arXiv subjects

Xing Liu

Publications and source records attributed to Xing Liu.

At least 73 records · Page 4Linked to original sources

arXiv2025

Semantic-Geometric-Physical-Driven Robot Manipulation Skill Transfer via Skill Library and Tactile Representation

Developing general robotic systems capable of manipulating in unstructured environments is a significant challenge, particularly as the tasks involved are typically long-horizon and rich-contact, requiring efficient skill transfer across different task scenarios. To address these challenges, we propose knowledge graph-based skill library construction method. This method hierarchically organizes manipulation knowledge using "task graph" and "scene graph" to represent task-specific and scene-specific information, respectively. Additionally, we introduce "state graph" to facilitate the interaction between high-level task planning and low-level scene information. Building upon this foundation, we further propose a novel hierarchical skill transfer framework based on the skill library and tactile representation, which integrates high-level reasoning for skill transfer and low-level precision for execution. At the task level, we utilize large language models (LLMs) and combine contextual learning with a four-stage chain-of-thought prompting paradigm to achieve subtask sequence transfer. At the motion level, we develop an adaptive trajectory transfer method based on the skill library and the heuristic path planning algorithm. At the physical level, we propose an adaptive contour extraction and posture perception method based on tactile representation. This method dynamically acquires high-precision contour and posture information from visual-tactile images, adjusting parameters such as contact position and posture to ensure the effectiveness of transferred skills in new environments. Experiments demonstrate the skill transfer and adaptability capabilities of the proposed methods across different task scenarios. Project website: https://github.com/MingchaoQi/skill_transfer

cs.RO↗

arXiv2025

Drive Any Mesh: 4D Latent Diffusion for Mesh Deformation from Video

We propose DriveAnyMesh, a method for driving mesh guided by monocular video. Current 4D generation techniques encounter challenges with modern rendering engines. Implicit methods have low rendering efficiency and are unfriendly to rasterization-based engines, while skeletal methods demand significant manual effort and lack cross-category generalization. Animating existing 3D assets, instead of creating 4D assets from scratch, demands a deep understanding of the input's 3D structure. To tackle these challenges, we present a 4D diffusion model that denoises sequences of latent sets, which are then decoded to produce mesh animations from point cloud trajectory sequences. These latent sets leverage a transformer-based variational autoencoder, simultaneously capturing 3D shape and motion information. By employing a spatiotemporal, transformer-based diffusion model, information is exchanged across multiple latent frames, enhancing the efficiency and generalization of the generated results. Our experimental results demonstrate that DriveAnyMesh can rapidly produce high-quality animations for complex motions and is compatible with modern rendering engines. This method holds potential for applications in both the gaming and filming industries.

cs.CV↗

arXiv2025

Characterizing and Efficiently Accelerating Multimodal Generation Model Inference

Generative artificial intelligence (AI) technology is revolutionizing the computing industry. Not only its applications have broadened to various sectors but also poses new system design and optimization opportunities. The technology is capable of understanding and responding in multiple modalities. However, the advanced capability currently comes with significant system resource demands. To sustainably scale generative AI capabilities to billions of users in the world, inference must be fast and efficient. This paper pinpoints key system design and optimization opportunities by characterizing a family of emerging multi-modal generation models on real systems. Auto-regressive token generation is a critical latency performance bottleneck, typically dominated by GPU idle time. In addition to memory-intensive attention across the generative AI models, linear operations constitute significant inference latency due to the feed forward networks in Transformer-based models. We demonstrate that state-of-the-art optimization levers, spanning from applications to system software and hardware, set a 3.88x better baseline.

cs.LG↗

arXiv2025

OSDFace: One-Step Diffusion Model for Face Restoration

Diffusion models have demonstrated impressive performance in face restoration. Yet, their multi-step inference process remains computationally intensive, limiting their applicability in real-world scenarios. Moreover, existing methods often struggle to generate face images that are harmonious, realistic, and consistent with the subject's identity. In this work, we propose OSDFace, a novel one-step diffusion model for face restoration. Specifically, we propose a visual representation embedder (VRE) to better capture prior information and understand the input face. In VRE, low-quality faces are processed by a visual tokenizer and subsequently embedded with a vector-quantized dictionary to generate visual prompts. Additionally, we incorporate a facial identity loss derived from face recognition to further ensure identity consistency. We further employ a generative adversarial network (GAN) as a guidance model to encourage distribution alignment between the restored face and the ground truth. Experimental results demonstrate that OSDFace surpasses current state-of-the-art (SOTA) methods in both visual quality and quantitative metrics, generating high-fidelity, natural face images with high identity consistency. The code and model will be released at https://github.com/jkwang28/OSDFace.

cs.CV↗

arXiv2025

TexGaussian: Generating High-quality PBR Material via Octree-based 3D Gaussian Splatting

Physically Based Rendering (PBR) materials play a crucial role in modern graphics, enabling photorealistic rendering across diverse environment maps. Developing an effective and efficient algorithm that is capable of automatically generating high-quality PBR materials rather than RGB texture for 3D meshes can significantly streamline the 3D content creation. Most existing methods leverage pre-trained 2D diffusion models for multi-view image synthesis, which often leads to severe inconsistency between the generated textures and input 3D meshes. This paper presents TexGaussian, a novel method that uses octant-aligned 3D Gaussian Splatting for rapid PBR material generation. Specifically, we place each 3D Gaussian on the finest leaf node of the octree built from the input 3D mesh to render the multi-view images not only for the albedo map but also for roughness and metallic. Moreover, our model is trained in a regression manner instead of diffusion denoising, capable of generating the PBR material for a 3D mesh in a single feed-forward process. Extensive experiments on publicly available benchmarks demonstrate that our method synthesizes more visually pleasing PBR materials and runs faster than previous methods in both unconditional and text-conditional scenarios, exhibiting better consistency with the given geometry. Our code and trained models are available at https://3d-aigc.github.io/TexGaussian.

cs.CV↗

arXiv2025

EP240801a/XRF 240801B: An X-ray Flash Detected by the Einstein Probe and Implications of its Multiband Afterglow

We present multiband observations and analysis of EP240801a, a low-energy, extremely soft gamma-ray burst (GRB) discovered on August 1, 2024 by the Einstein Probe (EP) satellite, with a weak contemporaneous signal also detected by Fermi/GBM. Optical spectroscopy of the afterglow, obtained by GTC and Keck, identified the redshift of $z = 1.6734$. EP240801a exhibits a burst duration of 148 s in X-rays and 22.3 s in gamma-rays, with X-rays leading by 80.61 s. Spectral lag analysis indicates the gamma-ray signal arrived 8.3 s earlier than the X-rays. Joint spectral fitting of EP/WXT and Fermi/GBM data yields an isotropic energy $E_{γ,\rm{iso}} = (5.57^{+0.54}_{-0.50})\times 10^{51}\,\rm{erg}$, a peak energy $E_{\rm{peak}} = 14.90^{+7.08}_{-4.71}\,\rm{keV}$, a fluence ratio $\rm S(25-50\,\rm{keV})/S(50-100\,\rm{keV}) = 1.67^{+0.74}_{-0.46}$, classifying EP240801a as an X-ray flash (XRF). The host-galaxy continuum spectrum, inferred using Prospector, was used to correct its contribution for the observed outburst optical data. Unusual early $R$-band behavior and EP/FXT observations suggest multiple components in the afterglow. Three models are considered: two-component jet model, forward-reverse shock model and forward-shock model with energy injection. Both three provide reasonable explanations. The two-component jet model and the energy injection model imply a relatively small initial energy and velocity of the jet in the line of sight, while the forward-reverse shock model remains typical. Under the two-component jet model, EP240801a may resemble GRB 221009A (BOAT) if the bright narrow beam is viewed on-axis. Therefore, EP240801a can be interpreted as an off-beam (narrow) jet or an intrinsically weak GRB jet. Our findings provide crucial clues for uncovering the origin of XRFs.

astro-ph.HE↗

arXiv2025

Dynamic Fault Analysis in Substations Based on Knowledge Graphs

To address the challenge of identifying hidden danger in substations from unstructured text, a novel dynamic analysis method is proposed. We first extract relevant information from the unstructured text, and then leverages a flexible distributed search engine built on Elastic-Search to handle the data. Following this, the hidden Markov model is employed to train the data within the engine. The Viterbi algorithm is integrated to decipher the hidden state sequences, facilitating the segmentation and labeling of entities related to hidden dangers. The final step involves using the Neo4j graph database to dynamically create a knowledge graph that visualizes hidden dangers in the substation. The effectiveness of the proposed method is demonstrated through a case analysis from a specific substation with hidden dangers revealed in the text records.

cs.CL↗

arXiv2025

LEO Satellite and RIS: Two Keys to Seamless Indoor and Outdoor Localization

The contemporary landscape of wireless technology underscores the critical role of precise localization services. Traditional global navigation satellite systems (GNSS)-based solutions, however, fall short when it comes to indoor environments, and existing indoor localization techniques such as electromagnetic fingerprinting methods face challenges of additional implementation costs and limited coverage. This article explores an innovative solution that blends low Earth orbit (LEO) satellites with reconfigurable intelligent surfaces (RISs), unlocking its potential for realizing seamless indoor and outdoor localization (SIOL) with global coverage. After a comprehensive review of the distinctive characteristics of LEO satellites and RISs, we showcase their potential for SIOL applications through two case studies on position error bound evaluation. Finally, we discuss system architectures and highlight open challenges in such systems.

eess.SP↗

arXiv2025

Suppressing Mechanical Property Variability in Recycled Plastics via Bio-inspired Design

The escalating plastic waste crisis demands global action, yet mechanical recycling - currently the most prevalent strategy - remains severely underutilized. Only a small fraction of the total plastic waste is recycled in this manner, largely due to the significant variability in recycled plastics' mechanical properties. This variability stems from compositional fluctuations and impurities introduced throughout the materials' lifecycle and the recycling process, deterring industries with stringent product specifications from adopting recycled plastics on a wider scale. To overcome this challenge, we propose a composite structure inspired by nacre's microstructure - a natural material known for its exceptional mechanical performance despite its inherent randomness across multiple length scales. This bio-inspired design features stiff recycled plastic platelets ("bricks") within a soft polymeric matrix ("mortar"). We use a tension-shear-chain model to capture the deformation mechanism of the structure, and demonstrate, through a case study of commercial stretch wrap, that the proposed design reduces variability in effective elastic modulus by 89.5% and in elongation at break by 42%, while achieving the same modulus as the virgin stretch wrap material. These findings highlight the potential of the proposed bio-inspired design to enhance the mechanical performance of recycled plastics, but also demonstrate that a universally applicable, chemistry-agnostic approach can substantially broaden their applications, paving the way for sustainable plastic waste management.

physics.gen-ph↗

arXiv2025

Understanding the Functional Roles of Modelling Components in Spiking Neural Networks

Spiking neural networks (SNNs), inspired by the neural circuits of the brain, are promising in achieving high computational efficiency with biological fidelity. Nevertheless, it is quite difficult to optimize SNNs because the functional roles of their modelling components remain unclear. By designing and evaluating several variants of the classic model, we systematically investigate the functional roles of key modelling components, leakage, reset, and recurrence, in leaky integrate-and-fire (LIF) based SNNs. Through extensive experiments, we demonstrate how these components influence the accuracy, generalization, and robustness of SNNs. Specifically, we find that the leakage plays a crucial role in balancing memory retention and robustness, the reset mechanism is essential for uninterrupted temporal processing and computational efficiency, and the recurrence enriches the capability to model complex dynamics at a cost of robustness degradation. With these interesting observations, we provide optimization suggestions for enhancing the performance of SNNs in different scenarios. This work deepens the understanding of how SNNs work, which offers valuable guidance for the development of more effective and robust neuromorphic models.

cs.NE↗

arXiv2025

Integrated 6G TN and NTN Localization: Challenges, Opportunities, and Advancements

The rapid evolution of cellular networks has introduced groundbreaking technologies, including large and distributed antenna arrays and reconfigurable intelligent surfaces in terrestrial networks (TNs), as well as aerial and space-based nodes in non-terrestrial networks (NTNs). These advancements enable applications beyond traditional communication, such as high-precision localization and sensing. While integrating TN and NTN enablers will lead to unparalleled opportunities for seamless global localization, such integration attempts are expected to face several challenges. To understand these opportunities and challenges, we first examine the distinctive characteristics of the key 6G enablers, evaluating their roles in localization from both technical and practical perspectives. Next, to identify developments driving TN-NTN localization, we review the latest standardization and industrial innovation progress. Finally, we discuss the opportunities and challenges of TN-NTN integration, illustrating its potential through two numerical case studies.

eess.SP↗

arXiv2025

CoCoI: Distributed Coded Inference System for Straggler Mitigation

Convolutional neural networks (CNNs) are widely applied in real-time applications on resource-constrained devices. To accelerate CNN inference, prior works proposed to distribute the inference workload across multiple devices. However, they did not address stragglers and device failures in distributed inference, which is challenging due to the devices' time-varying and possibly unknown computation/communication capacities. To address this, we propose a distributed coded inference system, called CoCoI. It splits the convolutional layers of CNN, considering the data dependency of high-dimensional inputs and outputs, and then adapts coding schemes to generate task redundancy. With CoCoI, the inference results can be determined once a subset of devices complete their subtasks, improving robustness against stragglers and failures. To theoretically analyze the tradeoff between redundancy and subtask workload, we formulate an optimal splitting problem to minimize the expected inference latency. Despite its non-convexity, we determine an approximate strategy with minor errors, and prove that CoCoI outperforms uncoded benchmarks. For performance evaluation, we build a testbed with Raspberry Pi 4Bs. The experimental results show that the approximate strategy closely matches the optimal solution. When compared with uncoded benchmarks, CoCoI reduces inference latency by up to 34.2% in the presence of stragglers and device failures.

cs.DC↗

arXiv2025

INFELM: In-depth Fairness Evaluation of Large Text-To-Image Models

The rapid development of large language models (LLMs) and large vision models (LVMs) have propelled the evolution of multi-modal AI systems, which have demonstrated the remarkable potential for industrial applications by emulating human-like cognition. However, they also pose significant ethical challenges, including amplifying harmful content and reinforcing societal biases. For instance, biases in some industrial image generation models highlighted the urgent need for robust fairness assessments. Most existing evaluation frameworks focus on the comprehensiveness of various aspects of the models, but they exhibit critical limitations, including insufficient attention to content generation alignment and social bias-sensitive domains. More importantly, their reliance on pixel-detection techniques is prone to inaccuracies. To address these issues, this paper presents INFELM, an in-depth fairness evaluation on widely-used text-to-image models. Our key contributions are: (1) an advanced skintone classifier incorporating facial topology and refined skin pixel representation to enhance classification precision by at least 16.04%, (2) a bias-sensitive content alignment measurement for understanding societal impacts, (3) a generalizable representation bias evaluation for diverse demographic groups, and (4) extensive experiments analyzing large-scale text-to-image model outputs across six social-bias-sensitive domains. We find that existing models in the study generally do not meet the empirical fairness criteria, and representation bias is generally more pronounced than alignment errors. INFELM establishes a robust benchmark for fairness assessment, supporting the development of multi-modal AI systems that align with ethical and human-centric principles.

cs.CV↗

arXiv2025

GRB 241030A: a prompt thermal X-ray emission component and diverse origin of the very early UVOT WHITE and U band emission

We present a detailed analysis of the long-duration GRB 241030A detected by {\it Swift}. Thanks to the rapid response of XRT and UVOT, the strongest part of the prompt emission of GRB 241030A has been well measured simultaneously from optical to hard X-ray band. The time-resolved WHITE band emission shows strong variability, largely tracing the activity of the prompt gamma-ray emission, may be produced by internal shocks too. The joint analysis of the XRT and BAT data reveals the presence of a thermal component with a temperature of a few keV, which can be interpreted as the photosphere radiation, and the upper limit of the Lorentz factor of this region is found to range between approximately 20 and 80. The time-resolved analysis of the initial U-band exposure data yields a very rapid rise ($ \sim t^{5.3}$) with a bright peak reaching 13.6 AB magnitude around 410 seconds, which is most likely attributed to the onset of the external shock emission. The richness and fineness of early observational data have made this burst a unique sample for studying the various radiation mechanisms of gamma-ray bursts.

astro-ph.HE↗

arXiv2024

Detection of an Orphan X-ray Flare from a Blazar Candidate EP240709a with Einstein Probe

Blazars are often observed to flare across multiple wavelengths. Orphan flares from blazars have been only detected a few times, providing an opportunity to understand the structure of the jet in the accreting system. We report a remarkable orphan X-ray flare from a blazar candidate EP240709a, detected by Einstein Probe (EP) in July 2024. The multi-band spectral properties and variability support EP240709a as a high-energy peaked BL Lacertae-type object. The flux in 0.5-10 keV increases by at least 28 times to the value of low state in 2020, with non-detection of remarkable flaring in other bands during the same period. EP240709a exhibits the harder-when-brighter tendency in the X-ray band during the orphan flare, while its infrared-optical spectra are featureless. We employ one-zone and two-zone leptonic synchrotron self-Compton models to perform the spectral energy distribution fitting. Detecting this rare orphan flare shows the potential of EP in discovering peculiar activities from AGN in high-cadence X-ray sky surveys.

astro-ph.HE↗

arXiv2024

Video Domain Incremental Learning for Human Action Recognition in Home Environments

It is significantly challenging to recognize daily human actions in homes due to the diversity and dynamic changes in unconstrained home environments. It spurs the need to continually adapt to various users and scenes. Fine-tuning current video understanding models on newly encountered domains often leads to catastrophic forgetting, where the models lose their ability to perform well on previously learned scenarios. To address this issue, we formalize the problem of Video Domain Incremental Learning (VDIL), which enables models to learn continually from different domains while maintaining a fixed set of action classes. Existing continual learning research primarily focuses on class-incremental learning, while the domain incremental learning has been largely overlooked in video understanding. In this work, we introduce a novel benchmark of domain incremental human action recognition for unconstrained home environments. We design three domain split types (user, scene, hybrid) to systematically assess the challenges posed by domain shifts in real-world home settings. Furthermore, we propose a baseline learning strategy based on replay and reservoir sampling techniques without domain labels to handle scenarios with limited memory and task agnosticism. Extensive experimental results demonstrate that our simple sampling and replay strategy outperforms most existing continual learning methods across the three proposed benchmarks.

cs.CV↗

arXiv2024

Triggering the Untriggered: The First Einstein Probe-Detected Gamma-Ray Burst 240219A and Its Implications

The Einstein Probe (EP) achieved its first detection and localization of a bright X-ray flare, EP240219a, on 2024 February 19, during its commissioning phase. Subsequent targeted searches triggered by the EP240219a alert identified a faint, untriggered gamma-ray burst (GRB) in the archived data of Fermi Gamma-ray Burst Monitor (GBM), Swift Burst Alert Telescope (BAT), and Insight-HXMT/HE. The EP Wide-field X-ray Telescope (WXT) light curve reveals a long duration of approximately 160 s with a slow decay, whereas the Fermi/GBM light curve shows a total duration of approximately 70 s. The peak in the Fermi/GBM light curve occurs slightly later with respect to the peak seen in the EP/WXT light curve. Our spectral analysis shows that a single cutoff power-law (PL) model effectively describes the joint EP/WXT--Fermi/GBM spectra in general, indicating coherent broad emission typical of GRBs. The model yielded a photon index of $\sim -1.70 \pm 0.05$ and a peak energy of $\sim 257 \pm 134$ keV. After detection of GRB 240219A, long-term observations identified several candidates in optical and radio wavelengths, none of which was confirmed as the afterglow counterpart during subsequent optical and near-infrared follow-ups. The analysis of GRB 240219A classifies it as an X-ray rich GRB (XRR) with a high peak energy, presenting both challenges and opportunities for studying the physical origins of X-ray flashes, XRRs, and classical GRBs. Furthermore, linking the cutoff PL component to nonthermal synchrotron radiation suggests that the burst is driven by a Poynting flux-dominated outflow.

astro-ph.HE↗

arXiv2024

Einstein Probe discovery of EP240408a: a peculiar X-ray transient with an intermediate timescale

We report the discovery of a peculiar X-ray transient, EP240408a, by Einstein Probe (EP) and follow-up studies made with EP, Swift, NICER, GROND, ATCA and other ground-based multi-wavelength telescopes. The new transient was first detected with Wide-field X-ray Telescope (WXT) on board EP on April 8th, 2024, manifested in an intense yet brief X-ray flare lasting for 12 seconds. The flare reached a peak flux of 3.9x10^(-9) erg/cm2/s in 0.5-4 keV, about 300 times brighter than the underlying X-ray emission detected throughout the observation. Rapid and more precise follow-up observations by EP/FXT, Swift and NICER confirmed the finding of this new transient. Its X-ray spectrum is non-thermal in 0.5-10 keV, with a power-law photon index varying within 1.8-2.5. The X-ray light curve shows a plateau lasting for about 4 days, followed by a steep decay till becoming undetectable about 10 days after the initial detection. Based on its temporal property and constraints from previous EP observations, an unusual timescale in the range of 7-23 days is found for EP240408a, which is intermediate between the commonly found fast and long-term transients. No counterparts have been found in optical and near-infrared, with the earliest observation at 17 hours after the initial X-ray detection, suggestive of intrinsically weak emission in these bands. We demonstrate that the remarkable properties of EP240408a are inconsistent with any of the transient types known so far, by comparison with, in particular, jetted tidal disruption events, gamma-ray bursts, X-ray binaries and fast blue optical transients. The nature of EP240408a thus remains an enigma. We suggest that EP240408a may represent a new type of transients with intermediate timescales of the order of about 10 days. The detection and follow-ups of more of such objects are essential for revealing their origin.

astro-ph.HE↗