arXiv subjects

Xiaozhen Qiao

Publications and source records attributed to Xiaozhen Qiao.

11 recordsLinked to original sources

arXiv2026

On-Policy Distillation for Vision-Language Model Adaptation, an Effective Paradigm on Low-Quality Multimodal Data

Knowledge distillation offers an efficient route to transfer a task-adapted vision-language teacher to a compact student. The training target in current vision-language distillation methods is typically constructed from the teacher prediction and applied uniformly to all training samples, making it unreliable under class and domain shifts. In this paper, we argue that distillation target construction should be treated as a dynamic training decision rather than a fixed recipe. To this end, we propose OnPoKD, an on-policy distillation framework for vision-language model adaptation. To the best of our knowledge, OnPoKD is the first framework that applies on-policy distillation to vision-language model adaptation by learning target construction as a policy decision. OnPoKD learns a lightweight controller that constructs sample-wise adaptive targets using reliability and disagreement cues from the teacher model, student model, and zero-shot prior. Instead of relying on a fixed teacher prediction, the controller dynamically balances teacher supervision, zero-shot prior guidance, and hard-label anchoring through bounded policy actions, allowing the distillation target to adapt to varying sample reliability and training stages. The policy controller is updated with validation feedback, encouraging target construction to optimize transferability rather than merely fitting the training distribution. Since the controller is only used during training, OnPoKD can be seamlessly integrated into existing vision-language distillation pipelines while preserving the original inference architecture and test-time cost. Extensive experiments on Base-to-novel generalization and Cross-dataset transfer benchmarks show that OnPoKD consistently improves over strong vision-language distillation baselines.

cs.CL↗

arXiv2026

Semantic-Aware Temporal Adaptation for UAV Anti-UAV Tracking

UAV Anti-UAV tracking is an emerging low-altitude security task for localizing an adversarial UAV using the onboard camera of a moving observer UAV. It differs from conventional UAV tracking and ground-based Anti-UAV tracking because both the camera platform and the target move simultaneously. This dual-dynamic setting induces rapid viewpoint changes, motion blur, scale variation, and visually similar distractors, making reliable appearance matching difficult. Under such rapidly changing conditions, fixed visual representations are often insufficient because target appearance becomes unreliable and feature distributions may deviate from the training domain. The target language description remains stable across frames and can therefore serve as a semantic anchor for temporal state propagation, while online feature-distribution alignment can reduce video-specific test-time shifts. In this paper, we propose \emph{SATATrack}, a Semantic-Aware Temporal Adaptation framework for UAV Anti-UAV tracking. SATATrack introduces Semantic-Aware Context Propagation (SACP), which uses the target description to guide temporal context propagation across backbone stages and preserve target identity under rapid appearance changes. An auxiliary contrastive regularizer is used during training to discourage responses to semantically similar background regions. During inference, Temporal-Aware Distribution Alignment (TADA) aligns feature distributions online without updating model parameters, combining recent-frame estimates with training-time statistics for stability. SATATrack achieves state-of-the-art performance on the UAV-Anti-UAV benchmark while remaining competitive in Anti-UAV and UAV object tracking tasks. The code will be available at https://github.com/XiaozhenQiao/SATATrack.

cs.CV↗

arXiv2026

EgoGrasp: World-Space Hand-Object Interaction Estimation from Egocentric Videos

We propose EgoGrasp, the first method to reconstruct world-space hand-object interactions (W-HOI) from dynamic egoview videos, supporting open-vocabulary objects. Accurate W-HOI reconstruction is critical for embodied intelligence yet remains challenging. Existing HOI methods are largely restricted to local camera coordinates or single frames, failing to capture global temporal dynamics. While some recent approaches attempt world-space hand estimation, they overlook object poses and HOI constraints. Moreover, previous HOI estimation methods either fail to handle open-set categories due to their reliance on object templates or employ differentiable rendering that requires per-instance optimization, resulting in prohibitive computational costs. Finally, frequent occlusions in egocentric videos severely degrade performance. To overcome these challenges, we propose a multi-stage framework: (i) a robust pre-processing pipeline leveraging vision foundation models for initial 3D scene, hand and object reconstruction; (ii) a body-guided diffusion model that incorporates explicit egocentric body priors for hand pose estimation; and (iii) an HOI-prior-informed diffusion model for hand-aware 6DoF pose infilling, ensuring physically plausible and temporally consistent W-HOI estimation. We experimentally demonstrate that EgoGrasp can achieve state-of-the-art performance in W-HOI reconstruction, handling multiple and open vocabulary objects robustly.

cs.CV↗

arXiv2026

AHAP: Reconstructing Arbitrary Humans from Arbitrary Perspectives with Geometric Priors

Reconstructing 3D humans from images captured at multiple perspectives typically requires pre-calibration, like using checkerboards or MVS algorithms, which limits scalability and applicability in diverse real-world scenarios. In this work, we present AHAP (Reconstructing Arbitrary Humans from Arbitrary Perspectives), a feed-forward framework for reconstructing arbitrary humans from arbitrary camera perspectives without requiring camera calibration. Our core lies in the effective fusion of multi-view geometry to assist human association, reconstruction and localization. Specifically, we use a Cross-View Identity Association module through learnable person queries and soft assignment, supervised by contrastive learning to resolve cross-view human identity association. A Human Head fuses cross-view features and scene context for SMPL prediction, guided by cross-view reprojection losses to enforce body pose consistency. Additionally, multi-view geometry eliminates the depth ambiguity inherent in monocular methods, providing more precise 3D human localization through multi-view triangulation. Experiments on EgoHumans and EgoExo4D demonstrate that AHAP achieves competitive performance on both world-space human reconstruction and camera pose estimation, while being 180$\times$ faster than optimization-based approaches.

cs.CV↗

arXiv2026

Mitigating Long-Tail Bias in HOI Detection via Adaptive Diversity Cache

Human-Object Interaction (HOI) detection is a fundamental task in computer vision, empowering machines to comprehend human-object relationships in diverse real-world scenarios. Recent advances in VLMs have significantly improved HOI detection by leveraging rich cross-modal representations. However, most existing VLM-based approaches rely heavily on additional training or prompt tuning, resulting in substantial computational overhead and limited scalability, particularly in long-tailed scenarios where rare interactions are severely underrepresented. In this paper, we propose the Adaptive Diversity Cache (ADC) module, a novel training-free and plug-and-play mechanism designed to mitigate long-tail bias in HOI detection. ADC constructs class-specific caches that accumulate high-confidence and diverse feature representations during inference. The method incorporates adaptive capacity allocation favoring rare categories and dynamic feature augmentation to enable robust prediction calibration without requiring additional training or fine-tuning. Extensive experiments on HICO-DET and V-COCO datasets show that ADC consistently improves existing HOI detectors, particularly enhancing rare category detection while preserving overall performance. These findings confirm the effectiveness of ADC as a training-free, plug-and-play solution for long-tail bias mitigation.

cs.CV↗

arXiv2026

Bridging Perception and Planning: Towards End-to-End Planning for Signal Temporal Logic Tasks

We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world environments. We propose the \emph{Structured-MoE STL Planner} (\textbf{S-MSP}), a differentiable framework that maps synchronized multi-view camera observations and an STL specification directly to a feasible trajectory. S-MSP integrates STL constraints within a unified pipeline, trained with a composite loss that combines trajectory reconstruction and STL robustness. A \emph{structure-aware} Mixture-of-Experts (MoE) model enables horizon-aware specialization by projecting sub-tasks into temporally anchored embeddings. We evaluate S-MSP using a high-fidelity simulation of factory-logistics scenarios with temporally constrained tasks. Experiments show that S-MSP outperforms single-expert baselines in STL satisfaction and trajectory feasibility. A rule-based \emph{safety filter} at inference improves physical executability without compromising logical correctness, showcasing the practicality of the approach.

cs.RO↗

arXiv2025

DeCo-VAE: Learning Compact Latents for Video Reconstruction via Decoupled Representation

Existing video Variational Autoencoders (VAEs) generally overlook the similarity between frame contents, leading to redundant latent modeling. In this paper, we propose decoupled VAE (DeCo-VAE) to achieve compact latent representation. Instead of encoding RGB pixels directly, we decompose video content into distinct components via explicit decoupling: keyframe, motion and residual, and learn dedicated latent representation for each. To avoid cross-component interference, we design dedicated encoders for each decoupled component and adopt a shared 3D decoder to maintain spatiotemporal consistency during reconstruction. We further utilize a decoupled adaptation strategy that freezes partial encoders while training the others sequentially, ensuring stable training and accurate learning of both static and dynamic features. Extensive quantitative and qualitative experiments demonstrate that DeCo-VAE achieves superior video reconstruction performance.

cs.CV↗

arXiv2025

Class-Aware Prototype Learning with Negative Contrast for Test-Time Adaptation of Vision-Language Models

Vision-Language Models (VLMs) demonstrate impressive zero-shot generalization through large-scale image-text pretraining, yet their performance can drop once the deployment distribution diverges from the training distribution. To address this, Test-Time Adaptation (TTA) methods update models using unlabeled target data. However, existing approaches often ignore two key challenges: prototype degradation in long-tailed distributions and confusion between semantically similar classes. To tackle these issues, we propose \textbf{C}lass-Aware \textbf{P}rototype \textbf{L}earning with \textbf{N}egative \textbf{C}ontrast(\textbf{CPL-NC}), a lightweight TTA framework designed specifically for VLMs to enhance generalization under distribution shifts. CPL-NC introduces a \textit{Class-Aware Prototype Cache} Module that dynamically adjusts per-class capacity based on test-time frequency and activation history, with a rejuvenation mechanism for inactive classes to retain rare-category knowledge. Additionally, a \textit{Negative Contrastive Learning} Mechanism identifies and constrains hard visual-textual negatives to improve class separability. The framework employs asymmetric optimization, refining only textual prototypes while anchoring on stable visual features. Experiments on 15 benchmarks show that CPL-NC consistently outperforms prior TTA methods across both ResNet-50 and ViT-B/16 backbones.

cs.CV↗

arXiv2025

Bidirectional Prototype-Reward co-Evolution for Test-Time Adaptation of Vision-Language Models

Test-time adaptation (TTA) is crucial in maintaining performance of Vision Language Models (VLMs) when facing distribution shifts, particularly when the source data or target labels are inaccessible. Existing TTA methods predominantly leverage the output probability distribution of CLIP for feature evaluation, resulting in biases under domain shifts, which cause misclassified features due to text priors or incorrect textual associations. To address these issues, we propose \underline{B}idirectional Prototype-Reward co-Evolution (BPRE), a novel VLMs framework with TTA that integrates feature quality assessment with prototype evolution via a synergistic feedback loop. First, the Multi-dimensional Quality-aware Reward Module (MQRM) is designed to evaluate feature quality and guide prototype refinement precisely. The continuous refinement of prototype quality via Prototype-Reward Interactive Evolution (PRIE) enhances the computation more robust. Through this bidirectional interaction, the precision of rewards and prototype evolution mutually reinforce each other, forming a self-evolving feedback cycle. Extensive experiments conducted on 15 diverse recognition datasets demonstrate that our model consistently achieves superior performance compared to other SOTA methods, and advances VLM generalization capabilities through emphasizing comprehensive feature evaluation.

cs.CV↗

arXiv2024

ComKD-CLIP: Comprehensive Knowledge Distillation for Contrastive Language-Image Pre-traning Model

Contrastive Language-Image Pre-training (CLIP) models excel in integrating semantic information between images and text through contrastive learning techniques. It has achieved remarkable performance in various multimodal tasks. However, the deployment of large CLIP models is hindered in resource-limited environments, while smaller models frequently fail to meet the performance benchmarks required for practical applications. In this paper, we propose a novel approach, ComKD-CLIP: Comprehensive Knowledge Distillation for Contrastive Language-Image Pre-traning Model, which aims to comprehensively distill the knowledge from a large teacher CLIP model into a smaller student model, ensuring comparable performance with significantly reduced parameters. ComKD-CLIP is composed of two key mechanisms: Image Feature Alignment (IFAlign) and Educational Attention (EduAttention). IFAlign makes the image features extracted by the student model closely match those extracted by the teacher model, enabling the student to learn teacher's knowledge of extracting image features. EduAttention explores the cross-relationships between text features extracted by the teacher model and image features extracted by the student model, enabling the student model to learn how the teacher model integrates text-image features. In addition, ComKD-CLIP can refine the knowledge distilled from IFAlign and EduAttention by leveraging the text-image feature fusion results of the teacher model, ensuring the student model accurately absorbs the teacher's knowledge. Extensive experiments conducted on 11 datasets have demonstrated the superiority of the proposed method.

cs.CV↗

arXiv2024

CREST: Cross-modal Resonance through Evidential Deep Learning for Enhanced Zero-Shot Learning

Zero-shot learning (ZSL) enables the recognition of novel classes by leveraging semantic knowledge transfer from known to unknown categories. This knowledge, typically encapsulated in attribute descriptions, aids in identifying class-specific visual features, thus facilitating visual-semantic alignment and improving ZSL performance. However, real-world challenges such as distribution imbalances and attribute co-occurrence among instances often hinder the discernment of local variances in images, a problem exacerbated by the scarcity of fine-grained, region-specific attribute annotations. Moreover, the variability in visual presentation within categories can also skew attribute-category associations. In response, we propose a bidirectional cross-modal ZSL approach CREST. It begins by extracting representations for attribute and visual localization and employs Evidential Deep Learning (EDL) to measure underlying epistemic uncertainty, thereby enhancing the model's resilience against hard negatives. CREST incorporates dual learning pathways, focusing on both visual-category and attribute-category alignments, to ensure robust correlation between latent and observable spaces. Moreover, we introduce an uncertainty-informed cross-modal fusion technique to refine visual-attribute inference. Extensive experiments demonstrate our model's effectiveness and unique explainability across multiple datasets. Our code and data are available at: https://github.com/JethroJames/CREST

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