arXiv subjects

Xuesong Chen

Publications and source records attributed to Xuesong Chen.

At least 19 recordsLinked to original sources

arXiv2026

An Inner-Outer Iteration Algorithm with Optimal Parameters for Stochastic Lyapunov Matrix Equation

This paper proposes an inner--outer (IO) iterative algorithm with optimal parameters for solving stochastic Lyapunov matrix equation associated with discrete-time stochastic linear system. First, under the assumption that the underlying stochastic linear system is asymptotically mean-square stable, the monotonicity and boundedness of the iterative sequence generated by the proposed algorithm are analyzed. On this basis, a sufficient convergence result is established for the zero initial condition. Second, by deriving the spectral radius of the corresponding iteration matrix, several necessary and sufficient convergence conditions are obtained for arbitrary initial conditions. In addition, the optimal parameter-selection strategies are developed to improve the convergence performance of the algorithm. Finally, numerical examples are presented to verify the theoretical results and demonstrate the advantages of the proposed algorithm over several existing iterative methods.

math.NA↗

arXiv2026

Atoms of Thought: Universal EEG Representation Learning with Microstates

Learning universal representations from electroencephalogram (EEG) signals is a cutting-edge approach in the field of neuroinformatics and brain-computer interfaces (BCIs). Conventionally, EEG is treated as a multivariate temporal signal, where time- or frequency-domain features are extracted for representation learning. This paper investigates a simple yet effective EEG representation, i.e., microstates. Microstates represent the building blocks of brain activity patterns at a microscopic time scale. We build a universal microstate tokenizer from a large medical EEG dataset by clustering continuous EEG signals into sequences of discrete microstates. The microstate tokenizer is then adopted universally across a series of downstream tasks, including sleep staging, emotion recognition, and motor imagery classification. Experimental results show that EEG representation learning with microstates outperforms traditional time-domain and frequency-domain features under different models and across different tasks. Further analysis shows that microstates offer greater interpretability and scalability, thereby opening up applications in both cognitive neuroscience and clinical research.

cs.LG↗

arXiv2026

OneDrive: Unified Multi-Paradigm Driving with Vision-Language-Action Models

Vision-Language Models(VLMs) excel at autoregressive text generation, yet end-to-end autonomous driving requires multi-task learning with structured outputs and heterogeneous decoding behaviors, such as autoregressive language generation, parallel object detection and trajectory regression. To accommodate these differences, existing systems typically introduce separate or cascaded decoders, resulting in architectural fragmentation and limited backbone reuse. In this work, we present a unified autonomous driving framework built upon a pretrained VLM, where heterogeneous decoding behaviors are reconciled within a single transformer decoder. We demonstrate that pretrained VLM attention exhibits strong transferability beyond pure language modeling. By organizing visual and structured query tokens within a single causal decoder, structured queries can naturally condition on visual context through the original attention mechanism. Textual and structured outputs share a common attention backbone, enabling stable joint optimization across heterogeneous tasks. Trajectory planning is realized within the same causal LLM decoder by introducing structured trajectory queries. This unified formulation enables planning to share the pretrained attention backbone with images and perception tokens. Extensive experiments on end-to-end autonomous driving benchmarks demonstrate state-of-the-art performance, including 0.28 L2 and 0.18 collision rate on nuScenes open-loop evaluation and competitive results (86.8 PDMS) on NAVSIM closed-loop evaluation. The full model preserves multi-modal generation capability, while an efficient inference mode achieves approximately 40% lower latency. Code and models are available at https://github.com/Z1zyw/OneDrive

cs.CV↗

arXiv2026

sleep2vec: Unified Cross-Modal Alignment for Heterogeneous Nocturnal Biosignals

Tasks ranging from sleep staging to clinical diagnosis traditionally rely on standard polysomnography (PSG) devices, bedside monitors and wearable devices, which capture diverse nocturnal biosignals (e.g., EEG, EOG, ECG, SpO$_2$). However, heterogeneity across devices and frequent sensor dropout pose significant challenges for unified modelling of these multimodal signals. We present \texttt{sleep2vec}, a foundation model for diverse and incomplete nocturnal biosignals that learns a shared representation via cross-modal alignment. \texttt{sleep2vec} is contrastively pre-trained on 42,249 overnight recordings spanning nine modalities using a \textit{Demography, Age, Site \& History-aware InfoNCE} objective that incorporates physiological and acquisition metadata (\textit{e.g.}, age, gender, recording site) to dynamically weight negatives and mitigate cohort-specific shortcuts. On downstream sleep staging and clinical outcome assessment, \texttt{sleep2vec} consistently outperforms strong baselines and remains robust to any subset of available modalities and sensor dropout. We further characterize, to our knowledge for the first time, scaling laws for nocturnal biosignals with respect to modality diversity and model capacity. Together, these results show that unified cross-modal alignment, coupled with principled scaling, enables label-efficient, general-purpose modelling of real-world nocturnal biosignals.

cs.LG↗

arXiv2026

Error estimates of $hp$-finite element method for elliptic optimal control problems with robin boundary

A priori and a posteriori error analysis of $hp$ finite element method for elliptic control problem with Robin boundary condition and boundary observation are presented. are presented. Through the Cl\'ement-type approach and the construction of an auxiliary system, we derived a priori error estimates for the elliptic optimal control problem. Residual-based a posteriori error estimates are derived based on the well-known Scott-Zhang-type quasi-interpolation and coupled state-control approximations, thus establishing an a posteriori error estimator for the $hp$ finite element method. The numerical example demonstrates the accuracy of error estimation for the elliptic optimal control problems with Robin boundary.

math.NA↗

arXiv2025

ColaVLA: Leveraging Cognitive Latent Reasoning for Hierarchical Parallel Trajectory Planning in Autonomous Driving

Autonomous driving requires generating safe and reliable trajectories from complex multimodal inputs. Traditional modular pipelines separate perception, prediction, and planning, while recent end-to-end (E2E) systems learn them jointly. Vision-language models (VLMs) further enrich this paradigm by introducing cross-modal priors and commonsense reasoning, yet current VLM-based planners face three key challenges: (i) a mismatch between discrete text reasoning and continuous control, (ii) high latency from autoregressive chain-of-thought decoding, and (iii) inefficient or non-causal planners that limit real-time deployment. We propose ColaVLA, a unified vision-language-action framework that transfers reasoning from text to a unified latent space and couples it with a hierarchical, parallel trajectory decoder. The Cognitive Latent Reasoner compresses scene understanding into compact, decision-oriented meta-action embeddings through ego-adaptive selection and only two VLM forward passes. The Hierarchical Parallel Planner then generates multi-scale, causality-consistent trajectories in a single forward pass. Together, these components preserve the generalization and interpretability of VLMs while enabling efficient, accurate and safe trajectory generation. Experiments on the nuScenes benchmark show that ColaVLA achieves state-of-the-art performance in both open-loop and closed-loop settings with favorable efficiency and robustness.

cs.CV↗

arXiv2025

An Efficient Transient Nonlinear Circuit Simulator Using Exponential Integration and Block-Jacobi Precondition

Transient simulation of linear and nonlinear circuits remains an important task in modern EDA tools. At present, SPICE-like simulators face challenges in parallelization, nonlinear convergence and linear efficiency, especially when applied to large-scale circuits. To address the limitations of simulators in handling various nonlinear circuits, we adopt a generalized row-echelon regularization approach, which extends the applicability of exponential integrators to a broader class of differential algebraic equations. The proposed method employs matrix exponential vector products to integrate the regularized system, allowing for a larger time step size while preserving accuracy and stability. Furthermore, in order to accelerate GMRES-based solvers within Newton-Raphson iterations, a structured block-Jacobi preconditioner is designed for linear systems. For locally coupled circuits, Additive Schwarz overlapping strategy is adopted to enhance the solution performance. Numerical experiments of various nonlinear circuit models show that under same hardware environment, our method achieves a speedup of 1.95$\times$-- 3.27$\times$ in total computation time compared to Backward Euler with Inexact Newton iterations, and time steps have decreased by an average of 60.70\% (up to 74.59\%). Compared with EI-NK method, total computing time of our method has a speedup of 1.08$\times$-- 1.79$\times$. These results highlight the potential of proposed method for scalable and nonlinear circuit simulation.

cs.CE↗

arXiv2025

An inexact semismooth Newton-Krylov method for semilinear elliptic optimal control problem

An inexact semismooth Newton method has been proposed for solving semi-linear elliptic optimal control problems in this paper. This method incorporates the generalized minimal residual (GMRES) method, a type of Krylov subspace method, to solve the Newton equations and utilizes nonmonotonic line search to adjust the iteration step size. The original problem is reformulated into a nonlinear equation through variational inequality principles and discretized using a second-order finite difference scheme. By leveraging slanting differentiability, the algorithm constructs semismooth Newton directions and employs GMRES method to inexactly solve the Newton equations, significantly reducing computational overhead. A dynamic nonmonotonic line search strategy is introduced to adjust stepsizes adaptively, ensuring global convergence while overcoming local stagnation. Theoretical analysis demonstrates that the algorithm achieves superlinear convergence near optimal solutions when the residual control parameter $η_k$ approaches to 0. Numerical experiments validate the method's accuracy and efficiency in solving semilinear elliptic optimal control problems, corroborating theoretical insights.

math.OC↗

arXiv2025

Hybrid-Precision Block-Jacobi Preconditioned GMRES Solver for Linear System in Circuit Simulation

As integrated circuits become increasingly complex, the demand for efficient and accurate simulation solvers continues to rise. Traditional solvers often struggle with large-scale sparse systems, leading to prolonged simulation times and reduced accuracy. In this paper, a hybrid-precision block-Jacobi preconditioned GMRES solver is proposed to solve the large sparse system in circuit simulation. The proposed method capitalizes on the structural sparsity and block properties of circuit matrices, employing a novel hybrid-precision strategy that applies single-precision arithmetic for computationally intensive tasks and double-precision arithmetic for critical accuracy-sensitive computations. Additionally, we use the graph partitioning tools to assist in generating preconditioners, ensuring an optimized preconditioning process. For large-scale problems, we adopt the restart strategy to increase the computational efficiency. Through rigorous mathematical reasoning, the convergence and error analysis of the proposed method are carried out. Numerical experiments on various benchmark matrices demonstrate that our approach significantly outperforms existing solvers, including SuperLU, KLU, and SFLU, in terms of both preconditioning and GMRES runtime. The proposed hybrid-precision preconditioner effectively improves spectral clustering, leading to faster solutions.

math.NA↗

arXiv2025

Foresight in Motion: Reinforcing Trajectory Prediction with Reward Heuristics

Motion forecasting for on-road traffic agents presents both a significant challenge and a critical necessity for ensuring safety in autonomous driving systems. In contrast to most existing data-driven approaches that directly predict future trajectories, we rethink this task from a planning perspective, advocating a "First Reasoning, Then Forecasting" strategy that explicitly incorporates behavior intentions as spatial guidance for trajectory prediction. To achieve this, we introduce an interpretable, reward-driven intention reasoner grounded in a novel query-centric Inverse Reinforcement Learning (IRL) scheme. Our method first encodes traffic agents and scene elements into a unified vectorized representation, then aggregates contextual features through a query-centric paradigm. This enables the derivation of a reward distribution, a compact yet informative representation of the target agent's behavior within the given scene context via IRL. Guided by this reward heuristic, we perform policy rollouts to reason about multiple plausible intentions, providing valuable priors for subsequent trajectory generation. Finally, we develop a hierarchical DETR-like decoder integrated with bidirectional selective state space models to produce accurate future trajectories along with their associated probabilities. Extensive experiments on the large-scale Argoverse and nuScenes motion forecasting datasets demonstrate that our approach significantly enhances trajectory prediction confidence, achieving highly competitive performance relative to state-of-the-art methods.

cs.CV↗

arXiv2025

SOLVE: Synergy of Language-Vision and End-to-End Networks for Autonomous Driving

The integration of Vision-Language Models (VLMs) into autonomous driving systems has shown promise in addressing key challenges such as learning complexity, interpretability, and common-sense reasoning. However, existing approaches often struggle with efficient integration and realtime decision-making due to computational demands. In this paper, we introduce SOLVE, an innovative framework that synergizes VLMs with end-to-end (E2E) models to enhance autonomous vehicle planning. Our approach emphasizes knowledge sharing at the feature level through a shared visual encoder, enabling comprehensive interaction between VLM and E2E components. We propose a Trajectory Chain-of-Thought (T-CoT) paradigm, which progressively refines trajectory predictions, reducing uncertainty and improving accuracy. By employing a temporal decoupling strategy, SOLVE achieves efficient cooperation by aligning high-quality VLM outputs with E2E real-time performance. Evaluated on the nuScenes dataset, our method demonstrates significant improvements in trajectory prediction accuracy, paving the way for more robust and reliable autonomous driving systems.

cs.CV↗

arXiv2025

M3Net: Multimodal Multi-task Learning for 3D Detection, Segmentation, and Occupancy Prediction in Autonomous Driving

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining full-perception results. Some multi-task learning methods try to unify multiple tasks with one model, but do not solve the conflicts in multi-task learning. In this paper, we introduce M3Net, a novel multimodal and multi-task network that simultaneously tackles detection, segmentation, and 3D occupancy prediction for autonomous driving and achieves superior performance than single task model. M3Net takes multimodal data as input and multiple tasks via query-token interactions. To enhance the integration of multi-modal features for multi-task learning, we first propose the Modality-Adaptive Feature Integration (MAFI) module, which enables single-modality features to predict channel-wise attention weights for their high-performing tasks, respectively. Based on integrated features, we then develop task-specific query initialization strategies to accommodate the needs of detection/segmentation and 3D occupancy prediction. Leveraging the properly initialized queries, a shared decoder transforms queries and BEV features layer-wise, facilitating multi-task learning. Furthermore, we propose a Task-oriented Channel Scaling (TCS) module in the decoder to mitigate conflicts between optimizing for different tasks. Additionally, our proposed multi-task querying and TCS module support both Transformer-based decoder and Mamba-based decoder, demonstrating its flexibility to different architectures. M3Net achieves state-of-the-art multi-task learning performance on the nuScenes benchmarks.

cs.CV↗

arXiv2024

GaussianPainter: Painting Point Cloud into 3D Gaussians with Normal Guidance

In this paper, we present GaussianPainter, the first method to paint a point cloud into 3D Gaussians given a reference image. GaussianPainter introduces an innovative feed-forward approach to overcome the limitations of time-consuming test-time optimization in 3D Gaussian splatting. Our method addresses a critical challenge in the field: the non-uniqueness problem inherent in the large parameter space of 3D Gaussian splatting. This space, encompassing rotation, anisotropic scales, and spherical harmonic coefficients, introduces the challenge of rendering similar images from substantially different Gaussian fields. As a result, feed-forward networks face instability when attempting to directly predict high-quality Gaussian fields, struggling to converge on consistent parameters for a given output. To address this issue, we propose to estimate a surface normal for each point to determine its Gaussian rotation. This strategy enables the network to effectively predict the remaining Gaussian parameters in the constrained space. We further enhance our approach with an appearance injection module, incorporating reference image appearance into Gaussian fields via a multiscale triplane representation. Our method successfully balances efficiency and fidelity in 3D Gaussian generation, achieving high-quality, diverse, and robust 3D content creation from point clouds in a single forward pass.

cs.CV↗

arXiv2024

Mozart's Touch: A Lightweight Multi-modal Music Generation Framework Based on Pre-Trained Large Models

In recent years, AI-Generated Content (AIGC) has witnessed rapid advancements, facilitating the creation of music, images, and other artistic forms across a wide range of industries. However, current models for image- and video-to-music synthesis struggle to capture the nuanced emotions and atmosphere conveyed by visual content. To fill this gap, we propose Mozart's Touch, a multi-modal music generation framework capable of generating music aligned with cross-modal inputs such as images, videos, and text. The framework consists of three key components: Multi-modal Captioning Module, Large Language Model (LLM) understanding \& Bridging Module, and Music Generation Module. Unlike traditional end-to-end methods, Mozart's Touch uses LLMs to accurately interpret visual elements without requiring the training or fine-tuning of music generation models, providing efficiency and transparency through clear, interpretable prompts. We also introduce the "LLM-Bridge" method to resolve the heterogeneous representation challenges between descriptive texts from different modalities. Through a series of objective and subjective evaluations, we demonstrate that Mozart's Touch outperforms current state-of-the-art models. Our code and examples are available at https://github.com/TiffanyBlews/MozartsTouch.

cs.SD↗

arXiv2024

SleepNetZero: Zero-Burden Zero-Shot Reliable Sleep Staging With Neural Networks Based on Ballistocardiograms

Sleep monitoring plays a crucial role in maintaining good health, with sleep staging serving as an essential metric in the monitoring process. Traditional methods, utilizing medical sensors like EEG and ECG, can be effective but often present challenges such as unnatural user experience, complex deployment, and high costs. Ballistocardiography~(BCG), a type of piezoelectric sensor signal, offers a non-invasive, user-friendly, and easily deployable alternative for long-term home monitoring. However, reliable BCG-based sleep staging is challenging due to the limited sleep monitoring data available for BCG. A restricted training dataset prevents the model from generalization across populations. Additionally, transferring to BCG faces difficulty ensuring model robustness when migrating from other data sources. To address these issues, we introduce SleepNetZero, a zero-shot learning based approach for sleep staging. To tackle the generalization challenge, we propose a series of BCG feature extraction methods that align BCG components with corresponding respiratory, cardiac, and movement channels in PSG. This allows models to be trained on large-scale PSG datasets that are diverse in population. For the migration challenge, we employ data augmentation techniques, significantly enhancing generalizability. We conducted extensive training and testing on large datasets~(12393 records from 9637 different subjects), achieving an accuracy of 0.803 and a Cohen's Kappa of 0.718. ZeroSleepNet was also deployed in real prototype~(monitoring pads) and tested in actual hospital settings~(265 users), demonstrating an accuracy of 0.697 and a Cohen's Kappa of 0.589. To the best of our knowledge, this work represents the first known reliable BCG-based sleep staging effort and marks a significant step towards in-home health monitoring.

eess.SP↗

arXiv2023

TrajectoryFormer: 3D Object Tracking Transformer with Predictive Trajectory Hypotheses

3D multi-object tracking (MOT) is vital for many applications including autonomous driving vehicles and service robots. With the commonly used tracking-by-detection paradigm, 3D MOT has made important progress in recent years. However, these methods only use the detection boxes of the current frame to obtain trajectory-box association results, which makes it impossible for the tracker to recover objects missed by the detector. In this paper, we present TrajectoryFormer, a novel point-cloud-based 3D MOT framework. To recover the missed object by detector, we generates multiple trajectory hypotheses with hybrid candidate boxes, including temporally predicted boxes and current-frame detection boxes, for trajectory-box association. The predicted boxes can propagate object's history trajectory information to the current frame and thus the network can tolerate short-term miss detection of the tracked objects. We combine long-term object motion feature and short-term object appearance feature to create per-hypothesis feature embedding, which reduces the computational overhead for spatial-temporal encoding. Additionally, we introduce a Global-Local Interaction Module to conduct information interaction among all hypotheses and models their spatial relations, leading to accurate estimation of hypotheses. Our TrajectoryFormer achieves state-of-the-art performance on the Waymo 3D MOT benchmarks. Code is available at https://github.com/poodarchu/EFG .

cs.CV↗

arXiv2022

MPPNet: Multi-Frame Feature Intertwining with Proxy Points for 3D Temporal Object Detection

Accurate and reliable 3D detection is vital for many applications including autonomous driving vehicles and service robots. In this paper, we present a flexible and high-performance 3D detection framework, named MPPNet, for 3D temporal object detection with point cloud sequences. We propose a novel three-hierarchy framework with proxy points for multi-frame feature encoding and interactions to achieve better detection. The three hierarchies conduct per-frame feature encoding, short-clip feature fusion, and whole-sequence feature aggregation, respectively. To enable processing long-sequence point clouds with reasonable computational resources, intra-group feature mixing and inter-group feature attention are proposed to form the second and third feature encoding hierarchies, which are recurrently applied for aggregating multi-frame trajectory features. The proxy points not only act as consistent object representations for each frame, but also serve as the courier to facilitate feature interaction between frames. The experiments on large Waymo Open dataset show that our approach outperforms state-of-the-art methods with large margins when applied to both short (e.g., 4-frame) and long (e.g., 16-frame) point cloud sequences. Code is available at https://github.com/open-mmlab/OpenPCDet.

cs.CV↗

arXiv2022

Towards a Better Understanding Human Reading Comprehension with Brain Signals

Reading comprehension is a complex cognitive process involving many human brain activities. Plenty of works have studied the patterns and attention allocations of reading comprehension in information retrieval related scenarios. However, little is known about what happens in human brain during reading comprehension and how these cognitive activities can affect information retrieval process. Additionally, with the advances in brain imaging techniques such as electroencephalogram (EEG), it is possible to collect brain signals in almost real time and explore whether it can be utilized as feedback to facilitate information acquisition performance. In this paper, we carefully design a lab-based user study to investigate brain activities during reading comprehension. Our findings show that neural responses vary with different types of reading contents, i.e., contents that can satisfy users' information needs and contents that cannot. We suggest that various cognitive activities, e.g., cognitive loading, semantic-thematic understanding, and inferential processing, underpin these neural responses at the micro-time scale during reading comprehension. From these findings, we illustrate several insights for information retrieval tasks, such as ranking models construction and interface design. Besides, we suggest the possibility of detecting reading comprehension status for a proactive real-world system. To this end, we propose a Unified framework for EEG-based Reading Comprehension Modeling (UERCM). To verify its effectiveness, we conduct extensive experiments based on EEG features for two reading comprehension tasks: answer sentence classification and answer extraction. Results show that it is feasible to improve the performance of two tasks with brain signals.

cs.IR↗