arXiv subjects

Xiaofeng Han

Publications and source records attributed to Xiaofeng Han.

12 recordsLinked to original sources

arXiv2026

Hierarchical Multi-to-Single-Modal Knowledge Distillation for Disruption Prediction in EAST

Plasma disruption is a critical threat to tokamak safety. Existing data-driven predictors mainly rely on time-series diagnostic signals, while visible images provide complementary spatial cues including plasma deformation, local brightening, and radiation-structure evolution. Although the image modality improves the model's discriminative capability, it also substantially increases the computational cost during inference. To address this issue, we propose a hierarchical multi-to-single-modal knowledge distillation framework for disruption prediction on a synchronized EAST multimodal dataset. During training, visible images and time-series signals are used to train a multimodal teacher, which learns disruption precursor representations through Transformer-based encoders and a prototype-guided spatiotemporal hypergraph module. During inference, only the time-series student is retained, with multimodal knowledge transferred through graph-structure-level, representation-level, and decision-level distillation. On the 640-discharge EAST dataset, the results demonstrate that the proposed framework can preserve the discriminative advantages of multimodal learning while substantially reducing inference cost, and providing an effective route for efficient disruption prediction in EAST. The source code of this paper will be released on https://github.com/Event-AHU/OpenFusion.

cs.CV↗

arXiv2026

HMR-1: Hierarchical Massage Robot with Vision-Language-Model for Embodied Healthcare

The rapid advancement of Embodied Intelligence has opened transformative opportunities in healthcare, particularly in physical therapy and rehabilitation. However, critical challenges remain in developing robust embodied healthcare solutions, such as the lack of standardized evaluation benchmarks and the scarcity of open-source multimodal acupoint massage datasets. To address these gaps, we construct MedMassage-12K - a multimodal dataset containing 12,190 images with 174,177 QA pairs, covering diverse lighting conditions and backgrounds. Furthermore, we propose a hierarchical embodied massage framework, which includes a high-level acupoint grounding module and a low-level control module. The high-level acupoint grounding module uses multimodal large language models to understand human language and identify acupoint locations, while the low-level control module provides the planned trajectory. Based on this, we evaluate existing MLLMs and establish a benchmark for embodied massage tasks. Additionally, we fine-tune the Qwen-VL model, demonstrating the framework's effectiveness. Physical experiments further confirm the practical applicability of the framework.Our dataset and code are publicly available at https://github.com/Xiaofeng-Han-Res/HMR-1.

cs.RO↗

arXiv2025

APD-Agents: A Large Language Model-Driven Multi-Agents Collaborative Framework for Automated Page Design

Layout design is a crucial step in developing mobile app pages. However, crafting satisfactory designs is time-intensive for designers: they need to consider which controls and content to present on the page, and then repeatedly adjust their size, position, and style for better aesthetics and structure. Although many design software can now help to perform these repetitive tasks, extensive training is needed to use them effectively. Moreover, collaborative design across app pages demands extra time to align standards and ensure consistent styling. In this work, we propose APD-agents, a large language model (LLM) driven multi-agent framework for automated page design in mobile applications. Our framework contains OrchestratorAgent, SemanticParserAgent, PrimaryLayoutAgent, TemplateRetrievalAgent, and RecursiveComponentAgent. Upon receiving the user's description of the page, the OrchestratorAgent can dynamically can direct other agents to accomplish users' design task. To be specific, the SemanticParserAgent is responsible for converting users' descriptions of page content into structured data. The PrimaryLayoutAgent can generate an initial coarse-grained layout of this page. The TemplateRetrievalAgent can fetch semantically relevant few-shot examples and enhance the quality of layout generation. Besides, a RecursiveComponentAgent can be used to decide how to recursively generate all the fine-grained sub-elements it contains for each element in the layout. Our work fully leverages the automatic collaboration capabilities of large-model-driven multi-agent systems. Experimental results on the RICO dataset show that our APD-agents achieve state-of-the-art performance.

cs.AI↗

arXiv2025

DMTrack: Deformable State-Space Modeling for UAV Multi-Object Tracking with Kalman Fusion and Uncertainty-Aware Association

Multi-object tracking (MOT) from unmanned aerial vehicles (UAVs) presents unique challenges due to unpredictable object motion, frequent occlusions, and limited appearance cues inherent to aerial viewpoints. These issues are further exacerbated by abrupt UAV movements, leading to unreliable trajectory estimation and identity switches. Conventional motion models, such as Kalman filters or static sequence encoders, often fall short in capturing both linear and non-linear dynamics under such conditions. To tackle these limitations, we propose DMTrack, a deformable motion tracking framework tailored for UAV-based MOT. Our DMTrack introduces three key components: DeformMamba, a deformable state-space predictor that dynamically aggregates historical motion states for adaptive trajectory modeling; MotionGate, a lightweight gating module that fuses Kalman and Mamba predictions based on motion context and uncertainty; and an uncertainty-aware association strategy that enhances identity preservation by aligning motion trends with prediction confidence. Extensive experiments on the VisDrone-MOT and UAVDT benchmarks demonstrate that our DMTrack achieves state-of-the-art performance in identity consistency and tracking accuracy, particularly under high-speed and non-linear motion. Importantly, our method operates without appearance models and maintains competitive efficiency, highlighting its practicality for robust UAV-based tracking.

eess.SY↗

arXiv2025

Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion methods and VLMs in the field of robot vision. For semantic scene understanding tasks, we categorize fusion approaches into encoder-decoder frameworks, attention-based architectures, and graph neural networks. Meanwhile, we also analyze the architectural characteristics and practical implementations of these fusion strategies in key tasks such as simultaneous localization and mapping (SLAM), 3D object detection, navigation, and manipulation. We compare the evolutionary paths and applicability of VLMs based on large language models (LLMs) with traditional multimodal fusion methods.Additionally, we conduct an in-depth analysis of commonly used datasets, evaluating their applicability and challenges in real-world robotic scenarios. Building on this analysis, we identify key challenges in current research, including cross-modal alignment, efficient fusion, real-time deployment, and domain adaptation. We propose future directions such as self-supervised learning for robust multimodal representations, structured spatial memory and environment modeling to enhance spatial intelligence, and the integration of adversarial robustness and human feedback mechanisms to enable ethically aligned system deployment. Through a comprehensive review, comparative analysis, and forward-looking discussion, we provide a valuable reference for advancing multimodal perception and interaction in robotic vision. A comprehensive list of studies in this survey is available at https://github.com/Xiaofeng-Han-Res/MF-RV.

cs.RO↗

arXiv2025

A Weight Adaptation Trigger Mechanism in Decomposition-based Evolutionary Multi-Objective Optimisation

Decomposition-based multi-objective evolutionary algorithms (MOEAs) are widely used for solving multi-objective optimisation problems. However, their effectiveness depends on the consistency between the problems Pareto front shape and the weight distribution. Decomposition-based MOEAs, with uniformly distributed weights (in a simplex), perform well on problems with a regular (simplex-like) Pareto front, but not on those with an irregular Pareto front. Previous studies have focused on adapting the weights to approximate the irregular Pareto front during the evolutionary process. However, these adaptations can actually harm the performance on the regular Pareto front via changing the weights during the search process that are eventually the best fit for the Pareto front. In this paper, we propose an algorithm called the weight adaptation trigger mechanism for decomposition-based MOEAs (ATM-MOEA/D) to tackle this issue. ATM-MOEA/D uses an archive to gradually approximate the shape of the Pareto front during the search. When the algorithm detects evolution stagnation (meaning the population no longer improves significantly), it compares the distribution of the population with that of the archive to distinguish between regular and irregular Pareto fronts. Only when an irregular Pareto front is identified, the weights are adapted. Our experimental results show that the proposed algorithm not only performs generally better than seven state-of-the-art weight-adapting methods on irregular Pareto fronts but also is able to achieve the same results as fixed-weight methods like MOEA/D on regular Pareto fronts.

cs.NE↗

arXiv2024

Beyond Static Evaluation: A Dynamic Approach to Assessing AI Assistants' API Invocation Capabilities

With the rise of Large Language Models (LLMs), AI assistants' ability to utilize tools, especially through API calls, has advanced notably. This progress has necessitated more accurate evaluation methods. Many existing studies adopt static evaluation, where they assess AI assistants' API call based on pre-defined dialogue histories. However, such evaluation method can be misleading, as an AI assistant might fail in generating API calls from preceding human interaction in real cases. Instead of the resource-intensive method of direct human-machine interactions, we propose Automated Dynamic Evaluation (AutoDE) to assess an assistant's API call capability without human involvement. In our framework, we endeavor to closely mirror genuine human conversation patterns in human-machine interactions, using a LLM-based user agent, equipped with a user script to ensure human alignment. Experimental results highlight that AutoDE uncovers errors overlooked by static evaluations, aligning more closely with human assessment. Testing four AI assistants using our crafted benchmark, our method further mirrored human evaluation compared to conventional static evaluations.

cs.CL↗

arXiv2023

Zero-shot Cross-lingual Transfer without Parallel Corpus

Recently, although pre-trained language models have achieved great success on multilingual NLP (Natural Language Processing) tasks, the lack of training data on many tasks in low-resource languages still limits their performance. One effective way of solving that problem is to transfer knowledge from rich-resource languages to low-resource languages. However, many previous works on cross-lingual transfer rely heavily on the parallel corpus or translation models, which are often difficult to obtain. We propose a novel approach to conduct zero-shot cross-lingual transfer with a pre-trained model. It consists of a Bilingual Task Fitting module that applies task-related bilingual information alignment; a self-training module generates pseudo soft and hard labels for unlabeled data and utilizes them to conduct self-training. We got the new SOTA on different tasks without any dependencies on the parallel corpus or translation models.

cs.CL↗

arXiv2022

Potential Technical Debt and Its Resolution in Code Reviews: An Exploratory Study of the OpenStack and Qt Communities

Technical Debt (TD) refers to the situation where developers make trade-offs to achieve short-term goals at the expense of long-term code quality, which can have a negative impact on the quality of software systems. In the context of code review, such sub-optimal implementations have chances to be timely resolved during the review process before the code is merged. Therefore, we could consider them as Potential Technical Debt (PTD) since PTD will evolve into TD when it is injected into software systems without being resolved. To date, little is known about the extent to which PTD is identified in code reviews. To this end, we conducted an exploratory study in an attempt to understand the nature of PTD in code reviews and track down the resolution of PTD after being identified. We randomly collected 2,030 review comments from the Nova project of OpenStack and the Qt Base project of Qt. We then manually checked these review comments, and obtained 163 PTD-related review comments for further analysis. Our results show that: (1) PTD can be identified in code reviews but is not prevalent. (2) Design, defect, documentation, requirement, test, and code PTD are identified in code reviews, in which code and documentation PTD are the dominant. (3) 81.0% of the PTD identified in code reviews has been resolved by developers, and 78.0% of the resolved TD was resolved by developers within a week. (4) Code refactoring is the main practice used by developers to resolve the PTD identified in code reviews. Our findings indicate that: (1) review-based detection of PTD is seen as one of the trustworthy mechanisms in development, and (2) there is still a significant proportion of PTD (19.0%) remaining unresolved when injected into the software systems. Practitioners and researchers should establish effective strategies to manage and resolve PTD in development.

cs.SE↗

arXiv2022

Code Smells Detection via Modern Code Review: A Study of the OpenStack and Qt Communities

Code review that detects and locates defects and other quality issues plays an important role in software quality control. One type of issue that may impact the quality of software is code smells. Yet, little is known about the extent to which code smells are identified during modern code review. To investigate the concept behind code smells identified in modern code review and what actions reviewers suggest and developers take in response to the identified smells, we conducted a study of code smells in code reviews by analyzing reviews from four large open source projects from the OpenStack (Nova and Neutron) and Qt (Qt Base and Qt Creator) communities. We manually checked a total of 25,415 code review comments obtained by keywords search and random selection, and identified 1,539 smell-related reviews. Our analysis found that 1) code smells were not commonly identified in code reviews, 2) smells were usually caused by violation of coding conventions, 3) reviewers usually provided constructive feedback, including fixing (refactoring) recommendations to help developers remove smells, 4) developers generally followed those recommendations and actioned the changes, 5) once identified by reviewers, it usually takes developers less than one week to fix the smells, and 6) the main reason why developers chose to ignore the identified smells is not worth fixing the smell. Our results suggest that: 1) developers should closely follow coding conventions in their projects to avoid introducing code smells, 2) review-based detection of code smells is perceived to be a trustworthy approach by developers, mainly because reviews are context-sensitive (as reviewers are more aware of the context of the code given that they are part of the project's development team), and 3) program context needs to be fully considered in order to make a decision of whether to fix the identified code smell immediately.

cs.SE↗

arXiv2021

Understanding Code Smell Detection via Code Review: A Study of the OpenStack Community

Code review plays an important role in software quality control. A typical review process would involve a careful check of a piece of code in an attempt to find defects and other quality issues/violations. One type of issues that may impact the quality of the software is code smells - i.e., bad programming practices that may lead to defects or maintenance issues. Yet, little is known about the extent to which code smells are identified during code reviews. To investigate the concept behind code smells identified in code reviews and what actions reviewers suggest and developers take in response to the identified smells, we conducted an empirical study of code smells in code reviews using the two most active OpenStack projects (Nova and Neutron). We manually checked 19,146 review comments obtained by keywords search and random selection, and got 1,190 smell-related reviews to study the causes of code smells and actions taken against the identified smells. Our analysis found that 1) code smells were not commonly identified in code reviews, 2) smells were usually caused by violation of coding conventions, 3) reviewers usually provided constructive feedback, including fixing (refactoring) recommendations to help developers remove smells, and 4) developers generally followed those recommendations and actioned the changes. Our results suggest that 1) developers should closely follow coding conventions in their projects to avoid introducing code smells, and 2) review-based detection of code smells is perceived to be a trustworthy approach by developers, mainly because reviews are context-sensitive (as reviewers are more aware of the context of the code given that they are part of the project's development team).

cs.SE↗

arXiv2019

Deep Representation Learning for Road Detection through Siamese Network

Robust road detection is a key challenge in safe autonomous driving. Recently, with the rapid development of 3D sensors, more and more researchers are trying to fuse information across different sensors to improve the performance of road detection. Although many successful works have been achieved in this field, methods for data fusion under deep learning framework is still an open problem. In this paper, we propose a Siamese deep neural network based on FCN-8s to detect road region. Our method uses data collected from a monocular color camera and a Velodyne-64 LiDAR sensor. We project the LiDAR point clouds onto the image plane to generate LiDAR images and feed them into one of the branches of the network. The RGB images are fed into another branch of our proposed network. The feature maps that these two branches extract in multiple scales are fused before each pooling layer, via padding additional fusion layers. Extensive experimental results on public dataset KITTI ROAD demonstrate the effectiveness of our proposed approach.

cs.CV↗