves competitive performance in the others. The code of RNT is publicly available at:https://github.com/amurtadha/RNT.

cs.CL↗