arXiv subjects

Xiaoshuai Hao

Publications and source records attributed to Xiaoshuai Hao.

At least 55 records · Page 3Linked to original sources

arXiv2025

Is your VLM Sky-Ready? A Comprehensive Spatial Intelligence Benchmark for UAV Navigation

Vision-Language Models (VLMs), leveraging their powerful visual perception and reasoning capabilities, have been widely applied in Unmanned Aerial Vehicle (UAV) tasks. However, the spatial intelligence capabilities of existing VLMs in UAV scenarios remain largely unexplored, raising concerns about their effectiveness in navigating and interpreting dynamic environments. To bridge this gap, we introduce SpatialSky-Bench, a comprehensive benchmark specifically designed to evaluate the spatial intelligence capabilities of VLMs in UAV navigation. Our benchmark comprises two categories-Environmental Perception and Scene Understanding-divided into 13 subcategories, including bounding boxes, color, distance, height, and landing safety analysis, among others. Extensive evaluations of various mainstream open-source and closed-source VLMs reveal unsatisfactory performance in complex UAV navigation scenarios, highlighting significant gaps in their spatial capabilities. To address this challenge, we developed the SpatialSky-Dataset, a comprehensive dataset containing 1M samples with diverse annotations across various scenarios. Leveraging this dataset, we introduce Sky-VLM, a specialized VLM designed for UAV spatial reasoning across multiple granularities and contexts. Extensive experimental results demonstrate that Sky-VLM achieves state-of-the-art performance across all benchmark tasks, paving the way for the development of VLMs suitable for UAV scenarios. The source code is available at https://github.com/linglingxiansen/SpatialSKy.

cs.CV↗

arXiv2025

RoboAfford++: A Generative AI-Enhanced Dataset for Multimodal Affordance Learning in Robotic Manipulation and Navigation

Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment, including object recognition to localize target objects, object affordances to identify potential interaction areas and spatial affordances to discern optimal areas for both object placement and robot movement. While Vision-Language Models (VLMs) excel at high-level task planning and scene understanding, they often struggle to infer actionable positions for physical interaction, such as functional grasping points and permissible placement regions. This limitation stems from the lack of fine-grained annotations for object and spatial affordances in their training datasets. To tackle this challenge, we introduce RoboAfford++, a generative AI-enhanced dataset for multimodal affordance learning for both robotic manipulation and navigation. Our dataset comprises 869,987 images paired with 2.0 million question answering (QA) annotations, covering three critical tasks: object affordance recognition to identify target objects based on attributes and spatial relationships, object affordance prediction to pinpoint functional parts for manipulation, and spatial affordance localization to identify free space for object placement and robot navigation. Complementing this dataset, we propose RoboAfford-Eval, a comprehensive benchmark for assessing affordance-aware prediction in real-world scenarios, featuring 338 meticulously annotated samples across the same three tasks. Extensive experimental results reveal the deficiencies of existing VLMs in affordance learning, while fine-tuning on the RoboAfford++ dataset significantly enhances their ability to reason about object and spatial affordances, validating the dataset's effectiveness.

cs.RO↗

arXiv2025

M3-Net: A Cost-Effective Graph-Free MLP-Based Model for Traffic Prediction

Achieving accurate traffic prediction is a fundamental but crucial task in the development of current intelligent transportation systems.Most of the mainstream methods that have made breakthroughs in traffic prediction rely on spatio-temporal graph neural networks, spatio-temporal attention mechanisms, etc. The main challenges of the existing deep learning approaches are that they either depend on a complete traffic network structure or require intricate model designs to capture complex spatio-temporal dependencies. These limitations pose significant challenges for the efficient deployment and operation of deep learning models on large-scale datasets. To address these challenges, we propose a cost-effective graph-free Multilayer Perceptron (MLP) based model M3-Net for traffic prediction. Our proposed model not only employs time series and spatio-temporal embeddings for efficient feature processing but also first introduces a novel MLP-Mixer architecture with a mixture of experts (MoE) mechanism. Extensive experiments conducted on multiple real datasets demonstrate the superiority of the proposed model in terms of prediction performance and lightweight deployment.Our code is available at https://github.com/jinguangyin/M3_NET

cs.LG↗

arXiv2025

What Foundation Models can Bring for Robot Learning in Manipulation : A Survey

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different tasks. The learning-based approach is considered an effective way to address generalization. The impressive performance of foundation models in the fields of computer vision and natural language suggests the potential of embedding foundation models into manipulation tasks as a viable path toward achieving general manipulation capability. However, we believe achieving general manipulation capability requires an overarching framework akin to auto driving. This framework should encompass multiple functional modules, with different foundation models assuming distinct roles in facilitating general manipulation capability. This survey focuses on the contributions of foundation models to robot learning for manipulation. We propose a comprehensive framework and detail how foundation models can address challenges in each module of the framework. What's more, we examine current approaches, outline challenges, suggest future research directions, and identify potential risks associated with integrating foundation models into this domain.

cs.RO↗

arXiv2025

Learning to Navigate Socially Through Proactive Risk Perception

In this report, we describe the technical details of our submission to the IROS 2025 RoboSense Challenge Social Navigation Track. This track focuses on developing RGBD-based perception and navigation systems that enable autonomous agents to navigate safely, efficiently, and socially compliantly in dynamic human-populated indoor environments. The challenge requires agents to operate from an egocentric perspective using only onboard sensors including RGB-D observations and odometry, without access to global maps or privileged information, while maintaining social norm compliance such as safe distances and collision avoidance. Building upon the Falcon model, we introduce a Proactive Risk Perception Module to enhance social navigation performance. Our approach augments Falcon with collision risk understanding that learns to predict distance-based collision risk scores for surrounding humans, which enables the agent to develop more robust spatial awareness and proactive collision avoidance behaviors. The evaluation on the Social-HM3D benchmark demonstrates that our method improves the agent's ability to maintain personal space compliance while navigating toward goals in crowded indoor scenes with dynamic human agents, achieving 2nd place among 16 participating teams in the challenge.

cs.RO↗

arXiv2025

Team Xiaomi EV-AD VLA: Caption-Guided Retrieval System for Cross-Modal Drone Navigation -- Technical Report for IROS 2025 RoboSense Challenge Track 4

Cross-modal drone navigation remains a challenging task in robotics, requiring efficient retrieval of relevant images from large-scale databases based on natural language descriptions. The RoboSense 2025 Track 4 challenge addresses this challenge, focusing on robust, natural language-guided cross-view image retrieval across multiple platforms (drones, satellites, and ground cameras). Current baseline methods, while effective for initial retrieval, often struggle to achieve fine-grained semantic matching between text queries and visual content, especially in complex aerial scenes. To address this challenge, we propose a two-stage retrieval refinement method: Caption-Guided Retrieval System (CGRS) that enhances the baseline coarse ranking through intelligent reranking. Our method first leverages a baseline model to obtain an initial coarse ranking of the top 20 most relevant images for each query. We then use Vision-Language-Model (VLM) to generate detailed captions for these candidate images, capturing rich semantic descriptions of their visual content. These generated captions are then used in a multimodal similarity computation framework to perform fine-grained reranking of the original text query, effectively building a semantic bridge between the visual content and natural language descriptions. Our approach significantly improves upon the baseline, achieving a consistent 5\% improvement across all key metrics (Recall@1, Recall@5, and Recall@10). Our approach win TOP-2 in the challenge, demonstrating the practical value of our semantic refinement strategy in real-world robotic navigation scenarios.

cs.RO↗

arXiv2025

Exploring Typographic Visual Prompts Injection Threats in Cross-Modality Generation Models

Current Cross-Modality Generation Models (GMs) demonstrate remarkable capabilities in various generative tasks. Given the ubiquity and information richness of vision modality inputs in real-world scenarios, Cross-Vision tasks, encompassing Vision-Language Perception (VLP) and Image-to-Image (I2I), have attracted significant attention. Large Vision Language Models (LVLMs) and I2I Generation Models (GMs) are employed to handle VLP and I2I tasks, respectively. Previous research indicates that printing typographic words into input images significantly induces LVLMs and I2I GMs to produce disruptive outputs that are semantically aligned with those words. Additionally, visual prompts, as a more sophisticated form of typography, are also revealed to pose security risks to various applications of cross-vision tasks. However, the specific characteristics of the threats posed by visual prompts remain underexplored. In this paper, to comprehensively investigate the performance impact induced by Typographic Visual Prompt Injection (TVPI) in various LVLMs and I2I GMs, we propose the Typographic Visual Prompts Injection Dataset and thoroughly evaluate the TVPI security risks on various open-source and closed-source LVLMs and I2I GMs under visual prompts with different target semantics, deepening the understanding of TVPI threats.

cs.CV↗

arXiv2025

RoboOS-NeXT: A Unified Memory-based Framework for Lifelong, Scalable, and Robust Multi-Robot Collaboration

The proliferation of collaborative robots across diverse tasks and embodiments presents a central challenge: achieving lifelong adaptability, scalable coordination, and robust scheduling in multi-agent systems. Existing approaches, from vision-language-action (VLA) models to hierarchical frameworks, fall short due to their reliance on limited or dividual-agent memory. This fundamentally constrains their ability to learn over long horizons, scale to heterogeneous teams, or recover from failures, highlighting the need for a unified memory representation. To address these limitations, we introduce RoboOS-NeXT, a unified memory-based framework for lifelong, scalable, and robust multi-robot collaboration. At the core of RoboOS-NeXT is the novel Spatio-Temporal-Embodiment Memory (STEM), which integrates spatial scene geometry, temporal event history, and embodiment profiles into a shared representation. This memory-centric design is integrated into a brain-cerebellum framework, where a high-level brain model performs global planning by retrieving and updating STEM, while low-level controllers execute actions locally. This closed loop between cognition, memory, and execution enables dynamic task allocation, fault-tolerant collaboration, and consistent state synchronization. We conduct extensive experiments spanning complex coordination tasks in restaurants, supermarkets, and households. Our results demonstrate that RoboOS-NeXT achieves superior performance across heterogeneous embodiments, validating its effectiveness in enabling lifelong, scalable, and robust multi-robot collaboration. Project website: https://flagopen.github.io/RoboOS/

cs.RO↗

arXiv2025

From Perception to Cognition: A Survey of Vision-Language Interactive Reasoning in Multimodal Large Language Models

Multimodal Large Language Models (MLLMs) strive to achieve a profound, human-like understanding of and interaction with the physical world, but often exhibit a shallow and incoherent integration when acquiring information (Perception) and conducting reasoning (Cognition). This disconnect leads to a spectrum of reasoning failures, with hallucination being the most prominent. Collectively, these issues expose a fundamental challenge: the ability to process pixels does not yet confer the ability to construct a coherent, credible internal world model. To systematically dissect and address this challenge, this survey introduces a novel and unified analytical framework: ``From Perception to Cognition." We deconstruct the complex process of vision-language interactive understanding into two interdependent layers: Perception, the foundational ability to accurately extract visual information and achieve fine-grained alignment with textual instructions; and Cognition, the higher-order capability for proactive, multi-step, goal-oriented reasoning built upon this perceptual foundation, the core of which is the formation of a dynamic observe-think-verify reasoning loop. Guided by this framework, this paper systematically analyzes the key bottlenecks of current MLLMs at both layers. It surveys the landscape of cutting-edge methods designed to address these challenges, spanning from techniques that enhance low-level visual representations to those that improve high-level reasoning paradigms. Furthermore, we review critical benchmarks and delineate future research directions. This survey aims to provide the research community with a clear, structured perspective for understanding the intrinsic limitations of current MLLMs and to illuminate the path toward building next-generation models capable of deep reasoning and a genuine understanding of the world.

cs.AI↗

arXiv2025

Stability Under Scrutiny: Benchmarking Representation Paradigms for Online HD Mapping

As one of the fundamental modules in autonomous driving, online high-definition (HD) maps have attracted significant attention due to their cost-effectiveness and real-time capabilities. Since vehicles always cruise in highly dynamic environments, spatial displacement of onboard sensors inevitably causes shifts in real-time HD mapping results, and such instability poses fundamental challenges for downstream tasks. However, existing online map construction models tend to prioritize improving each frame's mapping accuracy, while the mapping stability has not yet been systematically studied. To fill this gap, this paper presents the first comprehensive benchmark for evaluating the temporal stability of online HD mapping models. We propose a multi-dimensional stability evaluation framework with novel metrics for Presence, Localization, and Shape Stability, integrated into a unified mean Average Stability (mAS) score. Extensive experiments on 42 models and variants show that accuracy (mAP) and stability (mAS) represent largely independent performance dimensions. We further analyze the impact of key model design choices on both criteria, identifying architectural and training factors that contribute to high accuracy, high stability, or both. To encourage broader focus on stability, we will release a public benchmark. Our work highlights the importance of treating temporal stability as a core evaluation criterion alongside accuracy, advancing the development of more reliable autonomous driving systems. The benchmark toolkit, code, and models will be available at https://stablehdmap.github.io/.

cs.CV↗

arXiv2025

Reason-RFT: Reinforcement Fine-Tuning for Visual Reasoning of Vision Language Models

Visual reasoning abilities play a crucial role in understanding complex multimodal data, advancing both domain-specific applications and artificial general intelligence (AGI). Existing methods enhance Vision-Language Models (VLMs) through Chain-of-Thought (CoT) supervised fine-tuning using meticulously annotated data. However, this approach may lead to overfitting and cognitive rigidity, limiting the model's generalization ability under domain shifts and reducing real-world applicability. To overcome these limitations, we propose Reason-RFT, a two-stage reinforcement fine-tuning framework for visual reasoning. First, Supervised Fine-Tuning (SFT) with curated CoT data activates the reasoning potential of VLMs. This is followed by reinforcement learning based on Group Relative Policy Optimization (GRPO), which generates multiple reasoning-response pairs to enhance adaptability to domain shifts. To evaluate Reason-RFT, we reconstructed a comprehensive dataset covering visual counting, structural perception, and spatial transformation, serving as a benchmark for systematic assessment across three key dimensions. Experimental results highlight three advantages: (1) performance enhancement, with Reason-RFT achieving state-of-the-art results and outperforming both open-source and proprietary models; (2) generalization superiority, maintaining robust performance under domain shifts across various tasks; and (3) data efficiency, excelling in few-shot learning scenarios and surpassing full-dataset SFT baselines. Reason-RFT introduces a novel training paradigm for visual reasoning and marks a significant step forward in multimodal research. Project website: https://tanhuajie.github.io/ReasonRFT

cs.CV↗

arXiv2025

SSTAG: Structure-Aware Self-Supervised Learning Method for Text-Attributed Graphs

Large scale pretrained models have revolutionized Natural Language Processing (NLP) and Computer Vision (CV), showcasing remarkable cross domain generalization abilities. However, in graph learning, models are typically trained on individual graph datasets, limiting their capacity to transfer knowledge across different graphs and tasks. This approach also heavily relies on large volumes of annotated data, which presents a significant challenge in resource-constrained settings. Unlike NLP and CV, graph structured data presents unique challenges due to its inherent heterogeneity, including domain specific feature spaces and structural diversity across various applications. To address these challenges, we propose a novel structure aware self supervised learning method for Text Attributed Graphs (SSTAG). By leveraging text as a unified representation medium for graph learning, SSTAG bridges the gap between the semantic reasoning of Large Language Models (LLMs) and the structural modeling capabilities of Graph Neural Networks (GNNs). Our approach introduces a dual knowledge distillation framework that co-distills both LLMs and GNNs into structure-aware multilayer perceptrons (MLPs), enhancing the scalability of large-scale TAGs. Additionally, we introduce an in-memory mechanism that stores typical graph representations, aligning them with memory anchors in an in-memory repository to integrate invariant knowledge, thereby improving the model's generalization ability. Extensive experiments demonstrate that SSTAG outperforms state-of-the-art models on cross-domain transfer learning tasks, achieves exceptional scalability, and reduces inference costs while maintaining competitive performance.

cs.CL↗

arXiv2025

RoboBrain 2.0 Technical Report

We introduce RoboBrain 2.0, our latest generation of embodied vision-language foundation models, designed to unify perception, reasoning, and planning for complex embodied tasks in physical environments. It comes in two variants: a lightweight 7B model and a full-scale 32B model, featuring a heterogeneous architecture with a vision encoder and a language model. Despite its compact size, RoboBrain 2.0 achieves strong performance across a wide spectrum of embodied reasoning tasks. On both spatial and temporal benchmarks, the 32B variant achieves leading results, surpassing prior open-source and proprietary models. In particular, it supports key real-world embodied AI capabilities, including spatial understanding (e.g., affordance prediction, spatial referring, trajectory forecasting) and temporal decision-making (e.g., closed-loop interaction, multi-agent long-horizon planning, and scene graph updating). This report details the model architecture, data construction, multi-stage training strategies, infrastructure and practical applications. We hope RoboBrain 2.0 advances embodied AI research and serves as a practical step toward building generalist embodied agents. The code, checkpoint and benchmark are available at https://superrobobrain.github.io.

cs.RO↗

arXiv2025

Affine Modulation-based Audiogram Fusion Network for Joint Noise Reduction and Hearing Loss Compensation

Hearing aids (HAs) are widely used to provide personalized speech enhancement (PSE) services, improving the quality of life for individuals with hearing loss. However, HA performance significantly declines in noisy environments as it treats noise reduction (NR) and hearing loss compensation (HLC) as separate tasks. This separation leads to a lack of systematic optimization, overlooking the interactions between these two critical tasks, and increases the system complexity. To address these challenges, we propose a novel audiogram fusion network, named AFN-HearNet, which simultaneously tackles the NR and HLC tasks by fusing cross-domain audiogram and spectrum features. We propose an audiogram-specific encoder that transforms the sparse audiogram profile into a deep representation, addressing the alignment problem of cross-domain features prior to fusion. To incorporate the interactions between NR and HLC tasks, we propose the affine modulation-based audiogram fusion frequency-temporal Conformer that adaptively fuses these two features into a unified deep representation for speech reconstruction. Furthermore, we introduce a voice activity detection auxiliary training task to embed speech and non-speech patterns into the unified deep representation implicitly. We conduct comprehensive experiments across multiple datasets to validate the effectiveness of each proposed module. The results indicate that the AFN-HearNet significantly outperforms state-of-the-art in-context fusion joint models regarding key metrics such as HASQI and PESQ, achieving a considerable trade-off between performance and efficiency. The source code and data will be released at https://github.com/deepnetni/AFN-HearNet.

eess.AS↗

arXiv2025

VQualA 2025 Challenge on Image Super-Resolution Generated Content Quality Assessment: Methods and Results

This paper presents the ISRGC-Q Challenge, built upon the Image Super-Resolution Generated Content Quality Assessment (ISRGen-QA) dataset, and organized as part of the Visual Quality Assessment (VQualA) Competition at the ICCV 2025 Workshops. Unlike existing Super-Resolution Image Quality Assessment (SR-IQA) datasets, ISRGen-QA places a greater emphasis on SR images generated by the latest generative approaches, including Generative Adversarial Networks (GANs) and diffusion models. The primary goal of this challenge is to analyze the unique artifacts introduced by modern super-resolution techniques and to evaluate their perceptual quality effectively. A total of 108 participants registered for the challenge, with 4 teams submitting valid solutions and fact sheets for the final testing phase. These submissions demonstrated state-of-the-art (SOTA) performance on the ISRGen-QA dataset. The project is publicly available at: https://github.com/Lighting-YXLI/ISRGen-QA.

cs.CV↗

arXiv2025

MFFI: Multi-Dimensional Face Forgery Image Dataset for Real-World Scenarios

Rapid advances in Artificial Intelligence Generated Content (AIGC) have enabled increasingly sophisticated face forgeries, posing a significant threat to social security. However, current Deepfake detection methods are limited by constraints in existing datasets, which lack the diversity necessary in real-world scenarios. Specifically, these data sets fall short in four key areas: unknown of advanced forgery techniques, variability of facial scenes, richness of real data, and degradation of real-world propagation. To address these challenges, we propose the Multi-dimensional Face Forgery Image (\textbf{MFFI}) dataset, tailored for real-world scenarios. MFFI enhances realism based on four strategic dimensions: 1) Wider Forgery Methods; 2) Varied Facial Scenes; 3) Diversified Authentic Data; 4) Multi-level Degradation Operations. MFFI integrates $50$ different forgery methods and contains $1024K$ image samples. Benchmark evaluations show that MFFI outperforms existing public datasets in terms of scene complexity, cross-domain generalization capability, and detection difficulty gradients. These results validate the technical advance and practical utility of MFFI in simulating real-world conditions. The dataset and additional details are publicly available at {https://github.com/inclusionConf/MFFI}.

cs.CV↗

arXiv2025

VQualA 2025 Challenge on Engagement Prediction for Short Videos: Methods and Results

This paper presents an overview of the VQualA 2025 Challenge on Engagement Prediction for Short Videos, held in conjunction with ICCV 2025. The challenge focuses on understanding and modeling the popularity of user-generated content (UGC) short videos on social media platforms. To support this goal, the challenge uses a new short-form UGC dataset featuring engagement metrics derived from real-world user interactions. This objective of the Challenge is to promote robust modeling strategies that capture the complex factors influencing user engagement. Participants explored a variety of multi-modal features, including visual content, audio, and metadata provided by creators. The challenge attracted 97 participants and received 15 valid test submissions, contributing significantly to progress in short-form UGC video engagement prediction.

cs.CV↗

arXiv2025

Flow-Modulated Scoring for Semantic-Aware Knowledge Graph Completion

Knowledge graph completion demands effective modeling of multifaceted semantic relationships between entities. Yet, prevailing methods, which rely on static scoring functions over learned embeddings, struggling to simultaneously capture rich semantic context and the dynamic nature of relations. To overcome this limitation, we propose the Flow-Modulated Scoring (FMS) framework, conceptualizing a relation as a dynamic evolutionary process governed by its static semantic environment. FMS operates in two stages: it first learns context-aware entity embeddings via a Semantic Context Learning module, and then models a dynamic flow between them using a Conditional Flow-Matching module. This learned flow dynamically modulates a base static score for the entity pair. By unifying context-rich static representations with a conditioned dynamic flow, FMS achieves a more comprehensive understanding of relational semantics. Extensive experiments demonstrate that FMS establishes a new state of the art across both canonical knowledge graph completion tasks: relation prediction and entity prediction. On the standard relation prediction benchmark FB15k-237, FMS achieves a near-perfect MRR of 99.8\% and Hits@1 of 99.7\% using a mere 0.35M parameters, while also attaining a 99.9\% MRR on WN18RR. Its dominance extends to entity prediction, where it secures a 25.2\% relative MRR gain in the transductive setting and substantially outperforms all baselines in challenging inductive settings. By unifying a dynamic flow mechanism with rich static contexts, FMS offers a highly effective and parameter-efficient new paradigm for knowledge graph completion. Code published at: https://github.com/yuanwuyuan9/FMS.

cs.CL↗