arXiv subjects

Xiaoqing Guan

Publications and source records attributed to Xiaoqing Guan.

8 recordsLinked to original sources

arXiv2026

SoftNav: Injecting 3D Scene Tokens into VLMs for Embodied Navigation

In goal-directed embodied navigation, where an agent must locate a specified target in an unseen environment, 3D scene understanding and navigation reasoning must work in concert. Current approaches transmit 3D scene information to vision-language models (VLMs) through text, suggesting a representation gap in our tested configurations; a controlled ablation confirms that direct embedding-level transfer significantly outperforms the evaluated text serialization formats. We introduce SoftNav, which injects entity-level 3D continuous representations -- one token per detected object or frontier -- into a VLM's hidden space as soft tokens through a lightweight projector. With the 3D encoder and VLM frozen, only ~1,200 samples and ~17M trainable parameters are needed. On HM3D-OVON, SoftNav achieves 74.2%/68.3%/66.7% SR across three splits, surpassing all prior methods in both SR and SPL; the same navigation policy transfers zero-shot to GOAT-Bench (67.2% SR), SG3D (47.2% s-SR), and real-world robot deployment without retraining or architectural modification. Injecting 3D scene tokens directly into VLMs bridges the representation gap, enabling transferable navigation with minimal training.

cs.RO↗

arXiv2026

NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation

End-to-end diffusion-based policies have demonstrated strong performance in mapless visual navigation, but their iterative denoising process introduces substantial inference latency, while behavior cloning limits performance to the quality of expert demonstrations. We present NavCMPO, a two-stage adaptive navigation framework that combines few-step MeanFlow trajectory generation, critic-guided refinement, and reinforcement learning fine-tuning. During pre-training, an obstacle proximity prediction task encourages the visual representation to capture obstacle-aware spatial information. To compensate for the degradation in obstacle avoidance caused by few-step generation, Critic-Guided Trajectory Refinement (CGTR) uses gradients from a critic trained with obstacle-point-cloud supervision to refine intermediate trajectories. During adaptation, the MeanFlow policy is fine-tuned using Proximal Policy Optimization with behavior-cloning regularization, while the critic is updated to accommodate embodiment-specific observation changes. Under a matched training budget on the InternVLA-N1 benchmark, NavCMPO achieves an average success rate of 74.7\%, exceeding the retrained NavDP baseline by 6.4 percentage points, while reducing inference latency from 85\,ms to 60\,ms. Experiments on a Unitree Go2 further demonstrate effective sim-to-real transfer.

cs.RO↗

arXiv2023

An MPC-based Optimal Motion Control Framework for Pendulum-driven Spherical Robots

Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only ensure accurate tracking of the target commands, but also minimize fluctuations in the robot's attitude and motors' current while tracking. In this paper, model predictive control (MPC) is applied to the control of spherical robots and an MPC-based motion control framework is designed. There are two controllers in the framework, an optimal velocity controller ESO-MPC which combines extend states observers (ESO) and MPC, and an optimal orientation controller that uses multilayer perceptron (MLP) to generate accurate trajectories and MPC with changing weights to achieve optimal control. Finally, the performance of individual controllers and the whole control framework are verified by physical experiments. The experimental results show that the MPC-based motion control framework proposed in this work is much better than PID in terms of rapidity and accuracy, and has great advantages over sliding mode controller (SMC) for overshoot, attitude stability, current stability and energy consumption.

cs.RO↗

arXiv2023

Adaptive Model Prediction Control-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots

Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple terrains, especially uneven and unknown ones. Since this is a prerequisite for robots to execute tasks in the wild, we enhance our previous hierarchical trajectory tracking framework to handle this issue. First, a modified adaptive RBF neural network (RBFNN) is proposed to represent all uncertainties in kinodynamics. Then the Lyapunov function is utilized to design its adaptive law, and a variable step-size algorithm is employed in the weights update procedure to accelerate convergence and improve stability. Hence, a new adaptive model prediction control-based instruction planner (VAN-MPC) is proposed. Without modifying the bottom controllers, we finally develop the multi-terrain trajectory tracking framework by employing the new instruction planner VAN-MPC. The practical experiments demonstrate its effectiveness and robustness.

cs.RO↗

arXiv2022

Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller MPC, and a trajectory tracking framework MHH. The HTSMC is designed by integrating a fast terminal algorithm, a hierarchical method, the motion features of a spherical robot, and its dynamics. In addition, the new direction controller has an excellent control effect with a quick response speed and strong stability. MPC can obtain optimal commands that are then transmitted to the velocity and direction controller. Since the two torque controllers in MHH are all Lyapunov-based sliding mode controllers, the MHH framework may achieve optimal control performance while assuring stability. Finally, the two controllers eliminate the requirement for MPC's stability and dynamic constraints. Finally, hardware experiments demonstrate the efficacy of the HTSMC, MPC, and MHH.

cs.RO↗

arXiv2021

CPSC: Conformal prediction with shrunken centroids for efficient prediction reliability quantification and data augmentation, a case in alternative herbal medicine classification with electronic nose

In machine learning applications, the reliability of predictions is significant for assisted decision and risk control. As an effective framework to quantify the prediction reliability, conformal prediction (CP) was developed with the CPKNN (CP with kNN). However, the conventional CPKNN suffers from high variance and bias and long computational time as the feature dimensionality increases. To address these limitations, a new CP framework-conformal prediction with shrunken centroids (CPSC) is proposed. It regularizes the class centroids to attenuate the irrelevant features and shrink the sample space for predictions and reliability quantification. To compare CPKNN and CPSC, we employed them in the classification of 12 categories of alternative herbal medicine with electronic nose as a case and assessed them in two tasks: 1) offline prediction: the training set was fixed and the accuracy on the testing set was evaluated; 2) online prediction with data augmentation: they filtered unlabeled data to augment the training data based on the prediction reliability and the final accuracy of testing set was compared. The result shows that CPSC significantly outperformed CPKNN in both two tasks: 1) CPSC reached a significantly higher accuracy with lower computation cost, and with the same credibility output, CPSC generally achieves a higher accuracy; 2) the data augmentation process with CPSC robustly manifested a statistically significant improvement in prediction accuracy with different reliability thresholds, and the augmented data were more balanced in classes. This novel CPSC provides higher prediction accuracy and better reliability quantification, which can be a reliable assistance in decision support.

q-bio.QM↗

arXiv2021

Classifying herbal medicine origins by temporal and spectral data mining of electronic nose

The origins of herbal medicines are important for their treatment effect, which could be potentially distinguished by electronic nose system. As the odor fingerprint of herbal medicines from different origins can be tiny, the discrimination of origins can be much harder than that of different categories. Better feature extraction methods are significant for this task to be more accurately done, but there lacks systematic studies on different feature extraction methods. In this study, we classified different origins of three categories of herbal medicines with different feature extraction methods: manual feature extraction, mathematical transformation, deep learning algorithms. With 50 repetitive experiments with bootstrapping, we compared the effectiveness of the extractions with a two-layer neural network w/o dimensionality reduction methods (principal component analysis, linear discriminant analysis) as the three base classifiers. Compared with the conventional aggregated features, the Fast Fourier Transform method and our novel approach (longitudinal-information-in-a-line) showed an significant accuracy improvement(p < 0.05) on all 3 base classifiers and all three herbal medicine categories. Two of the deep learning algorithm we applied also showed partially significant improvement: one-dimensional convolution neural network(1D-CNN) and a novel graph pooling based framework - multivariate time pooling(MTPool).

q-bio.QM↗

arXiv2021

Boost AI Power: Data Augmentation Strategies with unlabelled Data and Conformal Prediction, a Case in Alternative Herbal Medicine Discrimination with Electronic Nose

Electronic nose has been proven to be effective in alternative herbal medicine classification, but due to the nature of supervised learning, previous research heavily relies on the labelled training data, which are time-costly and labor-intensive to collect. To alleviate the critical dependency on the training data in real-world applications, this study aims to improve classification accuracy via data augmentation strategies. The effectiveness of five data augmentation strategies under different training data inadequacy are investigated in two scenarios: the noise-free scenario where different availabilities of unlabelled data were considered, and the noisy scenario where different levels of Gaussian noises and translational shifts were added to represent sensor drifts. The five augmentation strategies, namely noise-adding data augmentation, semi-supervised learning, classifier-based online learning, Inductive Conformal Prediction (ICP) online learning and our novel ensemble ICP online learning proposed in this study, are experimented and compared against supervised learning baseline, with Linear Discriminant Analysis (LDA) and Support Vector Machine (SVM) as the classifiers. Our novel strategy, ensemble ICP online learning, outperforms the others by showing non-decreasing classification accuracy on all tasks and a significant improvement on most simulated tasks (25out of 36 tasks,p<=0.05). Furthermore, this study provides a systematic analysis of different augmentation strategies. It shows at least one strategy significantly improved the classification accuracy with LDA (p<=0.05) and non-decreasing classification accuracy with SVM in each task. In particular, our proposed strategy demonstrated both effectiveness and robustness in boosting the classification model generalizability, which can be employed in other machine learning applications.

cs.LG↗