arXiv subjects

Xiaolong Wu

Publications and source records attributed to Xiaolong Wu.

At least 37 records · Page 2Linked to original sources

arXiv2025

Nav-$R^2$ Dual-Relation Reasoning for Generalizable Open-Vocabulary Object-Goal Navigation

Object-goal navigation in open-vocabulary settings requires agents to locate novel objects in unseen environments, yet existing approaches suffer from opaque decision-making processes and low success rate on locating unseen objects. To address these challenges, we propose Nav-$R^2$, a framework that explicitly models two critical types of relationships, target-environment modeling and environment-action planning, through structured Chain-of-Thought (CoT) reasoning coupled with a Similarity-Aware Memory. We construct a Nav$R^2$-CoT dataset that teaches the model to perceive the environment, focus on target-related objects in the surrounding context and finally make future action plans. Our SA-Mem preserves the most target-relevant and current observation-relevant features from both temporal and semantic perspectives by compressing video frames and fusing historical observations, while introducing no additional parameters. Compared to previous methods, Nav-R^2 achieves state-of-the-art performance in localizing unseen objects through a streamlined and efficient pipeline, avoiding overfitting to seen object categories while maintaining real-time inference at 2Hz. Resources will be made publicly available at \href{https://github.com/AMAP-EAI/Nav-R2}{github link}.

cs.CV↗

arXiv2025

Inverse Rendering for High-Genus Surface Meshes from Multi-View Images

We present a topology-informed inverse rendering approach for reconstructing high-genus surface meshes from multi-view images. Compared to 3D representations like voxels and point clouds, mesh-based representations are preferred as they enable the application of differential geometry theory and are optimized for modern graphics pipelines. However, existing inverse rendering methods often fail catastrophically on high-genus surfaces, leading to the loss of key topological features, and tend to oversmooth low-genus surfaces, resulting in the loss of surface details. This failure stems from their overreliance on Adam-based optimizers, which can lead to vanishing and exploding gradients. To overcome these challenges, we introduce an adaptive V-cycle remeshing scheme in conjunction with a re-parametrized Adam optimizer to enhance topological and geometric awareness. By periodically coarsening and refining the deforming mesh, our method informs mesh vertices of their current topology and geometry before optimization, mitigating gradient issues while preserving essential topological features. Additionally, we enforce topological consistency by constructing topological primitives with genus numbers that match those of ground truth using Gauss-Bonnet theorem. Experimental results demonstrate that our inverse rendering approach outperforms the current state-of-the-art method, achieving significant improvements in Chamfer Distance and Volume IoU, particularly for high-genus surfaces, while also enhancing surface details for low-genus surfaces.

cs.GR↗

arXiv2025

SpatialGeo:Boosting Spatial Reasoning in Multimodal LLMs via Geometry-Semantics Fusion

Multimodal large language models (MLLMs) have achieved significant progress in image and language tasks due to the strong reasoning capability of large language models (LLMs). Nevertheless, most MLLMs suffer from limited spatial reasoning ability to interpret and infer spatial arrangements in three-dimensional space. In this work, we propose a novel vision encoder based on hierarchical fusion of geometry and semantics features, generating spatial-aware visual embedding and boosting the spatial grounding capability of MLLMs. Specifically, we first unveil that the spatial ambiguity shortcoming stems from the lossy embedding of the vision encoder utilized in most existing MLLMs (e.g., CLIP), restricted to instance-level semantic features. This motivates us to complement CLIP with the geometry features from vision-only self-supervised learning via a hierarchical adapter, enhancing the spatial awareness in the proposed SpatialGeo. The network is efficiently trained using pretrained LLaVA model and optimized with random feature dropping to avoid trivial solutions relying solely on the CLIP encoder. Experimental results show that SpatialGeo improves the accuracy in spatial reasoning tasks, enhancing state-of-the-art models by at least 8.0% in SpatialRGPT-Bench with approximately 50% less memory cost during inference. The source code is available via https://ricky-plus.github.io/SpatialGeoPages/.

cs.CV↗

arXiv2025

CE-Nav: Flow-Guided Reinforcement Refinement for Cross-Embodiment Local Navigation

Generalizing local navigation policies across diverse robot morphologies is a critical challenge. Progress is often hindered by the need for costly and embodiment-specific data, the tight coupling of planning and control, and the "disastrous averaging" problem where deterministic models fail to capture multi-modal decisions (e.g., turning left or right). We introduce CE-Nav, a novel two-stage (IL-then-RL) framework that systematically decouples universal geometric reasoning from embodiment-specific dynamic adaptation. First, we train an embodiment-agnostic General Expert offline using imitation learning. This expert, a conditional normalizing flow model named VelFlow, learns the full distribution of kinematically-sound actions from a large-scale dataset generated by a classical planner, completely avoiding real robot data and resolving the multi-modality issue. Second, for a new robot, we freeze the expert and use it as a guiding prior to train a lightweight, Dynamics-Aware Refiner via online reinforcement learning. This refiner rapidly learns to compensate for the target robot's specific dynamics and controller imperfections with minimal environmental interaction. Extensive experiments on quadrupeds, bipeds, and quadrotors show that CE-Nav achieves state-of-the-art performance while drastically reducing adaptation cost. Successful real-world deployments further validate our approach as an efficient and scalable solution for building generalizable navigation systems. Code is available at https://github.com/amap-cvlab/CE-Nav.

cs.RO↗

arXiv2025

Towards Foundation Models for Cryo-ET Subtomogram Analysis

Cryo-electron tomography (cryo-ET) enables in situ visualization of macromolecular structures, where subtomogram analysis tasks such as classification, alignment, and averaging are critical for structural determination. However, effective analysis is hindered by scarce annotations, severe noise, and poor generalization. To address these challenges, we take the first step towards foundation models for cryo-ET subtomograms. First, we introduce CryoEngine, a large-scale synthetic data generator that produces over 904k subtomograms from 452 particle classes for pretraining. Second, we design an Adaptive Phase Tokenization-enhanced Vision Transformer (APT-ViT), which incorporates adaptive phase tokenization as an equivariance-enhancing module that improves robustness to both geometric and semantic variations. Third, we introduce a Noise-Resilient Contrastive Learning (NRCL) strategy to stabilize representation learning under severe noise conditions. Evaluations across 24 synthetic and real datasets demonstrate state-of-the-art (SOTA) performance on all three major subtomogram tasks and strong generalization to unseen datasets, advancing scalable and robust subtomogram analysis in cryo-ET.

cs.CV↗

arXiv2025

TextCAM: Explaining Class Activation Map with Text

Deep neural networks (DNNs) have achieved remarkable success across domains but remain difficult to interpret, limiting their trustworthiness in high-stakes applications. This paper focuses on deep vision models, for which a dominant line of explainability methods are Class Activation Mapping (CAM) and its variants working by highlighting spatial regions that drive predictions. We figure out that CAM provides little semantic insight into what attributes underlie these activations. To address this limitation, we propose TextCAM, a novel explanation framework that enriches CAM with natural languages. TextCAM combines the precise spatial localization of CAM with the semantic alignment of vision-language models (VLMs). Specifically, we derive channel-level semantic representations using CLIP embeddings and linear discriminant analysis, and aggregate them with CAM weights to produce textual descriptions of salient visual evidence. This yields explanations that jointly specify where the model attends and what visual attributes likely support its decision. We further extend TextCAM to generate feature channels into semantically coherent groups, enabling more fine-grained visual-textual explanations. Experiments on ImageNet, CLEVR, and CUB demonstrate that TextCAM produces faithful and interpretable rationales that improve human understanding, detect spurious correlations, and preserve model fidelity.

cs.CV↗

arXiv2024

Advanced POD-Based Performance Evaluation of Classifiers Applied to Human Driver Lane Changing Prediction

Machine learning (ML) classifiers serve as essential tools facilitating classification and prediction across various domains. The performance of these algorithms should be known to ensure their reliable application. In certain fields, receiver operating characteristic and precision-recall curves are frequently employed to assess machine learning algorithms without accounting for the impact of process parameters. However, it may be essential to evaluate the performance of these algorithms in relation to such parameters. As a performance evaluation metric capable of considering the effects of process parameters, this paper uses a modified probability of detection (POD) approach to assess the reliability of ML-based algorithms. As an example, the POD-based approach is employed to assess ML models used for predicting the lane changing behavior of a vehicle driver. The time remaining to the predicted (and therefore unknown) lane changing event is considered as process parameter. The hit/miss approach to POD is taken here and modified by considering the probability of lane changing derived from ML algorithms at each time step, and obtaining the final result of the analysis accordingly. This improves the reliability of results compared to the standard hit/miss approach, which considers the outcome of the classifiers as either 0 or 1, while also simplifying evaluation compared to the â versus a approach. Performance evaluation results of the proposed approach are compared with those obtained with the standard hit/miss approach and a pre-developed â versus a approach to validate the effectiveness of the proposed method. The comparison shows that this method provides an averaging conservative behavior with the advantage of enhancing the reliability of the hit/miss approach to POD while retaining its simplicity.

eess.SY↗

arXiv2024

NC-SDF: Enhancing Indoor Scene Reconstruction Using Neural SDFs with View-Dependent Normal Compensation

State-of-the-art neural implicit surface representations have achieved impressive results in indoor scene reconstruction by incorporating monocular geometric priors as additional supervision. However, we have observed that multi-view inconsistency between such priors poses a challenge for high-quality reconstructions. In response, we present NC-SDF, a neural signed distance field (SDF) 3D reconstruction framework with view-dependent normal compensation (NC). Specifically, we integrate view-dependent biases in monocular normal priors into the neural implicit representation of the scene. By adaptively learning and correcting the biases, our NC-SDF effectively mitigates the adverse impact of inconsistent supervision, enhancing both the global consistency and local details in the reconstructions. To further refine the details, we introduce an informative pixel sampling strategy to pay more attention to intricate geometry with higher information content. Additionally, we design a hybrid geometry modeling approach to improve the neural implicit representation. Experiments on synthetic and real-world datasets demonstrate that NC-SDF outperforms existing approaches in terms of reconstruction quality.

cs.CV↗

arXiv2024

Neural Super-Resolution for Real-time Rendering with Radiance Demodulation

It is time-consuming to render high-resolution images in applications such as video games and virtual reality, and thus super-resolution technologies become increasingly popular for real-time rendering. However, it is challenging to preserve sharp texture details, keep the temporal stability and avoid the ghosting artifacts in real-time super-resolution rendering. To address this issue, we introduce radiance demodulation to separate the rendered image or radiance into a lighting component and a material component, considering the fact that the light component is smoother than the rendered image so that the high-resolution material component with detailed textures can be easily obtained. We perform the super-resolution on the lighting component only and re-modulate it with the high-resolution material component to obtain the final super-resolution image with more texture details. A reliable warping module is proposed by explicitly marking the occluded regions to avoid the ghosting artifacts. To further enhance the temporal stability, we design a frame-recurrent neural network and a temporal loss to aggregate the previous and current frames, which can better capture the spatial-temporal consistency among reconstructed frames. As a result, our method is able to produce temporally stable results in real-time rendering with high-quality details, even in the challenging 4 $\times$ 4 super-resolution scenarios.

cs.GR↗

arXiv2024

Wikiformer: Pre-training with Structured Information of Wikipedia for Ad-hoc Retrieval

With the development of deep learning and natural language processing techniques, pre-trained language models have been widely used to solve information retrieval (IR) problems. Benefiting from the pre-training and fine-tuning paradigm, these models achieve state-of-the-art performance. In previous works, plain texts in Wikipedia have been widely used in the pre-training stage. However, the rich structured information in Wikipedia, such as the titles, abstracts, hierarchical heading (multi-level title) structure, relationship between articles, references, hyperlink structures, and the writing organizations, has not been fully explored. In this paper, we devise four pre-training objectives tailored for IR tasks based on the structured knowledge of Wikipedia. Compared to existing pre-training methods, our approach can better capture the semantic knowledge in the training corpus by leveraging the human-edited structured data from Wikipedia. Experimental results on multiple IR benchmark datasets show the superior performance of our model in both zero-shot and fine-tuning settings compared to existing strong retrieval baselines. Besides, experimental results in biomedical and legal domains demonstrate that our approach achieves better performance in vertical domains compared to previous models, especially in scenarios where long text similarity matching is needed.

cs.IR↗

arXiv2023

SSP: Self-Supervised Post-training for Conversational Search

Conversational search has been regarded as the next-generation search paradigm. Constrained by data scarcity, most existing methods distill the well-trained ad-hoc retriever to the conversational retriever. However, these methods, which usually initialize parameters by query reformulation to discover contextualized dependency, have trouble in understanding the dialogue structure information and struggle with contextual semantic vanishing. In this paper, we propose \fullmodel (\model) which is a new post-training paradigm with three self-supervised tasks to efficiently initialize the conversational search model to enhance the dialogue structure and contextual semantic understanding. Furthermore, the \model can be plugged into most of the existing conversational models to boost their performance. To verify the effectiveness of our proposed method, we apply the conversational encoder post-trained by \model on the conversational search task using two benchmark datasets: CAsT-19 and CAsT-20. Extensive experiments that our \model can boost the performance of several existing conversational search methods. Our source code is available at \url{https://github.com/morecry/SSP}.

cs.CL↗

arXiv2023

Output Voltage Response Improvement and Ripple Reduction Control for Input-parallel Output-parallel High-Power DC Supply

A three-phase isolated AC-DC-DC power supply is widely used in the industrial field due to its attractive features such as high-power density, modularity for easy expansion and electrical isolation. In high-power application scenarios, it can be realized by multiple AC-DC-DC modules with Input-Parallel Output-Parallel (IPOP) mode. However, it has the problems of slow output voltage response and large ripple in some special applications, such as electrophoresis and electroplating. This paper investigates an improved Adaptive Linear Active Disturbance Rejection Control (A-LADRC) with flexible adjustment capability of the bandwidth parameter value for the high-power DC supply to improve the output voltage response speed. To reduce the DC supply ripple, a control strategy is designed for a single module to adaptively adjust the duty cycle compensation according to the output feedback value. When multiple modules are connected in parallel, a Hierarchical Delay Current Sharing Control (HDCSC) strategy for centralized controllers is proposed to make the peaks and valleys of different modules offset each other. Finally, the proposed method is verified by designing a 42V/12000A high-power DC supply, and the results demonstrate that the proposed method is effective in improving the system output voltage response speed and reducing the voltage ripple, which has significant practical engineering application value.

eess.SY↗

arXiv2022

Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention.

cs.RO↗

arXiv2021

On zeros of the Riemann zeta function

This paper shows that, in the critical strip, the Riemann zeta function $ζ(s)$ have the same set of zeros as $F(s):=\int_0^\infty t^{s-1}(e^t+1)^{-1}dt$, and then discusses the behavior of $F(s)$.

math.GM↗

arXiv2020

On the Least counterexample to Robin hypothesis

Let $G(n)=σ(n)/(n \log \log n )$. Robin made hypothesis that $G(n) 5040$. If Robin hypothesis fails, there will be a least counterexample. This article collects the requirements the least counterexample should satisfy.

math.NT↗

arXiv2020

Robust Monocular Edge Visual Odometry through Coarse-to-Fine Data Association

In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge mapping. In the front-end, an ICP-based edge registration can provide robust motion estimation and coarse data association under lighting changes. In the back-end, a novel edge-guided data association pipeline searches for the best photometrically matched points along geometrically possible edges through template matching, so that the matches can be further refined in later bundle adjustment. The core of our proposed data association strategy lies in a point-to-edge geometric uncertainty analysis, which analytically derives (1) the probabilistic search length formula that significantly reduces the search space for system speed-up and (2) the geometrical confidence metric for mapping degradation detection based on the predicted depth uncertainty. Moreover, match confidence based patch size adaption strategy is integrated into our pipeline, connecting with other components, to reduce the matching ambiguity. We present extensive analysis and evaluation of our proposed system on synthetic and real-world benchmark datasets under the influence of illumination changes and large camera motions, where our proposed system outperforms current state-of-art algorithms.

cs.RO↗

arXiv2020

A Parallel Sparse Tensor Benchmark Suite on CPUs and GPUs

Tensor computations present significant performance challenges that impact a wide spectrum of applications ranging from machine learning, healthcare analytics, social network analysis, data mining to quantum chemistry and signal processing. Efforts to improve the performance of tensor computations include exploring data layout, execution scheduling, and parallelism in common tensor kernels. This work presents a benchmark suite for arbitrary-order sparse tensor kernels using state-of-the-art tensor formats: coordinate (COO) and hierarchical coordinate (HiCOO) on CPUs and GPUs. It presents a set of reference tensor kernel implementations that are compatible with real-world tensors and power law tensors extended from synthetic graph generation techniques. We also propose Roofline performance models for these kernels to provide insights of computer platforms from sparse tensor view.

cs.DC↗

arXiv2019

A New Type of Abundant Numbers

This article defines a new type of abundant numbers, called largest rho-value (abbreviate LR) numbers, and then shows that Robin hypothesis is true if and only if all LR numbers $>5040$ satisfy Robin inequality.

math.NT↗