arXiv subjects

Yao Zheng

Publications and source records attributed to Yao Zheng.

At least 19 recordsLinked to original sources

arXiv2026

On the Efficacy of Self-Supervised Point Cloud Encoders for Efficient 3D Large Language Models

3D point cloud-language models (3D-LLMs) enable 3D understanding by pairing point cloud encoders with large language models, but existing methods rely on costly multi-modal encoders (e.g., ULIP-2) that require image-text-point cloud alignment on 8x A100-scale compute, creating high barriers for research and deployment. In this work, we systematically investigate whether low-cost self-supervised point cloud encoders, specifically PCP-MAE and Point-MAE, can serve as effective alternatives. Using MiniGPT-3D as our testbed, we evaluate 7 encoder initialization/pre-training setups (1 multi-modal baseline, 5 self-supervised, 1 random init) under frozen and unfrozen fine-tuning (12 total groups), across 2 architectures (MaskTransformer, PointTransformer), 3 objectives (PCP-MAE, Point-MAE, random init), and 2 datasets (Objaverse 660K, ShapeNet55-34 approximately 50K). Our experiments reveal three key findings: (1) The four-stage MiniGPT-3D pipeline can effectively train a 3D encoder from random initialization: an end-to-end trained random init encoder reaches 52.50% open-vocabulary accuracy and 44.45 captioning score, approaching top pre-trained variants; (2) Architecture and pre-training objective show strong crossover interaction: PCP-MAE + MaskTransformer achieves 59.00% accuracy (best self-supervised), while Point-MAE + MaskTransformer drops to 46.50%, with the pattern reversed for PointTransformer; (3) Closed-set ModelNet40 classification remains a core weakness of purely geometric encoders, reaching only ~13-18% accuracy vs. ~62% for the multi-modal baseline, even after end-to-end fine-tuning. Our results offer practical guidelines for cost-effective 3D-LLM design and reveal interaction patterns between self-supervised objectives and encoder architectures.

cs.CV↗

arXiv2026

Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report

The motion controller is one of the most fundamental modules in embodied intelligence systems. Driven by large-scale human motion-capture data and the motion-tracking paradigm, humanoid control has achieved remarkable progress in recent years. However, migrating this recipe to the quadrupedal setting is far less straightforward: animal motion data is scarcer and harder to capture at scale than human data, and cross-embodiment retargeting remains fragile. We present ABot-C0, a generalist motion-control system for quadruped robots that establishes three complementary behavior foundations: a scalable multi-source motion-data pipeline, robust policy learning across motion tracking, locomotion, and scene interaction, and a unified deployment stack for reliable real-world operation. Fundamentally, we construct a data pyramid through conditional video-generation synthesis, annotated motion capture, teleoperation, and human design, producing 16,074 physically feasible motion clips as the data foundation for diverse motion-learning demands. With large-scale motion data, a Flow-Matching generalist policy demonstrates, for the first time, a scaling law for quadruped motion tracking: performance improves consistently as training scales up, with zero-shot capability to track unseen motions. We then go a step further toward robust all-terrain locomotion by adopting a three-stage privileged-to-perceptive framework with temporal LiDAR memory and terrain-predictive supervision. Collectively, these components form a motion generalist that coordinates multi-policy execution, smooth behavior transitions, energy-efficient control, and safety mechanisms for real-world deployment. Extensive experiments on urban-terrain autonomous navigation and companion-style multimodal interaction demonstrate that quadruped robots can move beyond functional demos toward product-level behavioral intelligence.

cs.RO↗

arXiv2026

QuadFM: Foundational Text-Driven Quadruped Motion Dataset for Generation and Control

Despite significant advances in quadrupedal robotics, a critical gap persists in foundational motion resources that holistically integrate diverse locomotion, emotionally expressive behaviors, and rich language semantics-essential for agile, intuitive human-robot interaction. Current quadruped motion datasets are limited to a few mocap primitives (e.g., walk, trot, sit) and lack diverse behaviors with rich language grounding. To bridge this gap, we introduce Quadruped Foundational Motion (QuadFM) , the first large-scale, ultra-high-fidelity dataset designed for text-to-motion generation and general motion control. QuadFM contains 11,784 curated motion clips spanning locomotion, interactive, and emotion-expressive behaviors (e.g., dancing, stretching, peeing), each with three-layer annotation-fine-grained action labels, interaction scenarios, and natural language commands-totaling 35,352 descriptions to support language-conditioned understanding and command execution. We further propose Gen2Control RL, a unified framework that jointly trains a general motion controller and a text-to-motion generator, enabling efficient end-to-end inference on edge hardware. On a real quadruped robot with an NVIDIA Orin, our system achieves real-time motion synthesis (<500 ms latency). Simulation and real-world results show realistic, diverse motions while maintaining robust physical interaction. The dataset will be released at https://github.com/GaoLii/QuadFM.

cs.RO↗

arXiv2026

Online Conformal Model Selection for Nonstationary Time Series

This paper introduces the MPS (Model Prediction Set), a novel framework for online model selection for nonstationary time series. Classical model selection methods, such as information criteria and cross-validation, rely heavily on the stationarity assumption and often fail in dynamic environments which undergo gradual or abrupt changes over time. Yet real-world data are rarely stationary, and model selection under nonstationarity remains a largely open problem. To tackle this challenge, we combine conformal inference with model confidence sets to develop a procedure that adaptively selects models best suited to the evolving dynamics at any given time. Concretely, the MPS updates in real time a confidence set of candidate models that covers the best model for the next time period with a specified long-run probability, while adapting to nonstationarity of unknown forms. Through simulations and real-world data analysis, we demonstrate that MPS reliably and efficiently identifies optimal models under nonstationarity, an essential capability lacking in offline methods. Moreover, MPS frequently produces high-quality sets with small cardinality, whose evolution offers deeper insights into changing dynamics. As a generic framework, MPS accommodates any data-generating process, data structure, model class, training method, and evaluation metric, making it broadly applicable across diverse problem settings.

stat.ML↗

arXiv2025

A Survey on Reconfigurable Intelligent Surfaces in Practical Systems: Security and Privacy Perspectives

Reconfigurable Intelligent Surfaces (RIS) have emerged as a transformative technology capable of reshaping wireless environments through dynamic manipulation of electromagnetic waves. While extensive research has explored their theoretical benefits for communication and sensing, practical deployments in smart environments such as homes, vehicles, and industrial settings remain limited and under-examined, particularly from security and privacy perspectives. This survey provides a comprehensive examination of RIS applications in real-world systems, with a focus on the security and privacy threats, vulnerabilities, and defensive strategies relevant to practical use. We analyze scenarios with two types of systems (with and without legitimate RIS) and two types of attackers (with and without malicious RIS), and demonstrate how RIS may introduce new attacks to practical systems, including eavesdropping, jamming, and spoofing attacks. In response, we review defenses against RIS-related attacks in these systems, such as applying additional security algorithms, disrupting attackers, and early detection of unauthorized RIS. We also discuss scenarios in which the legitimate user applies an additional RIS to defend against attacks. To support future research, we also provide a collection of open-source tools, datasets, demos, and papers at: https://awesome-ris-security.github.io/. By highlighting RIS's functionality and its security/privacy challenges and opportunities, this survey aims to guide researchers and engineers toward the development of secure, resilient, and privacy-preserving RIS-enabled practical wireless systems and environments.

cs.CR↗

arXiv2025

A Spatial Semantics and Continuity Perception Attention for Remote Sensing Water Body Change Detection

Remote sensing Water Body Change Detection (WBCD) aims to detect water body surface changes from bi-temporal images of the same geographic area. Recently, the scarcity of high spatial resolution datasets for WBCD restricts its application in urban and rural regions, which require more accurate positioning. Meanwhile, previous deep learning-based methods fail to comprehensively exploit the spatial semantic and structural information in deep features in the change detection networks. To resolve these concerns, we first propose a new dataset, HSRW-CD, with a spatial resolution higher than 3 meters for WBCD. Specifically, it contains a large number of image pairs, widely covering various water body types. Besides, a Spatial Semantics and Continuity Perception (SSCP) attention module is designed to fully leverage both the spatial semantics and structure of deep features in the WBCD networks, significantly improving the discrimination capability for water body. The proposed SSCP has three components: the Multi-Semantic spatial Attention (MSA), the Structural Relation-aware Global Attention (SRGA), and the Channel-wise Self-Attention (CSA). The MSA enhances the spatial semantics of water body features and provides precise spatial semantic priors for the CSA. Then, the SRGA further extracts spatial structure to learn the spatial continuity of the water body. Finally, the CSA utilizes the spatial semantic and structural priors from the MSA and SRGA to compute the similarity across channels. Specifically designed as a plug-and-play module for water body deep features, the proposed SSCP allows integration into existing WBCD models. Numerous experiments conducted on the proposed HSRW-CD and Water-CD datasets validate the effectiveness and generalization of the SSCP. The code of this work and the HSRW-CD dataset will be accessed at https://github.com/QingMa1/SSCP.

cs.CV↗

arXiv2025

Tensor Stochastic Regression for High-dimensional Time Series via CP Decomposition

As tensor-valued data become increasingly common in time series analysis, there is a growing need for flexible and interpretable models that can handle high-dimensional predictors and responses across multiple modes. We propose a unified framework for high-dimensional tensor stochastic regression based on CANDECOMP/PARAFAC (CP) decomposition, which encompasses vector, matrix, and tensor responses and predictors as special cases. Tensor autoregression naturally arises as a special case within this framework. By leveraging CP decomposition, the proposed models interpret the interactive roles of any two distinct tensor modes, enabling dynamic modeling of input-output mechanisms. We develop both CP low-rank and sparse CP low-rank estimators, establish their non-asymptotic error bounds, and propose an efficient alternating minimization algorithm for estimation. Simulation studies confirm the theoretical properties and demonstrate the computational advantage. Applications to mixed-frequency macroeconomic data and spatio-temporal air pollution data reveal interpretable low-dimensional structures and meaningful dynamic dependencies.

stat.ME↗

arXiv2025

Dynamic real-time multi-UAV cooperative mission planning method under multiple constraints

As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability. Aiming at these challenges, this paper proposes a dynamic real-time multi-UAV collaborative mission planning algorithm based on Dubins paths under a distributed formation structure. Dubins path with multiple advantages bridges the gap between task assignment and path planning, leading to a coupled solution for mission planning. Then, a series of acceleration techniques, task clustering preprocessing, highly efficient distance cost functions, low-complexity and less iterative task allocation strategies, are employed to guarantee the real-time performance of the algorithms. To cope with different emergencies and their simultaneous extremes, real-time planning of emerging tasks and mission replanning due to the reduction of available UAVs are appropriately handled. Finally, the developed algorithm is comprehensively exemplified and studied through simulations, highlighting that the proposed method only sacrifices 9.57% of the path length, while achieving a speed improvement of 4-5 orders of magnitude over the simulated annealing method, with a single mission planning of about 0.0003s.

cs.RO↗

arXiv2025

SARMA: Scalable Low-Rank High-Dimensional Autoregressive Moving Averages via Tensor Decomposition

Existing models for high-dimensional time series are overwhelmingly developed within the finite-order vector autoregressive (VAR) framework. However, the more flexible vector autoregressive moving averages (VARMA) have been much less considered. This paper introduces a Tucker-low-rank framework to efficiently capture VARMA-type dynamics for high-dimensional time series, named the Scalable ARMA (SARMA) model. It generalizes the Tucker-low-rank finite-order VAR model to the infinite-order case via flexible parameterizations of the AR coefficient tensor along the temporal dimension. The resulting model enables dynamic factor extraction across response and predictor variables, facilitating interpretation of group patterns. Additionally, we consider sparsity assumptions on the factor loadings to accomplish automatic variable selection and greater estimation efficiency. Both rank-constrained and sparsity-inducing estimators are developed for the proposed model, along with algorithms and model selection methods. The validity of our theory and empirical advantages of our approach are confirmed by simulation studies and real data examples.

stat.ME↗

arXiv2025

Three-dimensional Trajectory Optimization for Quadrotor Tail-sitter UAVs: Traversing through Given Waypoints

Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated separately for vertical and level flights. This limits the tail-sitter's ability to move in a 3-dimensional airspace and makes it difficult to establish a smooth transition between vertical and level flights. In the present work, a 3-dimensional trajectory optimization method is proposed for quadrotor tail-sitters. Especially, the differential dynamics constraints are eliminated when generating the trajectory of the tail-sitter by utilizing differential flatness method. Additionally, the temporal parameters of the trajectory are generated using the state-of-the-art trajectory generation method called MINCO (minimum control). Subsequently, we convert the speed constraint on the vehicle into a soft constraint by discretizing the trajectory in time. This increases the likelihood that the control input limits are satisfied and the trajectory is feasible. Then, we utilize a kind of model predictive control (MPC) method to track trajectories. Even if restricting the tail-sitter's motion to a 2-dimensional horizontal plane, the solutions still outperform those of the L1 Guidance Law and Dubins path.

cs.RO↗

arXiv2024

GaussianAD: Gaussian-Centric End-to-End Autonomous Driving

Vision-based autonomous driving shows great potential due to its satisfactory performance and low costs. Most existing methods adopt dense representations (e.g., bird's eye view) or sparse representations (e.g., instance boxes) for decision-making, which suffer from the trade-off between comprehensiveness and efficiency. This paper explores a Gaussian-centric end-to-end autonomous driving (GaussianAD) framework and exploits 3D semantic Gaussians to extensively yet sparsely describe the scene. We initialize the scene with uniform 3D Gaussians and use surrounding-view images to progressively refine them to obtain the 3D Gaussian scene representation. We then use sparse convolutions to efficiently perform 3D perception (e.g., 3D detection, semantic map construction). We predict 3D flows for the Gaussians with dynamic semantics and plan the ego trajectory accordingly with an objective of future scene forecasting. Our GaussianAD can be trained in an end-to-end manner with optional perception labels when available. Extensive experiments on the widely used nuScenes dataset verify the effectiveness of our end-to-end GaussianAD on various tasks including motion planning, 3D occupancy prediction, and 4D occupancy forecasting. Code: https://github.com/wzzheng/GaussianAD.

cs.CV↗

arXiv2024

An Interpretable and Efficient Infinite-Order Vector Autoregressive Model for High-Dimensional Time Series

As a special infinite-order vector autoregressive (VAR) model, the vector autoregressive moving average (VARMA) model can capture much richer temporal patterns than the widely used finite-order VAR model. However, its practicality has long been hindered by its non-identifiability, computational intractability, and difficulty of interpretation, especially for high-dimensional time series. This paper proposes a novel sparse infinite-order VAR model for high-dimensional time series, which avoids all above drawbacks while inheriting essential temporal patterns of the VARMA model. As another attractive feature, the temporal and cross-sectional structures of the VARMA-type dynamics captured by this model can be interpreted separately, since they are characterized by different sets of parameters. This separation naturally motivates the sparsity assumption on the parameters determining the cross-sectional dependence. As a result, greater statistical efficiency and interpretability can be achieved with little loss of temporal information. We introduce two $\ell_1$-regularized estimation methods for the proposed model, which can be efficiently implemented via block coordinate descent algorithms, and derive the corresponding nonasymptotic error bounds. A consistent model order selection method based on the Bayesian information criteria is also developed. The merit of the proposed approach is supported by simulation studies and a real-world macroeconomic data analysis.

stat.ME↗

arXiv2023

Towards Exascale Computation for Turbomachinery Flows

A state-of-the-art large eddy simulation code has been developed to solve compressible flows in turbomachinery. The code has been engineered with a high degree of scalability, enabling it to effectively leverage the many-core architecture of the new Sunway system. A consistent performance of 115.8 DP-PFLOPs has been achieved on a high-pressure turbine cascade consisting of over 1.69 billion mesh elements and 865 billion Degree of Freedoms (DOFs). By leveraging a high-order unstructured solver and its portability to large heterogeneous parallel systems, we have progressed towards solving the grand challenge problem outlined by NASA, which involves a time-dependent simulation of a complete engine, incorporating all the aerodynamic and heat transfer components.

cs.DC↗

arXiv2023

Quantile autoregressive conditional heteroscedasticity

This paper proposes a novel conditional heteroscedastic time series model by applying the framework of quantile regression processes to the ARCH(\infty) form of the GARCH model. This model can provide varying structures for conditional quantiles of the time series across different quantile levels, while including the commonly used GARCH model as a special case. The strict stationarity of the model is discussed. For robustness against heavy-tailed distributions, a self-weighted quantile regression (QR) estimator is proposed. While QR performs satisfactorily at intermediate quantile levels, its accuracy deteriorates at high quantile levels due to data scarcity. As a remedy, a self-weighted composite quantile regression (CQR) estimator is further introduced and, based on an approximate GARCH model with a flexible Tukey-lambda distribution for the innovations, we can extrapolate the high quantile levels by borrowing information from intermediate ones. Asymptotic properties for the proposed estimators are established. Simulation experiments are carried out to access the finite sample performance of the proposed methods, and an empirical example is presented to illustrate the usefulness of the new model.

stat.ME↗

arXiv2023

High-Dimensional Low-Rank Tensor Autoregressive Time Series Modeling

Modern technological advances have enabled an unprecedented amount of structured data with complex temporal dependence, urging the need for new methods to efficiently model and forecast high-dimensional tensor-valued time series. This paper provides a new modeling framework to accomplish this task via autoregression (AR). By considering a low-rank Tucker decomposition for the transition tensor, the proposed tensor AR can flexibly capture the underlying low-dimensional tensor dynamics, providing both substantial dimension reduction and meaningful multi-dimensional dynamic factor interpretations. For this model, we first study several nuclear-norm-regularized estimation methods and derive their non-asymptotic properties under the approximate low-rank setting. In particular, by leveraging the special balanced structure of the transition tensor, a novel convex regularization approach based on the sum of nuclear norms of square matricizations is proposed to efficiently encourage low-rankness of the coefficient tensor. To further improve the estimation efficiency under exact low-rankness, a non-convex estimator is proposed with a gradient descent algorithm, and its computational and statistical convergence guarantees are established. Simulation studies and an empirical analysis of tensor-valued time series data from multi-category import-export networks demonstrate the advantages of the proposed approach.

stat.ME↗

arXiv2021

A New Measure of Model Redundancy for Compressed Convolutional Neural Networks

While recently many designs have been proposed to improve the model efficiency of convolutional neural networks (CNNs) on a fixed resource budget, theoretical understanding of these designs is still conspicuously lacking. This paper aims to provide a new framework for answering the question: Is there still any remaining model redundancy in a compressed CNN? We begin by developing a general statistical formulation of CNNs and compressed CNNs via the tensor decomposition, such that the weights across layers can be summarized into a single tensor. Then, through a rigorous sample complexity analysis, we reveal an important discrepancy between the derived sample complexity and the naive parameter counting, which serves as a direct indicator of the model redundancy. Motivated by this finding, we introduce a new model redundancy measure for compressed CNNs, called the $K/R$ ratio, which further allows for nonlinear activations. The usefulness of this new measure is supported by ablation studies on popular block designs and datasets.

cs.LG↗

arXiv2021

Technical Report: Insider-Resistant Context-Based Pairing for Multimodality Sleep Apnea Test

The increasingly sophisticated at-home screening systems for obstructive sleep apnea (OSA), integrated with both contactless and contact-based sensing modalities, bring convenience and reliability to remote chronic disease management. However, the device pairing processes between system components are vulnerable to wireless exploitation from a non-compliant user wishing to manipulate the test results. This work presents SIENNA, an insider-resistant context-based pairing protocol. SIENNA leverages JADE-ICA to uniquely identify a user's respiration pattern within a multi-person environment and fuzzy commitment for automatic device pairing, while using friendly jamming technique to prevents an insider with knowledge of respiration patterns from acquiring the pairing key. Our analysis and test results show that SIENNA can achieve reliable (> 90% success rate) device pairing under a noisy environment and is robust against the attacker with full knowledge of the context information.

cs.CR↗

arXiv2020

High-dimensional vector autoregressive time series modeling via tensor decomposition

The classical vector autoregressive model is a fundamental tool for multivariate time series analysis. However, it involves too many parameters when the number of time series and lag order are even moderately large. This paper proposes to rearrange the transition matrices of the model into a tensor form such that the parameter space can be restricted along three directions simultaneously via tensor decomposition. In contrast, the reduced-rank regression method can restrict the parameter space in only one direction. Besides achieving substantial dimension reduction, the proposed model is interpretable from the factor modeling perspective. Moreover, to handle high-dimensional time series, this paper considers imposing sparsity on factor matrices to improve the model interpretability and estimation efficiency, which leads to a sparsity-inducing estimator. For the low-dimensional case, we derive asymptotic properties of the proposed least squares estimator and introduce an alternating least squares algorithm. For the high-dimensional case, we establish non-asymptotic properties of the sparsity-inducing estimator and propose an ADMM algorithm for regularized estimation. Simulation experiments and a real data example demonstrate the advantages of the proposed approach over various existing methods.

stat.ME↗