arXiv subjects

Xiaoxue Wang

Publications and source records attributed to Xiaoxue Wang.

10 recordsLinked to original sources

arXiv2026

Globally Localizing Lunar Rover in Pixels via Graph Alignment

Precise rover localization is a prerequisite for autonomous lunar exploration, yet the absence of Global Navigation Satellite System (GNSS) signals and the cumulative drift of local localization methods severely constrain long-range missions. Cross-view localization provides a promising drift-free global solution by matching rover-view and satellite-view imagery. However, the lunar environment poses unique challenges for correspondence alignment, including inter-entity entanglement, inter-viewpoint divergence, and simulation-to-real domain shift. To address these challenges, we propose Warped Alignment of Reprojected Graphs (WARG), a framework that leverages unified graph learning and reprojected graph matching for robust cross-view alignment. Pretrained on the synthetic LuSNAR dataset, WARG achieves an average test error of 0.32 m and demonstrates robust zero-shot generalization to the synthetic lunar south pole region with an error of 3.63 m. More importantly, when validated on real-world data from the YuTu-2 rover, WARG achieves a localization error of 1.68 m within a 100 m x 100 m search area, corresponding to nearly one-pixel precision in low-resolution satellite imagery with a spatial resolution of 1.40 m/pixel. Beyond accuracy, WARG is computationally efficient, containing only 1.56M parameters, corresponding to 16.12% of previous lightweight models, and operating at 5.49 Hz on an NVIDIA RTX A6000 GPU, approaching GNSS-level update frequency. Finally, we observe that WARG naturally develops low-level spatial awareness, including semantic segmentation and structural reasoning, through cross-view localization learning, highlighting its potential as a promising paradigm for spatial intelligence with minimal annotation cost. The source code is available at https://github.com/maochen-casia/warg.

cs.CV↗

arXiv2026

Generating Physical Dynamics under Priors

Generating physically feasible dynamics in a data-driven context is challenging, especially when adhering to physical priors expressed in specific equations or formulas. Existing methodologies often overlook the integration of physical priors, resulting in violation of basic physical laws and suboptimal performance. In this paper, we introduce a novel framework that seamlessly incorporates physical priors into diffusion-based generative models to address this limitation. Our approach leverages two categories of priors: 1) distributional priors, such as roto-translational invariance, and 2) physical feasibility priors, including energy and momentum conservation laws and PDE constraints. By embedding these priors into the generative process, our method can efficiently generate physically realistic dynamics, encompassing trajectories and flows. Empirical evaluations demonstrate that our method produces high-quality dynamics across a diverse array of physical phenomena with remarkable robustness, underscoring its potential to advance data-driven studies in AI4Physics. Our contributions signify a substantial advancement in the field of generative modeling, offering a robust solution to generate accurate and physically consistent dynamics.

cs.LG↗

arXiv2026

Towards a Theoretical Framework for Robust Node Deployment in Cooperative ISAC Networks

This paper investigates node deployment strategies for robust multi-node cooperative localization in integrated sensing and communication (ISAC) networks.We first analyze how steering vector correlation across different positions affects localization performance and introduce a novel distance-weighted correlation metric to characterize this effect. Building upon this insight, we propose a deployment optimization framework that minimizes the maximum weighted steering vector correlation by optimizing simultaneously node positions and array orientations, thereby enhancing worst-case network robustness. Then, a genetic algorithm (GA) is developed to solve this min-max optimization, yielding optimized node positions and array orientations. Extensive simulations using both multiple signal classification (MUSIC) and neural-network (NN)-based localization validate the effectiveness of the proposed methods, demonstrating significant improvements in robust localization performance.

eess.SP↗

arXiv2025

RG-Attn: Radian Glue Attention for Multi-modality Multi-agent Cooperative Perception

Cooperative perception enhances autonomous driving by leveraging Vehicle-to-Everything (V2X) communication for multi-agent sensor fusion. However, most existing methods rely on single-modal data sharing, limiting fusion performance, particularly in heterogeneous sensor settings involving both LiDAR and cameras across vehicles and roadside units (RSUs). To address this, we propose Radian Glue Attention (RG-Attn), a lightweight and generalizable cross-modal fusion module that unifies intra-agent and inter-agent fusion via transformation-based coordinate alignment and a unified sampling/inversion strategy. RG-Attn efficiently aligns features through a radian-based attention constraint, operating column-wise on geometrically consistent regions to reduce overhead and preserve spatial coherence, thereby enabling accurate and robust fusion. Building upon RG-Attn, we propose three cooperative architectures. The first, Paint-To-Puzzle (PTP), prioritizes communication efficiency but assumes all agents have LiDAR, optionally paired with cameras. The second, Co-Sketching-Co-Coloring (CoS-CoCo), offers maximal flexibility, supporting any sensor setup (e.g., LiDAR-only, camera-only, or both) and enabling strong cross-modal generalization for real-world deployment. The third, Pyramid-RG-Attn Fusion (PRGAF), aims for peak detection accuracy with the highest computational overhead. Extensive evaluations on simulated and real-world datasets show our framework delivers state-of-the-art detection accuracy with high flexibility and efficiency. GitHub Link: https://github.com/LantaoLi/RG-Attn

cs.RO↗

arXiv2025

ToolSample: Dual Dynamic Sampling Methods with Curriculum Learning for RL-based Tool Learning

While reinforcement learning (RL) is increasingly used for LLM-based tool learning, its efficiency is often hampered by an overabundance of simple samples that provide diminishing learning value as training progresses. Existing dynamic sampling techniques are ill-suited for the multi-task structure and fine-grained reward mechanisms inherent to tool learning. This paper introduces Dynamic Sampling with Curriculum Learning (DSCL), a framework specifically designed to address this challenge by targeting the unique characteristics of tool learning: its multiple interdependent sub-tasks and multi-valued reward functions. DSCL features two core components: Reward-Based Dynamic Sampling, which uses multi-dimensional reward statistics (mean and variance) to prioritize valuable data, and Task-Based Dynamic Curriculum Learning, which adaptively focuses training on less-mastered sub-tasks. Through extensive experiments, we demonstrate that DSCL significantly improves training efficiency and model performance over strong baselines, achieving a 3.29\% improvement on the BFCLv3 benchmark. Our method provides a tailored solution that effectively leverages the complex reward signals and sub-task dynamics within tool learning to achieve superior results.

cs.LG↗

arXiv2025

Empowering LLMs in Task-Oriented Dialogues: A Domain-Independent Multi-Agent Framework and Fine-Tuning Strategy

Task-oriented dialogue systems based on Large Language Models (LLMs) have gained increasing attention across various industries and achieved significant results. Current approaches condense complex procedural workflows into a single agent to achieve satisfactory performance on large-scale LLMs. However, these approaches face challenges to achieve comparable performance on fine-tuned lightweight LLMs, due to their limited capabilities in handling multiple complex logic. In this work, we design a Domain-Independent Multi-Agent Framework (DIMF), which contains Intent Classification Agent, Slot Filling Agent and Response Agent. This approach simplifies the learning complexity and enhances the generalization ability by separating the tasks into domain-independent components. In this framework, we enhance the capabilities in contextual understanding using the Direct Preference Optimisation (DPO) method, and propose a simple and effective Data Distribution Adaptation (DDA) method to mitigate degradation issues during DPO training. Experiments conducted on the MultiWOZ datasets show that our proposed method achieves a better average performance among all the baselines. Extensive analysis also demonstrates that our proposed framework exhibits excellent generalizability and zero-shot capability.

cs.MA↗

arXiv2025

Improving Generalization in Intent Detection: GRPO with Reward-Based Curriculum Sampling

Intent detection, a critical component in task-oriented dialogue (TOD) systems, faces significant challenges in adapting to the rapid influx of integrable tools with complex interrelationships. Existing approaches, such as zero-shot reformulations and LLM-based dynamic recognition, struggle with performance degradation when encountering unseen intents, leading to erroneous task routing. To enhance the model's generalization performance on unseen tasks, we employ Reinforcement Learning (RL) combined with a Reward-based Curriculum Sampling (RCS) during Group Relative Policy Optimization (GRPO) training in intent detection tasks. Experiments demonstrate that RL-trained models substantially outperform supervised fine-tuning (SFT) baselines in generalization. Besides, the introduction of the RCS, significantly bolsters the effectiveness of RL in intent detection by focusing the model on challenging cases during training. Moreover, incorporating Chain-of-Thought (COT) processes in RL notably improves generalization in complex intent detection tasks, underscoring the importance of thought in challenging scenarios. This work advances the generalization of intent detection tasks, offering practical insights for deploying adaptable dialogue systems.

cs.CL↗

arXiv2025

Driven similarity renormalization group with a large active space: Applications to oligoacenes, zeaxanthin, and chromium dimer

We present a new implementation of the driven similarity renormalization group (DSRG) based on a density matrix renormalization group (DMRG) reference. The explicit build of high-order reduced density matrices is avoided by forming matrix-product-state compressed intermediates. This algorithm facilitates the application of DSRG second- and third-order perturbation theories to dodecacene with an active space of 50 electrons in 50 orbitals. This active space appears the largest employed to date within the framework of internally contracted multireference formalism. The DMRG-DSRG approach is applied to several challenging systems, including the singlet-triplet gaps ($Δ_{\rm ST}$) of oligoacenes ranging from naphthalene to dodecacene, the vertical excitation energies of zeaxanthin, and the ground-state potential energy curve (PEC) of Cr$_2$ molecule. Our best estimate for the vertical $Δ_{\rm ST}$ of dodecacene is 0.22 eV, showing an excellent agreement with that of the linearized adiabatic connection method (0.24 eV). For zeaxanthin, all DSRG schemes suggest the order of $\rm 2\, ^1 A_g^- < 1\, ^1 B_u^+ < 1\, ^1 B_u^-$ for excited states. Both the equilibrium and the shoulder regions of the Cr$_2$ PEC are reasonably reproduced by the linearized DSRG with one- and two-body operators.

physics.chem-ph↗

arXiv2024

On Diffusion Process in SE(3)-invariant Space

Sampling viable 3D structures (e.g., molecules and point clouds) with SE(3)-invariance using diffusion-based models proved promising in a variety of real-world applications, wherein SE(3)-invariant properties can be naturally characterized by the inter-point distance manifold. However, due to the non-trivial geometry, we still lack a comprehensive understanding of the diffusion mechanism within such SE(3)-invariant space. This study addresses this gap by mathematically delineating the diffusion mechanism under SE(3)-invariance, via zooming into the interaction behavior between coordinates and the inter-point distance manifold through the lens of differential geometry. Upon this analysis, we propose accurate and projection-free diffusion SDE and ODE accordingly. Such formulations enable enhancing the performance and the speed of generation pathways; meanwhile offering valuable insights into other systems incorporating SE(3)-invariance.

cs.LG↗

arXiv2005

Study of the single neutral top-pion production process at $γγ$ collider

$γγ\to Π_t^0$ is the major production mechanism of neutral top-pion at the linear colliders. In this paper, we calculate the cross section of the process $γγ\to Π^0_t$ and discuss the potential to observe the neutral top-pion via its various decay modes at the planned ILC. The study show that, among the various neutral top-pion production processes at the linear colliders, the cross section of $γγ\to Π_t^0$ is the largest one which can reach the level of $10^1-10^2$ fb. Due to the existence of the tree-level flavor-changing coupling $Π_t^0 t\bar{c}$, $γγ\to Π_t^0 \to t\bar{c}$ can provide enough number of typical signals to identify the neutral top-pion with the clean SM background. Therefore, the process $γγ\to Π_t^0$ play an important role in searching for the neutral top-pion and test the TC2 model.

hep-ph↗