arXiv subjects

Yiru Wang

Publications and source records attributed to Yiru Wang.

At least 37 records · Page 2Linked to original sources

arXiv2025

FlowDrive: Energy Flow Field for End-to-End Autonomous Driving

Recent advances in end-to-end autonomous driving leverage multi-view images to construct BEV representations for motion planning. In motion planning, autonomous vehicles need considering both hard constraints imposed by geometrically occupied obstacles (e.g., vehicles, pedestrians) and soft, rule-based semantics with no explicit geometry (e.g., lane boundaries, traffic priors). However, existing end-to-end frameworks typically rely on BEV features learned in an implicit manner, lacking explicit modeling of risk and guidance priors for safe and interpretable planning. To address this, we propose FlowDrive, a novel framework that introduces physically interpretable energy-based flow fields-including risk potential and lane attraction fields-to encode semantic priors and safety cues into the BEV space. These flow-aware features enable adaptive refinement of anchor trajectories and serve as interpretable guidance for trajectory generation. Moreover, FlowDrive decouples motion intent prediction from trajectory denoising via a conditional diffusion planner with feature-level gating, alleviating task interference and enhancing multimodal diversity. Experiments on the NAVSIM v2 benchmark demonstrate that FlowDrive achieves state-of-the-art performance with an EPDMS of 86.3, surpassing prior baselines in both safety and planning quality. The project is available at https://astrixdrive.github.io/FlowDrive.github.io/.

cs.RO↗

arXiv2025

IRL-VLA: Training an Vision-Language-Action Policy via Reward World Model

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup which tends to capture the recorded behaviors in the dataset, leading to suboptimal and constrained performance, (2) Close-loop training relies heavily on high-fidelity sensor simulation, where domain gaps and computational inefficiencies pose significant barriers. In this paper, we introduce IRL-VLA, a novel close-loop Reinforcement Learning via \textbf{I}nverse \textbf{R}einforcement \textbf{L}earning reward world model with a self-built VLA approach. Our framework proceeds in a three-stage paradigm: In the first stage, we propose a VLA architecture and pretrain the VLA policy via imitation learning. In the second stage, we construct a lightweight reward world model via inverse reinforcement learning to enable efficient close-loop reward computation. To further enhance planning performance, finally, we design specialized reward world model guidence reinforcement learning via PPO(Proximal Policy Optimization) to effectively balance the safety incidents, comfortable driving, and traffic efficiency. Our approach achieves state-of-the-art performance in NAVSIM v2 end-to-end driving benchmark, 1st runner up in CVPR2025 Autonomous Grand Challenge. We hope that our framework will accelerate VLA research in close-loop autonomous driving.

cs.AI↗

arXiv2025

ArbiViewGen: Controllable Arbitrary Viewpoint Camera Data Generation for Autonomous Driving via Stable Diffusion Models

Arbitrary viewpoint image generation holds significant potential for autonomous driving, yet remains a challenging task due to the lack of ground-truth data for extrapolated views, which hampers the training of high-fidelity generative models. In this work, we propose Arbiviewgen, a novel diffusion-based framework for the generation of controllable camera images from arbitrary points of view. To address the absence of ground-truth data in unseen views, we introduce two key components: Feature-Aware Adaptive View Stitching (FAVS) and Cross-View Consistency Self-Supervised Learning (CVC-SSL). FAVS employs a hierarchical matching strategy that first establishes coarse geometric correspondences using camera poses, then performs fine-grained alignment through improved feature matching algorithms, and identifies high-confidence matching regions via clustering analysis. Building upon this, CVC-SSL adopts a self-supervised training paradigm where the model reconstructs the original camera views from the synthesized stitched images using a diffusion model, enforcing cross-view consistency without requiring supervision from extrapolated data. Our framework requires only multi-camera images and their associated poses for training, eliminating the need for additional sensors or depth maps. To our knowledge, Arbiviewgen is the first method capable of controllable arbitrary view camera image generation in multiple vehicle configurations.

cs.CV↗

arXiv2025

DiffSemanticFusion: Semantic Raster BEV Fusion for Autonomous Driving via Online HD Map Diffusion

Autonomous driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but lack geometric precision, while graph-based representations retain structural detail but become unstable without precise maps. To harness the complementary strengths of both, we propose DiffSemanticFusion -- a fusion framework for multimodal trajectory prediction and planning. Our approach reasons over a semantic raster-fused BEV space, enhanced by a map diffusion module that improves both the stability and expressiveness of online HD map representations. We validate our framework on two downstream tasks: trajectory prediction and planning-oriented end-to-end autonomous driving. Experiments on real-world autonomous driving benchmarks, nuScenes and NAVSIM, demonstrate improved performance over several state-of-the-art methods. For the prediction task on nuScenes, we integrate DiffSemanticFusion with the online HD map informed QCNet, achieving a 5.1\% performance improvement. For end-to-end autonomous driving in NAVSIM, DiffSemanticFusion achieves state-of-the-art results, with a 15\% performance gain in NavHard scenarios. In addition, extensive ablation and sensitivity studies show that our map diffusion module can be seamlessly integrated into other vector-based approaches to enhance performance. All artifacts are available at https://github.com/SunZhigang7/DiffSemanticFusion.

cs.CV↗

arXiv2025

DiffVLA: Vision-Language Guided Diffusion Planning for Autonomous Driving

Research interest in end-to-end autonomous driving has surged owing to its fully differentiable design integrating modular tasks, i.e. perception, prediction and planing, which enables optimization in pursuit of the ultimate goal. Despite the great potential of the end-to-end paradigm, existing methods suffer from several aspects including expensive BEV (bird's eye view) computation, action diversity, and sub-optimal decision in complex real-world scenarios. To address these challenges, we propose a novel hybrid sparse-dense diffusion policy, empowered by a Vision-Language Model (VLM), called Diff-VLA. We explore the sparse diffusion representation for efficient multi-modal driving behavior. Moreover, we rethink the effectiveness of VLM driving decision and improve the trajectory generation guidance through deep interaction across agent, map instances and VLM output. Our method shows superior performance in Autonomous Grand Challenge 2025 which contains challenging real and reactive synthetic scenarios. Our methods achieves 45.0 PDMS.

cs.AI↗

arXiv2025

SparseMeXT Unlocking the Potential of Sparse Representations for HD Map Construction

Recent advancements in high-definition \emph{HD} map construction have demonstrated the effectiveness of dense representations, which heavily rely on computationally intensive bird's-eye view \emph{BEV} features. While sparse representations offer a more efficient alternative by avoiding dense BEV processing, existing methods often lag behind due to the lack of tailored designs. These limitations have hindered the competitiveness of sparse representations in online HD map construction. In this work, we systematically revisit and enhance sparse representation techniques, identifying key architectural and algorithmic improvements that bridge the gap with--and ultimately surpass--dense approaches. We introduce a dedicated network architecture optimized for sparse map feature extraction, a sparse-dense segmentation auxiliary task to better leverage geometric and semantic cues, and a denoising module guided by physical priors to refine predictions. Through these enhancements, our method achieves state-of-the-art performance on the nuScenes dataset, significantly advancing HD map construction and centerline detection. Specifically, SparseMeXt-Tiny reaches a mean average precision \emph{mAP} of 55.5% at 32 frames per second \emph{fps}, while SparseMeXt-Base attains 65.2% mAP. Scaling the backbone and decoder further, SparseMeXt-Large achieves an mAP of 68.9% at over 20 fps, establishing a new benchmark for sparse representations in HD map construction. These results underscore the untapped potential of sparse methods, challenging the conventional reliance on dense representations and redefining efficiency-performance trade-offs in the field.

cs.CV↗

arXiv2025

AdaMMS: Model Merging for Heterogeneous Multimodal Large Language Models with Unsupervised Coefficient Optimization

Recently, model merging methods have demonstrated powerful strengths in combining abilities on various tasks from multiple Large Language Models (LLMs). While previous model merging methods mainly focus on merging homogeneous models with identical architecture, they meet challenges when dealing with Multimodal Large Language Models (MLLMs) with inherent heterogeneous property, including differences in model architecture and the asymmetry in the parameter space. In this work, we propose AdaMMS, a novel model merging method tailored for heterogeneous MLLMs. Our method tackles the challenges in three steps: mapping, merging and searching. Specifically, we first design mapping function between models to apply model merging on MLLMs with different architecture. Then we apply linear interpolation on model weights to actively adapt the asymmetry in the heterogeneous MLLMs. Finally in the hyper-parameter searching step, we propose an unsupervised hyper-parameter selection method for model merging. As the first model merging method capable of merging heterogeneous MLLMs without labeled data, extensive experiments on various model combinations demonstrated that AdaMMS outperforms previous model merging methods on various vision-language benchmarks.

cs.CL↗

arXiv2024

Digital transformation: A systematic review and bibliometric analysis from the corporate finance perspective

Digital transformation significantly impacts firm investment, financing, and value enhancement. A systematic investigation from the corporate finance perspective has not yet been formed. This paper combines bibliometric and content analysis methods to systematically review the evolutionary trend, status quo, hotspots and overall structure of research in digital transformation from 2011 to 2024. The study reveals an emerging and rapidly growing focus on digital transformation research, particularly in developed countries. We categorize the literature into three areas according to bibliometric clustering: the measurements (qualitative and quantitative), impact factors (internal and external), and the economic consequences (investment, financing, and firm value). These areas are divided into ten sub-branches, with a detailed literature review. We also review the existing theories related to digital transformation, identify the current gaps in these papers, and provide directions for future research on each sub-branches.

q-fin.GN↗

arXiv2024

Holographic Reconstruction of Gravitational Perturbations in AdS/CFT and Implications for Celestial Conformal Field Theory

We begin by reexamining the holographic reconstruction of scalar fields in four-dimensional anti-de Sitter spacetime, adopting a purely Lorentzian signature derivation, reproducing earlier results of HKLL and generalizing to arbitrary boundary metrics. The approach is extended to gravitational perturbations, focussing on perturbations around $AdS_{4}$ and show that the mapping can be formulated as a purely light-like integral of the conformal field theory stress energy tensor. An example is considered of relevance to the flat spacetime limit with nontrivial BMS charges turned on, potentially providing a quantum field theory definition of celestial CFT as a large central charge limit of a 3d CFT.

hep-th↗

arXiv2024

GRA: Detecting Oriented Objects through Group-wise Rotating and Attention

Oriented object detection, an emerging task in recent years, aims to identify and locate objects across varied orientations. This requires the detector to accurately capture the orientation information, which varies significantly within and across images. Despite the existing substantial efforts, simultaneously ensuring model effectiveness and parameter efficiency remains challenging in this scenario. In this paper, we propose a lightweight yet effective Group-wise Rotating and Attention (GRA) module to replace the convolution operations in backbone networks for oriented object detection. GRA can adaptively capture fine-grained features of objects with diverse orientations, comprising two key components: Group-wise Rotating and Group-wise Attention. Group-wise Rotating first divides the convolution kernel into groups, where each group extracts different object features by rotating at a specific angle according to the object orientation. Subsequently, Group-wise Attention is employed to adaptively enhance the object-related regions in the feature. The collaborative effort of these components enables GRA to effectively capture the various orientation information while maintaining parameter efficiency. Extensive experimental results demonstrate the superiority of our method. For example, GRA achieves a new state-of-the-art (SOTA) on the DOTA-v2.0 benchmark, while saving the parameters by nearly 50% compared to the previous SOTA method. Code will be released.

cs.CV↗

arXiv2024

FSM: A Finite State Machine Based Zero-Shot Prompting Paradigm for Multi-Hop Question Answering

Large Language Models (LLMs) with chain-of-thought (COT) prompting have demonstrated impressive abilities on simple nature language inference tasks. However, they tend to perform poorly on Multi-hop Question Answering (MHQA) tasks due to several challenges, including hallucination, error propagation and limited context length. We propose a prompting method, Finite State Machine (FSM) to enhance the reasoning capabilities of LLM for complex tasks in addition to improved effectiveness and trustworthiness. Different from COT methods, FSM addresses MHQA by iteratively decomposing a question into multi-turn sub-questions, and self-correcting in time, improving the accuracy of answers in each step. Specifically, FSM addresses one sub-question at a time and decides on the next step based on its current result and state, in an automaton-like format. Experiments on benchmarks show the effectiveness of our method. Although our method performs on par with the baseline on relatively simpler datasets, it excels on challenging datasets like Musique. Moreover, this approach mitigates the hallucination phenomenon, wherein the correct final answer can be recovered despite errors in intermediate reasoning. Furthermore, our method improves LLMs' ability to follow specified output format requirements, significantly reducing the difficulty of answer interpretation and the need for reformatting.

cs.CL↗

arXiv2024

Harnessing the Power of AI-Generated Content for Semantic Communication

Semantic Communication (SemCom) is envisaged as the next-generation paradigm to address challenges stemming from the conflicts between the increasing volume of transmission data and the scarcity of spectrum resources. However, existing SemCom systems face drawbacks, such as low explainability, modality rigidity, and inadequate reconstruction functionality. Recognizing the transformative capabilities of AI-generated content (AIGC) technologies in content generation, this paper explores a pioneering approach by integrating them into SemCom to address the aforementioned challenges. We employ a three-layer model to illustrate the proposed AIGC-assisted SemCom (AIGC-SCM) architecture, emphasizing its clear deviation from existing SemCom. Grounded in this model, we investigate various AIGC technologies with the potential to augment SemCom's performance. In alignment with SemCom's goal of conveying semantic meanings, we also introduce the new evaluation methods for our AIGC-SCM system. Subsequently, we explore communication scenarios where our proposed AIGC-SCM can realize its potential. For practical implementation, we construct a detailed integration workflow and conduct a case study in a virtual reality image transmission scenario. The results demonstrate our ability to maintain a high degree of alignment between the reconstructed content and the original source information, while substantially minimizing the data volume required for transmission. These findings pave the way for further enhancements in communication efficiency and the improvement of Quality of Service. At last, we present future directions for AIGC-SCM studies.

eess.SP↗

arXiv2024

2023 Low-Power Computer Vision Challenge (LPCVC) Summary

This article describes the 2023 IEEE Low-Power Computer Vision Challenge (LPCVC). Since 2015, LPCVC has been an international competition devoted to tackling the challenge of computer vision (CV) on edge devices. Most CV researchers focus on improving accuracy, at the expense of ever-growing sizes of machine models. LPCVC balances accuracy with resource requirements. Winners must achieve high accuracy with short execution time when their CV solutions run on an embedded device, such as Raspberry PI or Nvidia Jetson Nano. The vision problem for 2023 LPCVC is segmentation of images acquired by Unmanned Aerial Vehicles (UAVs, also called drones) after disasters. The 2023 LPCVC attracted 60 international teams that submitted 676 solutions during the submission window of one month. This article explains the setup of the competition and highlights the winners' methods that improve accuracy and shorten execution time.

cs.CV↗

arXiv2024

Weaver: Foundation Models for Creative Writing

This work introduces Weaver, our first family of large language models (LLMs) dedicated to content creation. Weaver is pre-trained on a carefully selected corpus that focuses on improving the writing capabilities of large language models. We then fine-tune Weaver for creative and professional writing purposes and align it to the preference of professional writers using a suit of novel methods for instruction data synthesis and LLM alignment, making it able to produce more human-like texts and follow more diverse instructions for content creation. The Weaver family consists of models of Weaver Mini (1.8B), Weaver Base (6B), Weaver Pro (14B), and Weaver Ultra (34B) sizes, suitable for different applications and can be dynamically dispatched by a routing agent according to query complexity to balance response quality and computation cost. Evaluation on a carefully curated benchmark for assessing the writing capabilities of LLMs shows Weaver models of all sizes outperform generalist LLMs several times larger than them. Notably, our most-capable Weaver Ultra model surpasses GPT-4, a state-of-the-art generalist LLM, on various writing scenarios, demonstrating the advantage of training specialized LLMs for writing purposes. Moreover, Weaver natively supports retrieval-augmented generation (RAG) and function calling (tool usage). We present various use cases of these abilities for improving AI-assisted writing systems, including integration of external knowledge bases, tools, or APIs, and providing personalized writing assistance. Furthermore, we discuss and summarize a guideline and best practices for pre-training and fine-tuning domain-specific LLMs.

cs.CL↗

arXiv2023

Adaptive Rotated Convolution for Rotated Object Detection

Rotated object detection aims to identify and locate objects in images with arbitrary orientation. In this scenario, the oriented directions of objects vary considerably across different images, while multiple orientations of objects exist within an image. This intrinsic characteristic makes it challenging for standard backbone networks to extract high-quality features of these arbitrarily orientated objects. In this paper, we present Adaptive Rotated Convolution (ARC) module to handle the aforementioned challenges. In our ARC module, the convolution kernels rotate adaptively to extract object features with varying orientations in different images, and an efficient conditional computation mechanism is introduced to accommodate the large orientation variations of objects within an image. The two designs work seamlessly in rotated object detection problem. Moreover, ARC can conveniently serve as a plug-and-play module in various vision backbones to boost their representation ability to detect oriented objects accurately. Experiments on commonly used benchmarks (DOTA and HRSC2016) demonstrate that equipped with our proposed ARC module in the backbone network, the performance of multiple popular oriented object detectors is significantly improved (\eg +3.03\% mAP on Rotated RetinaNet and +4.16\% on CFA). Combined with the highly competitive method Oriented R-CNN, the proposed approach achieves state-of-the-art performance on the DOTA dataset with 81.77\% mAP. Code is available at \url{https://github.com/LeapLabTHU/ARC}.

cs.CV↗

arXiv2023

STAR-RIS-Assisted Privacy Protection in Semantic Communication System

Semantic communication (SemCom) has emerged as a promising architecture in the realm of intelligent communication paradigms. SemCom involves extracting and compressing the core information at the transmitter while enabling the receiver to interpret it based on established knowledge bases (KBs). This approach enhances communication efficiency greatly. However, the open nature of wireless transmission and the presence of homogeneous KBs among subscribers of identical data type pose a risk of privacy leakage in SemCom. To address this challenge, we propose to leverage the simultaneous transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) to achieve privacy protection in a SemCom system. In this system, the STAR-RIS is utilized to enhance the signal transmission of the SemCom between a base station and a destination user, as well as to covert the signal to interference specifically for the eavesdropper (Eve). Simulation results demonstrate that our generated task-level disturbance outperforms other benchmarks in protecting SemCom privacy, as evidenced by the significantly lower task success rate achieved by Eve.

eess.SP↗

arXiv2023

Keyword-Based Diverse Image Retrieval by Semantics-aware Contrastive Learning and Transformer

In addition to relevance, diversity is an important yet less studied performance metric of cross-modal image retrieval systems, which is critical to user experience. Existing solutions for diversity-aware image retrieval either explicitly post-process the raw retrieval results from standard retrieval systems or try to learn multi-vector representations of images to represent their diverse semantics. However, neither of them is good enough to balance relevance and diversity. On the one hand, standard retrieval systems are usually biased to common semantics and seldom exploit diversity-aware regularization in training, which makes it difficult to promote diversity by post-processing. On the other hand, multi-vector representation methods are not guaranteed to learn robust multiple projections. As a result, irrelevant images and images of rare or unique semantics may be projected inappropriately, which degrades the relevance and diversity of the results generated by some typical algorithms like top-k. To cope with these problems, this paper presents a new method called CoLT that tries to generate much more representative and robust representations for accurately classifying images. Specifically, CoLT first extracts semantics-aware image features by enhancing the preliminary representations of an existing one-to-one cross-modal system with semantics-aware contrastive learning. Then, a transformer-based token classifier is developed to subsume all the features into their corresponding categories. Finally, a post-processing algorithm is designed to retrieve images from each category to form the final retrieval result. Extensive experiments on two real-world datasets Div400 and Div150Cred show that CoLT can effectively boost diversity, and outperforms the existing methods as a whole (with a higher F1 score).

cs.IR↗

arXiv2022

Hybrid Gate-Pulse Model for Variational Quantum Algorithms

Current quantum programs are mostly synthesized and compiled on the gate-level, where quantum circuits are composed of quantum gates. The gate-level workflow, however, introduces significant redundancy when quantum gates are eventually transformed into control signals and applied on quantum devices. For superconducting quantum computers, the control signals are microwave pulses. Therefore, pulse-level optimization has gained more attention from researchers due to their advantages in terms of circuit duration. Recent works, however, are limited by their poor scalability brought by the large parameter space of control signals. In addition, the lack of gate-level "knowledge" also affects the performance of pure pulse-level frameworks. We present a hybrid gate-pulse model that can mitigate these problems. We propose to use gate-level compilation and optimization for "fixed" part of the quantum circuits and to use pulse-level methods for problem-agnostic parts. Experimental results demonstrate the efficiency of the proposed framework in discrete optimization tasks. We achieve a performance boost at most 8% with 60% shorter pulse duration in the problem-agnostic layer.

quant-ph↗