arXiv subjects

Yunlong Wang

Publications and source records attributed to Yunlong Wang.

At least 37 records · Page 2Linked to original sources

arXiv2025

Embodied Crowd Counting

Occlusion is one of the fundamental challenges in crowd counting. In the community, various data-driven approaches have been developed to address this issue, yet their effectiveness is limited. This is mainly because most existing crowd counting datasets on which the methods are trained are based on passive cameras, restricting their ability to fully sense the environment. Recently, embodied navigation methods have shown significant potential in precise object detection in interactive scenes. These methods incorporate active camera settings, holding promise in addressing the fundamental issues in crowd counting. However, most existing methods are designed for indoor navigation, showing unknown performance in analyzing complex object distribution in large scale scenes, such as crowds. Besides, most existing embodied navigation datasets are indoor scenes with limited scale and object quantity, preventing them from being introduced into dense crowd analysis. Based on this, a novel task, Embodied Crowd Counting (ECC), is proposed. We first build up an interactive simulator, Embodied Crowd Counting Dataset (ECCD), which enables large scale scenes and large object quantity. A prior probability distribution that approximates realistic crowd distribution is introduced to generate crowds. Then, a zero-shot navigation method (ZECC) is proposed. This method contains a MLLM driven coarse-to-fine navigation mechanism, enabling active Z-axis exploration, and a normal-line-based crowd distribution analysis method for fine counting. Experimental results against baselines show that the proposed method achieves the best trade-off between counting accuracy and navigation cost.

cs.CV↗

arXiv2025

MTRDrive: Memory-Tool Synergistic Reasoning for Robust Autonomous Driving in Corner Cases

Vision-Language Models(VLMs) have demonstrated significant potential for end-to-end autonomous driving, yet a substantial gap remains between their current capabilities and the reliability necessary for real-world deployment. A critical challenge is their fragility, characterized by hallucinations and poor generalization in out-of-distribution (OOD) scenarios. To bridge this gap, we introduce MTRDrive, a novel framework that integrates procedural driving experiences with a dynamic toolkit to enhance generalization and proactive decision-making. MTRDrive addresses these limitations through a closed-loop system that combines a memory-based experience retrieval mechanism with dynamic toolkits. This synergy enables the model to interact more effectively with its environment, improving both reasoning and decision-making capabilities with the help of our memory-tool synergistic reasoning. Additionally, we introduce a new benchmark based on complex Roadwork construction scenarios to rigorously evaluate zero-shot generalization. Extensive experiments demonstrate the superior effectiveness of our approach. On the public NAVSIM benchmark, our 3B-parameter MTRDrive model achieves an exceptional PDMS of 88.3 without chain-of-thought and sets a state-of-the-art performance bar on high-level planning, with a driving metric score of 79.8\% and a planning accuracy of 82.6\%. Rigorous zero-shot evaluation on the new Roadwork-VLM benchmark shows a strong ability to reason robustly in unseen scenarios, achieving a driving metric score of 80.2\%. These results highlight MTRDrive's potential to advance autonomous driving toward safer and more reliable systems.

cs.RO↗

arXiv2025

RAVE: End-to-end Hierarchical Visual Localization with Rasterized and Vectorized HD map

Accurate localization serves as an important component in autonomous driving systems. Traditional rule-based localization involves many standalone modules, which is theoretically fragile and requires costly hyperparameter tuning, therefore sacrificing the accuracy and generalization. In this paper, we propose an end-to-end visual localization system, RAVE, in which the surrounding images are associated with the HD map data to estimate pose. To ensure high-quality observations for localization, a low-rank flow-based prior fusion module (FLORA) is developed to incorporate misaligned map prior into the perceived BEV features. Pursuing a balance among efficiency, interpretability, and accuracy, a hierarchical localization module is proposed, which efficiently estimates poses through a decoupled BEV neural matching-based pose solver (DEMA) using rasterized HD map, and then refines the estimation through a Transformer-based pose regressor (POET) using vectorized HD map. The experimental results demonstrate that our method can perform robust and accurate localization under varying environmental conditions while running efficiently.

cs.RO↗

arXiv2025

GPUTB: Efficient Machine Learning Tight-Binding Method for Large-Scale Electronic Properties Calculations

The high computational cost of ab-initio methods limits their application in predicting electronic properties at the device scale. Therefore, an efficient method is needed to map the atomic structure to the electronic structure quickly. Here, we develop GPUTB, a GPU-accelerated tight-binding (TB) machine learning framework. GPUTB employs atomic environment descriptors, enabling the model parameters to incorporate environmental dependence. This allows the model to transfer to different basis, xc-functionals, and allotropes easily. Combined with the linear scaling quantum transport method, we have calculated the electronic density of states for up to 100 million atoms in pristine graphene. Trained on finite-temperature structures, the model can be easily extended to millions of atom finite-temperature systems. Furthermore, GPUTB can also successfully describe h-BN/graphene heterojunction systems, demonstrating its capability to handle complex material with high precision. We accurately reproduce the relationship between carrier concentration and room temperature mobility in graphene to verify the framework's accuracy. Therefore, our GPUTB framework presents a delicate balance between computational accuracy and efficiency, providing a powerful computational tool for investing electronic properties for large systems with millions of atoms.

cond-mat.mtrl-sci↗

arXiv2025

Hot-Ham: an accurate and efficient E(3)-equivariant machine-learning electronic structures calculation framework

The combinations of machine learning with ab initio methods have attracted much attention for their potential to resolve the accuracy-efficiency dilemma and facilitate calculations for large-scale systems. Recently, equivariant message passing neural networks (MPNNs) that explicitly incorporate symmetry constraints have demonstrated promise for interatomic potential and density functional theory (DFT) Hamiltonian predictions. However, the high-order tensors used to represent node and edge information are coupled through the Clebsch-Gordan tensor product (CGTP), leading to steep increases in computational complexity and seriously hindering the performance of equivariant MPNNs. Here, we develop High-order Tensor machine-learning Hamiltonian (Hot-Ham), an E(3) equivariant MPNN framework that combines two advanced technologies local coordinate transformation and Gaunt tensor product (GTP) to efficiently model DFT Hamiltonians. These two innovations significantly reduce the complexity of tensor products from O(L^6) to O(L^3) or O(L^2 log^2 L) for the max tensor order L, and enhance the performance of MPNNs. Benchmarks on several public datasets demonstrate its state-of-the-art accuracy with relatively few parameters, and the applications to multilayer twisted moiré systems, heterostructures and allotropes showcase its generalization ability and high efficiency. Our Hot-Ham method provides a new perspective for developing efficient equivariant neural networks and would be a promising approach for investigating the electronic properties of large-scale materials systems.

physics.comp-ph↗

arXiv2025

EvaDrive: Evolutionary Adversarial Policy Optimization for End-to-End Autonomous Driving

Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory generation from quality assessment, preventing iterative refinement essential for planning, while reinforcement learning methods collapse multi-dimensional preferences into scalar rewards, obscuring critical trade-offs and yielding scalarization bias.To overcome these issues, we present EvaDrive, a novel multi-objective reinforcement learning framework that establishes genuine closed-loop co-evolution between trajectory generation and evaluation via adversarial optimization. EvaDrive frames trajectory planning as a multi-round adversarial game. In this game, a hierarchical generator continuously proposes candidate paths by combining autoregressive intent modeling for temporal causality with diffusion-based refinement for spatial flexibility. These proposals are then rigorously assessed by a trainable multi-objective critic that explicitly preserves diverse preference structures without collapsing them into a single scalarization bias.This adversarial interplay, guided by a Pareto frontier selection mechanism, enables iterative multi-round refinement, effectively escaping local optima while preserving trajectory diversity.Extensive experiments on NAVSIM and Bench2Drive benchmarks demonstrate SOTA performance, achieving 94.9 PDMS on NAVSIM v1 (surpassing DiffusionDrive by 6.8, DriveSuprim by 5.0, and TrajHF by 0.9) and 64.96 Driving Score on Bench2Drive. EvaDrive generates diverse driving styles via dynamic weighting without external preference data, introducing a closed-loop adversarial framework for human-like iterative decision-making, offering a novel scalarization-free trajectory optimization approach.

cs.LG↗

arXiv2025

An integer programming approach for quick-commerce assortment planning

In this paper, we explore the challenge of assortment planning in the context of quick-commerce, a rapidly-growing business model that aims to deliver time-sensitive products. In order to achieve quick delivery to satisfy the immediate demands of online customers in close proximity, personalized online assortments need to be included in brick-and-mortar store offerings. With the presence of this physical linkage requirement and distinct multinomial logit choice models for online consumer segments, the firm seeks to maximize overall revenue by selecting an optimal assortment of products for local stores and by tailoring a personalized assortment for each online consumer segment. We employ an integer programming approach to solve this NP-hard problem to global optimality. In particular, we derive convex hull results to represent the consumer choice of each online segment under a general class of operational constraints, and to characterize the relation between assortment decisions and choice probabilities of products. Our convex hull results, coupled with a modified choice probability ordered separation algorithm, yield formulations that provide a significant computational advantage over existing methods. Finally, we illustrate how our convex hull results can be used to address other assortment optimization problems.

math.OC↗

arXiv2025

How Cars Move: Analyzing Driving Dynamics for Safer Urban Traffic

Understanding the spatial dynamics of cars within urban systems is essential for optimizing infrastructure management and resource allocation. Recent empirical approaches for analyzing traffic patterns have gained traction due to their applicability to city-scale policy development. However, conventional methodologies often rely on fragmented grid-based techniques, which may overlook critical interdependencies among spatial elements and temporal continuity. These limitations can compromise analytical effectiveness in complex urban environments. To address these challenges, we propose PriorMotion, a data integration framework designed to systematically uncover movement patterns through driving dynamics analysis. Our approach combines multi-scale empirical observations with customized analytical tools to capture evolving spatial-temporal trends in urban traffic. Comprehensive evaluations demonstrate that PriorMotion significantly enhances analytical outcomes, including increased accuracy in traffic pattern analysis, improved adaptability to heterogeneous data environments, and reduced long-term projection errors. Validation confirms its effectiveness for urban infrastructure management applications requiring precise characterization of complex spatial-temporal interactions.

cs.CV↗

arXiv2025

A Survey on Vision-Language-Action Models for Autonomous Driving

The rapid progress of multimodal large language models (MLLM) has paved the way for Vision-Language-Action (VLA) paradigms, which integrate visual perception, natural language understanding, and control within a single policy. Researchers in autonomous driving are actively adapting these methods to the vehicle domain. Such models promise autonomous vehicles that can interpret high-level instructions, reason about complex traffic scenes, and make their own decisions. However, the literature remains fragmented and is rapidly expanding. This survey offers the first comprehensive overview of VLA for Autonomous Driving (VLA4AD). We (i) formalize the architectural building blocks shared across recent work, (ii) trace the evolution from early explainer to reasoning-centric VLA models, and (iii) compare over 20 representative models according to VLA's progress in the autonomous driving domain. We also consolidate existing datasets and benchmarks, highlighting protocols that jointly measure driving safety, accuracy, and explanation quality. Finally, we detail open challenges - robustness, real-time efficiency, and formal verification - and outline future directions of VLA4AD. This survey provides a concise yet complete reference for advancing interpretable socially aligned autonomous vehicles. Github repo is available at \href{https://github.com/JohnsonJiang1996/Awesome-VLA4AD}{SicongJiang/Awesome-VLA4AD}.

cs.CV↗

arXiv2025

TACFN: Transformer-based Adaptive Cross-modal Fusion Network for Multimodal Emotion Recognition

The fusion technique is the key to the multimodal emotion recognition task. Recently, cross-modal attention-based fusion methods have demonstrated high performance and strong robustness. However, cross-modal attention suffers from redundant features and does not capture complementary features well. We find that it is not necessary to use the entire information of one modality to reinforce the other during cross-modal interaction, and the features that can reinforce a modality may contain only a part of it. To this end, we design an innovative Transformer-based Adaptive Cross-modal Fusion Network (TACFN). Specifically, for the redundant features, we make one modality perform intra-modal feature selection through a self-attention mechanism, so that the selected features can adaptively and efficiently interact with another modality. To better capture the complementary information between the modalities, we obtain the fused weight vector by splicing and use the weight vector to achieve feature reinforcement of the modalities. We apply TCAFN to the RAVDESS and IEMOCAP datasets. For fair comparison, we use the same unimodal representations to validate the effectiveness of the proposed fusion method. The experimental results show that TACFN brings a significant performance improvement compared to other methods and reaches the state-of-the-art. All code and models could be accessed from https://github.com/shuzihuaiyu/TACFN.

cs.CV↗

arXiv2025

Magnetic Field induced control and Multiple Magnomechanically Induced Transparency in Single Cavity

We investigate magnomechanically induced transparency (MMIT) in a microwave 3D copper cavity with two YIG spheres under varying interaction parameters. Numerical simulations show that the steady-state magnon number increases with stronger coupling between cavity photons and magnons, and is sensitive to both bias and drive magnetic fields. Pronounced peaks in the magnon population near resonant fields highlight the importance of the bias field in energy transfer. The transparency windows are tunable, with up to quadruple windows depending on the coupling and magnon-phonon interactions, as seen in the transmission spectrum. Dispersion analysis reveals normal and anomalous regions, enabling slow and fast light propagation modulated by coupling strength. Phase and group delay variations, influenced by the drive field, further validate the tunability of transparency windows. This study demonstrates the potential of MMIT for precise control with out any additional non-linearity over light-matter interactions, with applications in quantum information processing and optical communications.

physics.optics↗

arXiv2025

Goos-Hanchen Shift and Slow Light Enhancement in a Fixed Cavity: Bose-Einstein Condensate Bogoliubov Modes as Mechanical Oscillators

In this study, we explore the dynamics of slow and fast light propagation in a system consisting of a Bose-Einstein condensate (BEC) acting as a mechanical oscillator coupled to an optical parametric amplifier (OPA) within a fixed-mirror cavity. The system's response is investigated through a comprehensive analysis of the transmission spectrum, output probe field characteristics (real and imaginary components), group delay, and Goos-Hänchen shift (GHS). Our findings reveal that variations in the effective coupling strength and the OPA gain have a profound impact on the system's behavior. Specifically, as the OPA gain increases, a Fano-like resonance emerges, enhancing the transparency window and altering the dispersion, which in turn influences the group delay. The GHS is shown to be sensitive to both the incident angle and the BEC-cavity coupling strength. These results offer valuable insights into the intricate interplay between the probe field, the mechanical oscillator, and the amplified modes of the OPA, highlighting the role of these interactions in shaping the propagation of light in such systems.

physics.optics↗

arXiv2025

SeCap: Self-Calibrating and Adaptive Prompts for Cross-view Person Re-Identification in Aerial-Ground Networks

When discussing the Aerial-Ground Person Re-identification (AGPReID) task, we face the main challenge of the significant appearance variations caused by different viewpoints, making identity matching difficult. To address this issue, previous methods attempt to reduce the differences between viewpoints by critical attributes and decoupling the viewpoints. While these methods can mitigate viewpoint differences to some extent, they still face two main issues: (1) difficulty in handling viewpoint diversity and (2) neglect of the contribution of local features. To effectively address these challenges, we design and implement the Self-Calibrating and Adaptive Prompt (SeCap) method for the AGPReID task. The core of this framework relies on the Prompt Re-calibration Module (PRM), which adaptively re-calibrates prompts based on the input. Combined with the Local Feature Refinement Module (LFRM), SeCap can extract view-invariant features from local features for AGPReID. Meanwhile, given the current scarcity of datasets in the AGPReID field, we further contribute two real-world Large-scale Aerial-Ground Person Re-Identification datasets, LAGPeR and G2APS-ReID. The former is collected and annotated by us independently, covering $4,231$ unique identities and containing $63,841$ high-quality images; the latter is reconstructed from the person search dataset G2APS. Through extensive experiments on AGPReID datasets, we demonstrate that SeCap is a feasible and effective solution for the AGPReID task. The datasets and source code available on https://github.com/wangshining681/SeCap-AGPReID.

cs.CV↗

arXiv2025

EFFOcc: Learning Efficient Occupancy Networks from Minimal Labels for Autonomous Driving

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity, OccNets are commonly composed of heavy Conv3D modules or transformers at the voxel level. Moreover, OccNets are supervised with expensive large-scale dense voxel labels. Model and data inefficiencies, caused by excessive network parameters and label annotation requirements, severely hinder the onboard deployment of OccNets. This paper proposes an EFFicient Occupancy learning framework, EFFOcc, that targets minimal network complexity and label requirements while achieving state-of-the-art accuracy. We first propose an efficient fusion-based OccNet that only uses simple 2D operators and improves accuracy to the state-of-the-art on three large-scale benchmarks: Occ3D-nuScenes, Occ3D-Waymo, and OpenOccupancy-nuScenes. On the Occ3D-nuScenes benchmark, the fusion-based model with ResNet-18 as the image backbone has 21.35M parameters and achieves 51.49 in terms of mean Intersection over Union (mIoU). Furthermore, we propose a multi-stage occupancy-oriented distillation to efficiently transfer knowledge to vision-only OccNet. Extensive experiments on occupancy benchmarks show state-of-the-art precision for both fusion-based and vision-based OccNets. For the demonstration of learning with limited labels, we achieve 94.38\% of the performance (mIoU = 28.38) of a 100\% labeled vision OccNet (mIoU = 30.07) using the same OccNet trained with only 40\% labeled sequences and distillation from the fusion-based OccNet.

cs.CV↗

arXiv2025

Revealing Key Details to See Differences: A Novel Prototypical Perspective for Skeleton-based Action Recognition

In skeleton-based action recognition, a key challenge is distinguishing between actions with similar trajectories of joints due to the lack of image-level details in skeletal representations. Recognizing that the differentiation of similar actions relies on subtle motion details in specific body parts, we direct our approach to focus on the fine-grained motion of local skeleton components. To this end, we introduce ProtoGCN, a Graph Convolutional Network (GCN)-based model that breaks down the dynamics of entire skeleton sequences into a combination of learnable prototypes representing core motion patterns of action units. By contrasting the reconstruction of prototypes, ProtoGCN can effectively identify and enhance the discriminative representation of similar actions. Without bells and whistles, ProtoGCN achieves state-of-the-art performance on multiple benchmark datasets, including NTU RGB+D, NTU RGB+D 120, Kinetics-Skeleton, and FineGYM, which demonstrates the effectiveness of the proposed method. The code is available at https://github.com/firework8/ProtoGCN.

cs.CV↗

arXiv2025

LEGO-Motion: Learning-Enhanced Grids with Occupancy Instance Modeling for Class-Agnostic Motion Prediction

Accurate and reliable spatial and motion information plays a pivotal role in autonomous driving systems. However, object-level perception models struggle with handling open scenario categories and lack precise intrinsic geometry. On the other hand, occupancy-based class-agnostic methods excel in representing scenes but fail to ensure physics consistency and ignore the importance of interactions between traffic participants, hindering the model's ability to learn accurate and reliable motion. In this paper, we introduce a novel occupancy-instance modeling framework for class-agnostic motion prediction tasks, named LEGO-Motion, which incorporates instance features into Bird's Eye View (BEV) space. Our model comprises (1) a BEV encoder, (2) an Interaction-Augmented Instance Encoder, and (3) an Instance-Enhanced BEV Encoder, improving both interaction relationships and physics consistency within the model, thereby ensuring a more accurate and robust understanding of the environment. Extensive experiments on the nuScenes dataset demonstrate that our method achieves state-of-the-art performance, outperforming existing approaches. Furthermore, the effectiveness of our framework is validated on the advanced FMCW LiDAR benchmark, showcasing its practical applicability and generalization capabilities. The code will be made publicly available to facilitate further research.

cs.CV↗

arXiv2025

Displaying Fear, Sadness, and Joy in Public: Schizophrenia Vloggers' Video Narration of Emotion and Online Care-Seeking

Individuals with severe mental illnesses (SMI), particularly schizophrenia, experience complex and intense emotions frequently. They increasingly turn to vlogging as an authentic medium for emotional disclosure and online support-seeking. While previous research has primarily focused on text-based disclosure, little is known about how people construct narratives around emotions and emotional experiences through video blogs. Our study analyzed 401 YouTube videos created by schizophrenia vloggers, revealing that vloggers disclosed their fear, sadness, and joy through verbal narration by explicit expressions or storytelling. Visually, they employed various framing styles, including Anonymous, Talk-to-Camera, and In-the-Moment approaches, along with diverse visual narration techniques. Notably, we uncovered a concerning 'visual appeal disparity' in audience engagement, with visually appealing videos receiving significantly more views, likes, and comments. This study discusses the role of video-sharing platforms in emotional expression and offers design implications for fostering online care-seeking for emotionally vulnerable populations.

cs.HC↗

arXiv2025

Balanced Representation Learning for Long-tailed Skeleton-based Action Recognition

Skeleton-based action recognition has recently made significant progress. However, data imbalance is still a great challenge in real-world scenarios. The performance of current action recognition algorithms declines sharply when training data suffers from heavy class imbalance. The imbalanced data actually degrades the representations learned by these methods and becomes the bottleneck for action recognition. How to learn unbiased representations from imbalanced action data is the key to long-tailed action recognition. In this paper, we propose a novel balanced representation learning method to address the long-tailed problem in action recognition. Firstly, a spatial-temporal action exploration strategy is presented to expand the sample space effectively, generating more valuable samples in a rebalanced manner. Secondly, we design a detached action-aware learning schedule to further mitigate the bias in the representation space. The schedule detaches the representation learning of tail classes from training and proposes an action-aware loss to impose more effective constraints. Additionally, a skip-modal representation is proposed to provide complementary structural information. The proposed method is validated on four skeleton datasets, NTU RGB+D 60, NTU RGB+D 120, NW-UCLA, and Kinetics. It not only achieves consistently large improvement compared to the state-of-the-art (SOTA) methods, but also demonstrates a superior generalization capacity through extensive experiments. Our code is available at https://github.com/firework8/BRL.

cs.CV↗