arXiv subjects

Xiaoshuai Hao

Publications and source records attributed to Xiaoshuai Hao.

At least 73 records · Page 4Linked to original sources

arXiv2025

MEGA: Second-Order Gradient Alignment for Catastrophic Forgetting Mitigation in GFSCIL

Graph Few-Shot Class-Incremental Learning (GFSCIL) enables models to continually learn from limited samples of novel tasks after initial training on a large base dataset. Existing GFSCIL approaches typically utilize Prototypical Networks (PNs) for metric-based class representations and fine-tune the model during the incremental learning stage. However, these PN-based methods oversimplify learning via novel query set fine-tuning and fail to integrate Graph Continual Learning (GCL) techniques due to architectural constraints. To address these challenges, we propose a more rigorous and practical setting for GFSCIL that excludes query sets during the incremental training phase. Building on this foundation, we introduce Model-Agnostic Meta Graph Continual Learning (MEGA), aimed at effectively alleviating catastrophic forgetting for GFSCIL. Specifically, by calculating the incremental second-order gradient during the meta-training stage, we endow the model to learn high-quality priors that enhance incremental learning by aligning its behaviors across both the meta-training and incremental learning stages. Extensive experiments on four mainstream graph datasets demonstrate that MEGA achieves state-of-the-art results and enhances the effectiveness of various GCL methods in GFSCIL. We believe that our proposed MEGA serves as a model-agnostic GFSCIL paradigm, paving the way for future research.

cs.LG↗

arXiv2025

VisualTrans: A Benchmark for Real-World Visual Transformation Reasoning

Visual transformation reasoning (VTR) is a vital cognitive capability that empowers intelligent agents to understand dynamic scenes, model causal relationships, and predict future states, and thereby guiding actions and laying the foundation for advanced intelligent systems. However, existing benchmarks suffer from a sim-to-real gap, limited task complexity, and incomplete reasoning coverage, limiting their practical use in real-world scenarios. To address these limitations, we introduce VisualTrans, the first comprehensive benchmark specifically designed for VTR in real-world human-object interaction scenarios. VisualTrans encompasses 12 semantically diverse manipulation tasks and systematically evaluates three essential reasoning dimensions - spatial, procedural, and quantitative - through 6 well-defined subtask types. The benchmark features 472 high-quality question-answer pairs in various formats, including multiple-choice, open-ended counting, and target enumeration. We introduce a scalable data construction pipeline built upon first-person manipulation videos, which integrates task selection, image pair extraction, automated metadata annotation with large multimodal models, and structured question generation. Human verification ensures the final benchmark is both high-quality and interpretable. Evaluations of various state-of-the-art vision-language models show strong performance in static spatial tasks. However, they reveal notable shortcomings in dynamic, multi-step reasoning scenarios, particularly in areas like intermediate state recognition and transformation sequence planning. These findings highlight fundamental weaknesses in temporal modeling and causal reasoning, providing clear directions for future research aimed at developing more capable and generalizable VTR systems. The dataset and code are available at https://github.com/WangYipu2002/VisualTrans.

cs.CV↗

arXiv2025

$NavA^3$: Understanding Any Instruction, Navigating Anywhere, Finding Anything

Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks primarily focus on predefined object navigation or instruction following, which significantly differs from human needs in real-world scenarios involving complex, open-ended scenes. To bridge this gap, we introduce a challenging long-horizon navigation task that requires understanding high-level human instructions and performing spatial-aware object navigation in real-world environments. Existing embodied navigation methods struggle with such tasks due to their limitations in comprehending high-level human instructions and localizing objects with an open vocabulary. In this paper, we propose $NavA^3$, a hierarchical framework divided into two stages: global and local policies. In the global policy, we leverage the reasoning capabilities of Reasoning-VLM to parse high-level human instructions and integrate them with global 3D scene views. This allows us to reason and navigate to regions most likely to contain the goal object. In the local policy, we have collected a dataset of 1.0 million samples of spatial-aware object affordances to train the NaviAfford model (PointingVLM), which provides robust open-vocabulary object localization and spatial awareness for precise goal identification and navigation in complex environments. Extensive experiments demonstrate that $NavA^3$ achieves SOTA results in navigation performance and can successfully complete longhorizon navigation tasks across different robot embodiments in real-world settings, paving the way for universal embodied navigation. The dataset and code will be made available. Project website: https://NavigationA3.github.io/.

cs.RO↗

arXiv2025

Synergistic Prompting for Robust Visual Recognition with Missing Modalities

Large-scale multi-modal models have demonstrated remarkable performance across various visual recognition tasks by leveraging extensive paired multi-modal training data. However, in real-world applications, the presence of missing or incomplete modality inputs often leads to significant performance degradation. Recent research has focused on prompt-based strategies to tackle this issue; however, existing methods are hindered by two major limitations: (1) static prompts lack the flexibility to adapt to varying missing-data conditions, and (2) basic prompt-tuning methods struggle to ensure reliable performance when critical modalities are missing.To address these challenges, we propose a novel Synergistic Prompting (SyP) framework for robust visual recognition with missing modalities. The proposed SyP introduces two key innovations: (I) a Dynamic Adapter, which computes adaptive scaling factors to dynamically generate prompts, replacing static parameters for flexible multi-modal adaptation, and (II) a Synergistic Prompting Strategy, which combines static and dynamic prompts to balance information across modalities, ensuring robust reasoning even when key modalities are missing. The proposed SyP achieves significant performance improvements over existing approaches across three widely-used visual recognition datasets, demonstrating robustness under diverse missing rates and conditions. Extensive experiments and ablation studies validate its effectiveness in handling missing modalities, highlighting its superior adaptability and reliability.

cs.CV↗

arXiv2025

Training-free Generation of Temporally Consistent Rewards from VLMs

Recent advances in vision-language models (VLMs) have significantly improved performance in embodied tasks such as goal decomposition and visual comprehension. However, providing accurate rewards for robotic manipulation without fine-tuning VLMs remains challenging due to the absence of domain-specific robotic knowledge in pre-trained datasets and high computational costs that hinder real-time applicability. To address this, we propose $\mathrm{T}^2$-VLM, a novel training-free, temporally consistent framework that generates accurate rewards through tracking the status changes in VLM-derived subgoals. Specifically, our method first queries the VLM to establish spatially aware subgoals and an initial completion estimate before each round of interaction. We then employ a Bayesian tracking algorithm to update the goal completion status dynamically, using subgoal hidden states to generate structured rewards for reinforcement learning (RL) agents. This approach enhances long-horizon decision-making and improves failure recovery capabilities with RL. Extensive experiments indicate that $\mathrm{T}^2$-VLM achieves state-of-the-art performance in two robot manipulation benchmarks, demonstrating superior reward accuracy with reduced computation consumption. We believe our approach not only advances reward generation techniques but also contributes to the broader field of embodied AI. Project website: https://t2-vlm.github.io/.

cs.RO↗

arXiv2025

What Really Matters for Robust Multi-Sensor HD Map Construction?

High-definition (HD) map construction methods are crucial for providing precise and comprehensive static environmental information, which is essential for autonomous driving systems. While Camera-LiDAR fusion techniques have shown promising results by integrating data from both modalities, existing approaches primarily focus on improving model accuracy and often neglect the robustness of perception models, which is a critical aspect for real-world applications. In this paper, we explore strategies to enhance the robustness of multi-modal fusion methods for HD map construction while maintaining high accuracy. We propose three key components: data augmentation, a novel multi-modal fusion module, and a modality dropout training strategy. These components are evaluated on a challenging dataset containing 10 days of NuScenes data. Our experimental results demonstrate that our proposed methods significantly enhance the robustness of baseline methods. Furthermore, our approach achieves state-of-the-art performance on the clean validation set of the NuScenes dataset. Our findings provide valuable insights for developing more robust and reliable HD map construction models, advancing their applicability in real-world autonomous driving scenarios. Project website: https://robomap-123.github.io.

cs.CV↗

arXiv2025

SafeMap: Robust HD Map Construction from Incomplete Observations

Robust high-definition (HD) map construction is vital for autonomous driving, yet existing methods often struggle with incomplete multi-view camera data. This paper presents SafeMap, a novel framework specifically designed to secure accuracy even when certain camera views are missing. SafeMap integrates two key components: the Gaussian-based Perspective View Reconstruction (G-PVR) module and the Distillation-based Bird's-Eye-View (BEV) Correction (D-BEVC) module. G-PVR leverages prior knowledge of view importance to dynamically prioritize the most informative regions based on the relationships among available camera views. Furthermore, D-BEVC utilizes panoramic BEV features to correct the BEV representations derived from incomplete observations. Together, these components facilitate the end-to-end map reconstruction and robust HD map generation. SafeMap is easy to implement and integrates seamlessly into existing systems, offering a plug-and-play solution for enhanced robustness. Experimental results demonstrate that SafeMap significantly outperforms previous methods in both complete and incomplete scenarios, highlighting its superior performance and reliability.

cs.CV↗

arXiv2025

Video-CoT: A Comprehensive Dataset for Spatiotemporal Understanding of Videos Based on Chain-of-Thought

Video content comprehension is essential for various applications, ranging from video analysis to interactive systems. Despite advancements in large-scale vision-language models (VLMs), these models often struggle to capture the nuanced, spatiotemporal details essential for thorough video analysis. To address this gap, we introduce Video-CoT, a groundbreaking dataset designed to enhance spatiotemporal understanding using Chain-of-Thought (CoT) methodologies. Video-CoT contains 192,000 fine-grained spa-tiotemporal question-answer pairs and 23,000 high-quality CoT-annotated samples, providing a solid foundation for evaluating spatiotemporal understanding in video comprehension. Additionally, we provide a comprehensive benchmark for assessing these tasks, with each task featuring 750 images and tailored evaluation metrics. Our extensive experiments reveal that current VLMs face significant challenges in achieving satisfactory performance, high-lighting the difficulties of effective spatiotemporal understanding. Overall, the Video-CoT dataset and benchmark open new avenues for research in multimedia understanding and support future innovations in intelligent systems requiring advanced video analysis capabilities. By making these resources publicly available, we aim to encourage further exploration in this critical area. Project website:https://video-cot.github.io/ .

cs.CV↗

arXiv2025

SVD: Spatial Video Dataset

Stereoscopic video has long been the subject of research due to its capacity to deliver immersive three-dimensional content across a wide range of applications, from virtual and augmented reality to advanced human-computer interaction. The dual-view format inherently provides binocular disparity cues that enhance depth perception and realism, making it indispensable for fields such as telepresence, 3D mapping, and robotic vision. Until recently, however, end-to-end pipelines for capturing, encoding, and viewing high-quality 3D video were neither widely accessible nor optimized for consumer-grade devices. Today's smartphones, such as the iPhone Pro, and modern Head-Mounted Displays (HMDs), like the Apple Vision Pro (AVP), offer built-in support for stereoscopic video capture, hardware-accelerated encoding, and seamless playback on devices like the Apple Vision Pro and Meta Quest 3, requiring minimal user intervention. Apple refers to this streamlined workflow as spatial video. Making the full stereoscopic video process available to everyone has made new applications possible. Despite these advances, there remains a notable absence of publicly available datasets that include the complete spatial video pipeline. In this paper, we introduce SVD, a spatial video dataset comprising 300 five-second video sequences, 150 captured using an iPhone Pro and 150 with an AVP. Additionally, 10 longer videos with a minimum duration of 2 minutes have been recorded. The SVD dataset is publicly released under an open-access license to facilitate research in codec performance evaluation, subjective and objective quality of experience (QoE) assessment, depth-based computer vision, stereoscopic video streaming, and other emerging 3D applications such as neural rendering and volumetric capture. Link to the dataset: https://cd-athena.github.io/SVD/

cs.MM↗

arXiv2025

RoboOS: A Hierarchical Embodied Framework for Cross-Embodiment and Multi-Agent Collaboration

The dawn of embodied intelligence has ushered in an unprecedented imperative for resilient, cognition-enabled multi-agent collaboration across next-generation ecosystems, revolutionizing paradigms in autonomous manufacturing, adaptive service robotics, and cyber-physical production architectures. However, current robotic systems face significant limitations, such as limited cross-embodiment adaptability, inefficient task scheduling, and insufficient dynamic error correction. While End-to-end VLA models demonstrate inadequate long-horizon planning and task generalization, hierarchical VLA models suffer from a lack of cross-embodiment and multi-agent coordination capabilities. To address these challenges, we introduce RoboOS, the first open-source embodied system built on a Brain-Cerebellum hierarchical architecture, enabling a paradigm shift from single-agent to multi-agent intelligence. Specifically, RoboOS consists of three key components: (1) Embodied Brain Model (RoboBrain), a MLLM designed for global perception and high-level decision-making; (2) Cerebellum Skill Library, a modular, plug-and-play toolkit that facilitates seamless execution of multiple skills; and (3) Real-Time Shared Memory, a spatiotemporal synchronization mechanism for coordinating multi-agent states. By integrating hierarchical information flow, RoboOS bridges Embodied Brain and Cerebellum Skill Library, facilitating robust planning, scheduling, and error correction for long-horizon tasks, while ensuring efficient multi-agent collaboration through Real-Time Shared Memory. Furthermore, we enhance edge-cloud communication and cloud-based distributed inference to facilitate high-frequency interactions and enable scalable deployment. Extensive real-world experiments across various scenarios, demonstrate RoboOS's versatility in supporting heterogeneous embodiments. Project website: https://github.com/FlagOpen/RoboOS

cs.RO↗

arXiv2025

Uneven Event Modeling for Partially Relevant Video Retrieval

Given a text query, partially relevant video retrieval (PRVR) aims to retrieve untrimmed videos containing relevant moments, wherein event modeling is crucial for partitioning the video into smaller temporal events that partially correspond to the text. Previous methods typically segment videos into a fixed number of equal-length clips, resulting in ambiguous event boundaries. Additionally, they rely on mean pooling to compute event representations, inevitably introducing undesired misalignment. To address these, we propose an Uneven Event Modeling (UEM) framework for PRVR. We first introduce the Progressive-Grouped Video Segmentation (PGVS) module, to iteratively formulate events in light of both temporal dependencies and semantic similarity between consecutive frames, enabling clear event boundaries. Furthermore, we also propose the Context-Aware Event Refinement (CAER) module to refine the event representation conditioned the text's cross-attention. This enables event representations to focus on the most relevant frames for a given text, facilitating more precise text-video alignment. Extensive experiments demonstrate that our method achieves state-of-the-art performance on two PRVR benchmarks. Code is available at https://github.com/Sasa77777779/UEM.git.

cs.CV↗

arXiv2025

VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond visually dominant pick-and-place scenarios. To bridge this gap, we introduce Vision-Tactile-Language-Action model, a novel framework that enables robust policy generation in contact-intensive scenarios by effectively integrating visual and tactile inputs through cross-modal language grounding. A low-cost, multi-modal dataset has been constructed in a simulation environment, containing vision-tactile-action-instruction pairs specifically designed for the fingertip insertion task. Furthermore, we introduce Direct Preference Optimization (DPO) to offer regression-like supervision for the VTLA model, effectively bridging the gap between classification-based next token prediction loss and continuous robotic tasks. Experimental results show that the VTLA model outperforms traditional imitation learning methods (e.g., diffusion policies) and existing multi-modal baselines (TLA/VLA), achieving over 90% success rates on unseen peg shapes. Finally, we conduct real-world peg-in-hole experiments to demonstrate the exceptional Sim2Real performance of the proposed VTLA model. For supplementary videos and results, please visit our project website: https://sites.google.com/view/vtla

cs.RO↗

arXiv2025

Multi-Modal Molecular Representation Learning via Structure Awareness

Accurate extraction of molecular representations is a critical step in the drug discovery process. In recent years, significant progress has been made in molecular representation learning methods, among which multi-modal molecular representation methods based on images, and 2D/3D topologies have become increasingly mainstream. However, existing these multi-modal approaches often directly fuse information from different modalities, overlooking the potential of intermodal interactions and failing to adequately capture the complex higher-order relationships and invariant features between molecules. To overcome these challenges, we propose a structure-awareness-based multi-modal self-supervised molecular representation pre-training framework (MMSA) designed to enhance molecular graph representations by leveraging invariant knowledge between molecules. The framework consists of two main modules: the multi-modal molecular representation learning module and the structure-awareness module. The multi-modal molecular representation learning module collaboratively processes information from different modalities of the same molecule to overcome intermodal differences and generate a unified molecular embedding. Subsequently, the structure-awareness module enhances the molecular representation by constructing a hypergraph structure to model higher-order correlations between molecules. This module also introduces a memory mechanism for storing typical molecular representations, aligning them with memory anchors in the memory bank to integrate invariant knowledge, thereby improving the model generalization ability. Extensive experiments have demonstrated the effectiveness of MMSA, which achieves state-of-the-art performance on the MoleculeNet benchmark, with average ROC-AUC improvements ranging from 1.8% to 9.6% over baseline methods.

cs.LG↗

arXiv2025

BCTR: Bidirectional Conditioning Transformer for Scene Graph Generation

Scene Graph Generation (SGG) remains a challenging task due to its compositional property. Previous approaches improve prediction efficiency through end-to-end learning. However, these methods exhibit limited performance as they assume unidirectional conditioning between entities and predicates, which restricts effective information interaction. To address this limitation, we propose a novel bidirectional conditioning factorization in a semantic-aligned space for SGG, enabling efficient and generalizable interaction between entities and predicates. Specifically, we introduce an end-to-end scene graph generation model, the Bidirectional Conditioning Transformer (BCTR), to implement this factorization. BCTR consists of two key modules. First, the Bidirectional Conditioning Generator (BCG) performs multi-stage interactive feature augmentation between entities and predicates, enabling mutual enhancement between these predictions. Second, Random Feature Alignment (RFA) is present to regularize feature space by distilling multi-modal knowledge from pre-trained models. Within this regularized feature space, BCG is feasible to capture interaction patterns across diverse relationships during training, and the learned interaction patterns can generalize to unseen but semantically related relationships during inference. Extensive experiments on Visual Genome and Open Image V6 show that BCTR achieves state-of-the-art performance on both benchmarks.

cs.CV↗

arXiv2025

FastRSR: Efficient and Accurate Road Surface Reconstruction from Bird's Eye View

Road Surface Reconstruction (RSR) is crucial for autonomous driving, enabling the understanding of road surface conditions. Recently, RSR from the Bird's Eye View (BEV) has gained attention for its potential to enhance performance. However, existing methods for transforming perspective views to BEV face challenges such as information loss and representation sparsity. Moreover, stereo matching in BEV is limited by the need to balance accuracy with inference speed. To address these challenges, we propose two efficient and accurate BEV-based RSR models: FastRSR-mono and FastRSR-stereo. Specifically, we first introduce Depth-Aware Projection (DAP), an efficient view transformation strategy designed to mitigate information loss and sparsity by querying depth and image features to aggregate BEV data within specific road surface regions using a pre-computed look-up table. To optimize accuracy and speed in stereo matching, we design the Spatial Attention Enhancement (SAE) and Confidence Attention Generation (CAG) modules. SAE adaptively highlights important regions, while CAG focuses on high-confidence predictions and filters out irrelevant information. FastRSR achieves state-of-the-art performance, exceeding monocular competitors by over 6.0% in elevation absolute error and providing at least a 3.0x speedup by stereo methods on the RSRD dataset. The source code will be released.

cs.CV↗

arXiv2025

RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concrete

Recent advancements in Multimodal Large Language Models (MLLMs) have shown remarkable capabilities across various multimodal contexts. However, their application in robotic scenarios, particularly for long-horizon manipulation tasks, reveals significant limitations. These limitations arise from the current MLLMs lacking three essential robotic brain capabilities: Planning Capability, which involves decomposing complex manipulation instructions into manageable sub-tasks; Affordance Perception, the ability to recognize and interpret the affordances of interactive objects; and Trajectory Prediction, the foresight to anticipate the complete manipulation trajectory necessary for successful execution. To enhance the robotic brain's core capabilities from abstract to concrete, we introduce ShareRobot, a high-quality heterogeneous dataset that labels multi-dimensional information such as task planning, object affordance, and end-effector trajectory. ShareRobot's diversity and accuracy have been meticulously refined by three human annotators. Building on this dataset, we developed RoboBrain, an MLLM-based model that combines robotic and general multi-modal data, utilizes a multi-stage training strategy, and incorporates long videos and high-resolution images to improve its robotic manipulation capabilities. Extensive experiments demonstrate that RoboBrain achieves state-of-the-art performance across various robotic tasks, highlighting its potential to advance robotic brain capabilities.

cs.RO↗

arXiv2025

TLA: Tactile-Language-Action Model for Contact-Rich Manipulation

Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the Tactile-Language-Action (TLA) model, which effectively processes sequential tactile feedback via cross-modal language grounding to enable robust policy generation in contact-intensive scenarios. In addition, we construct a comprehensive dataset that contains 24k pairs of tactile action instruction data, customized for fingertip peg-in-hole assembly, providing essential resources for TLA training and evaluation. Our results show that TLA significantly outperforms traditional imitation learning methods (e.g., diffusion policy) in terms of effective action generation and action accuracy, while demonstrating strong generalization capabilities by achieving over 85\% success rate on previously unseen assembly clearances and peg shapes. We publicly release all data and code in the hope of advancing research in language-conditioned tactile manipulation skill learning. Project website: https://sites.google.com/view/tactile-language-action/

cs.RO↗

arXiv2025

AffordGrasp: In-Context Affordance Reasoning for Open-Vocabulary Task-Oriented Grasping in Clutter

Inferring the affordance of an object and grasping it in a task-oriented manner is crucial for robots to successfully complete manipulation tasks. Affordance indicates where and how to grasp an object by taking its functionality into account, serving as the foundation for effective task-oriented grasping. However, current task-oriented methods often depend on extensive training data that is confined to specific tasks and objects, making it difficult to generalize to novel objects and complex scenes. In this paper, we introduce AffordGrasp, a novel open-vocabulary grasping framework that leverages the reasoning capabilities of vision-language models (VLMs) for in-context affordance reasoning. Unlike existing methods that rely on explicit task and object specifications, our approach infers tasks directly from implicit user instructions, enabling more intuitive and seamless human-robot interaction in everyday scenarios. Building on the reasoning outcomes, our framework identifies task-relevant objects and grounds their part-level affordances using a visual grounding module. This allows us to generate task-oriented grasp poses precisely within the affordance regions of the object, ensuring both functional and context-aware robotic manipulation. Extensive experiments demonstrate that AffordGrasp achieves state-of-the-art performance in both simulation and real-world scenarios, highlighting the effectiveness of our method. We believe our approach advances robotic manipulation techniques and contributes to the broader field of embodied AI. Project website: https://eqcy.github.io/affordgrasp/.

cs.RO↗