arXiv subjects

Zhaoyi Wang

Publications and source records attributed to Zhaoyi Wang.

8 recordsLinked to original sources

arXiv2026

HERMES: A Holistic End-to-End Risk-Aware Multimodal Embodied System with Vision-Language Models for Long-Tail Autonomous Driving

End-to-end autonomous driving models increasingly benefit from large vision-language models for semantic understanding, yet safe and reliable planning under long-tail conditions remains challenging, particularly in mixed-traffic environments involving heterogeneous road users and rare safety-critical interactions. This paper proposes HERMES, a holistic risk-aware end-to-end multimodal driving framework that explicitly incorporates long-tail semantic knowledge into trajectory planning. HERMES employs a foundation-model-assisted annotation pipeline to construct structured Long-Tail Scene Context and Long-Tail Planning Context, capturing hazard-centric scene information, maneuver intent, and risk-aware planning guidance. A Tri-Modal Driving Module then integrates multi-view visual observations, historical ego-motion, and long-tail semantic instructions through intent- and risk-aware conditioning for trajectory generation. Extensive experiments on a large-scale real-world long-tail driving benchmark demonstrate consistent improvements over representative recent baselines in overall planning performance and across diverse safety-critical scenarios. Ablation studies further validate the effectiveness and complementary roles of the major components within HERMES.

cs.RO↗

arXiv2026

Discovery of Three Glitches in the previously quiet pulsar PSR J1637$-$4642

We present the discovery and analysis of three rotational glitches in the young pulsar PSR J1637$-$4642. The timing observations span from 19 February 2009 to 6 October 2024 (MJD 54881$-$60589) from the Murriyang radio telescope of the Parkes Observatory. The first and strongest glitch occurred around MJD 58352 with a fractional frequency change of $Δν/ν\sim 2.7 \times 10^{-6}$, while two additional smaller glitches were detected at MJD 59443 and MJD 60445 with fractional changes of $2.2 \times 10^{-9}$ and $2.8 \times 10^{-8}$, respectively. Prior to this, the pulsar had shown no glitch activity since its discovery in the Parkes Multibeam survey. Only the first glitch exhibits detectable exponential recovery, with a decay timescale of $\sim$100 days and a small recovery fraction $\approx 0.015$, accompanied by a permanent increase in the magnitude of the spin-down rate. Modeling the post-glitch evolution of $\dotν$ within the vortex-creep framework using Bayesian inference gives a superfluid moment-of-inertia fraction $\approx 0.0187$, consistent with the inner-crust superfluid. These results reinforce the standard superfluid glitch paradigm and demonstrate that even ``quiet'' pulsars can still host substantial glitch activity.

astro-ph.HE↗

arXiv2026

Dispersion-managed octave soliton microcombs in heterostructured microresonators

Controlling group velocity dispersion is of fundamental importance in ultrafast optics, particularly for supercontinuum generation and optical frequency comb synthesis. However, the simultaneous, independent tailoring of multiple dispersion coefficients over an ultra-broad bandwidth remains a formidable challenge in conventional nanophotonic platforms. Here, we demonstrate a robust strategy for broadband dispersion management using heterostructured microresonators comprised of adiabatically concatenated waveguides with distinct geometries. By meticulously engineering the local dispersion profiles, we can flexibly synthesize the global effective dispersion coefficients of different orders, effectively expanding design degrees of freedom beyond conventional limits. As a benchmarking demonstration, we fabricate heterostructured silicon nitride microresonators using a commercial foundry process and successfully generate octave-spanning soliton microcombs with a repetition rate as low as 118 GHz. These microcombs feature deterministically tunable dispersive waves operating across the 290-310 THz range. Such octave-spanning microcombs with detectable repetition rates and carrier-envelope offset frequencies are readily applicable to f-2f self-referencing in optical clocks and frequency synthesizers. The proposed heterostructured architecture establishes a versatile paradigm for generating ultrawideband soliton microcombs with tailorable spectral profiles.

physics.optics↗

arXiv2026

Dense 3D Displacement Estimation for Landslide Monitoring via Fusion of TLS Point Clouds and Embedded RGB Images

Landslide monitoring is essential for understanding geohazards and mitigating associated risks. Existing point cloud-based methods, however, typically rely on either geometric or radiometric information and often yield sparse or non-3D displacement estimates. In this paper, we propose a hierarchical partitioning-based coarse-to-fine approach that integrates 3D point clouds and co-registered RGB images to estimate dense 3D displacement vector fields. Patch-level matches are constructed using both 3D geometry and 2D image features, refined via geometric consistency checks, and followed by rigid transformation estimation per match. Experimental results on two real-world landslide datasets demonstrate that the proposed method produces 3D displacement estimates with high spatial coverage (79% and 97%) and accuracy. Deviations in displacement magnitude with respect to external measurements (total station or GNSS observations) are 0.15 m and 0.25 m on the two datasets, respectively, and only 0.07 m and 0.20 m compared to manually derived references, all below the mean scan resolutions (0.08 m and 0.30 m). Compared with the state-of-the-art method F2S3, the proposed approach improves spatial coverage while maintaining comparable accuracy. The proposed approach offers a practical and adaptable solution for TLS-based landslide monitoring and is extensible to other types of point clouds and monitoring tasks. The example data and source code are publicly available at https://github.com/gseg-ethz/fusion4landslide.

cs.CV↗

arXiv2025

Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Driving

Vehicle-to-everything technologies (V2X) have become an ideal paradigm to extend the perception range and see through the occlusion. Exiting efforts focus on single-frame cooperative perception, however, how to capture the temporal cue between frames with V2X to facilitate the prediction task even the planning task is still underexplored. In this paper, we introduce the Co-MTP, a general cooperative trajectory prediction framework with multi-temporal fusion for autonomous driving, which leverages the V2X system to fully capture the interaction among agents in both history and future domains to benefit the planning. In the history domain, V2X can complement the incomplete history trajectory in single-vehicle perception, and we design a heterogeneous graph transformer to learn the fusion of the history feature from multiple agents and capture the history interaction. Moreover, the goal of prediction is to support future planning. Thus, in the future domain, V2X can provide the prediction results of surrounding objects, and we further extend the graph transformer to capture the future interaction among the ego planning and the other vehicles' intentions and obtain the final future scenario state under a certain planning action. We evaluate the Co-MTP framework on the real-world dataset V2X-Seq, and the results show that Co-MTP achieves state-of-the-art performance and that both history and future fusion can greatly benefit prediction.

cs.LG↗

arXiv2025

Cross-modal feature fusion for robust point cloud registration with ambiguous geometry

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation reduces their effectiveness in aligning point clouds pairs, especially in regions where geometric data alone is insufficient. When used effectively, radiometric information can enhance the registration process by providing context that is missing from purely geometric data. In this paper, we propose CoFF, a novel Cross-modal Feature Fusion method that utilizes both point cloud geometry and RGB images for pairwise point cloud registration. Assuming that the co-registration between point clouds and RGB images is available, CoFF explicitly addresses the challenges where geometric information alone is unclear, such as in regions with symmetric similarity or planar structures, through a two-stage fusion of 3D point cloud features and 2D image features. It incorporates a cross-modal feature fusion module that assigns pixel-wise image features to 3D input point clouds to enhance learned 3D point features, and integrates patch-wise image features with superpoint features to improve the quality of coarse matching. This is followed by a coarse-to-fine matching module that accurately establishes correspondences using the fused features. We extensively evaluate CoFF on four common datasets: 3DMatch, 3DLoMatch, IndoorLRS, and the recently released ScanNet++ datasets. In addition, we assess CoFF on specific subset datasets containing geometrically ambiguous cases. Our experimental results demonstrate that CoFF achieves state-of-the-art registration performance across all benchmarks, including remarkable registration recalls of 95.9% and 81.6% on the widely-used 3DMatch and 3DLoMatch datasets, respectively...(Truncated to fit arXiv abstract length)

cs.CV↗

arXiv2023

SLHCat: Mapping Wikipedia Categories and Lists to DBpedia by Leveraging Semantic, Lexical, and Hierarchical Features

Wikipedia articles are hierarchically organized through categories and lists, providing one of the most comprehensive and universal taxonomy, but its open creation is causing redundancies and inconsistencies. Assigning DBPedia classes to Wikipedia categories and lists can alleviate the problem, realizing a large knowledge graph which is essential for categorizing digital contents through entity linking and typing. However, the existing approach of CaLiGraph is producing incomplete and non-fine grained mappings. In this paper, we tackle the problem as ontology alignment, where structural information of knowledge graphs and lexical and semantic features of ontology class names are utilized to discover confident mappings, which are in turn utilized for finetuing pretrained language models in a distant supervision fashion. Our method SLHCat consists of two main parts: 1) Automatically generating training data by leveraging knowledge graph structure, semantic similarities, and named entity typing. 2) Finetuning and prompt-tuning of the pre-trained language model BERT are carried out over the training data, to capture semantic and syntactic properties of class names. Our model SLHCat is evaluated over a benchmark dataset constructed by annotating 3000 fine-grained CaLiGraph-DBpedia mapping pairs. SLHCat is outperforming the baseline model by a large margin of 25% in accuracy, offering a practical solution for large-scale ontology mapping.

cs.DL↗

arXiv2023

Calculation of Special Spin Behavior of Dy3+ in DyFe1-xCrxO3 System by Molecular Field Model

In this study, the sol-gel method synthesized the magnetic measurement and analysis of single-phase polycrystalline perovskite DyFe1-xCrxO3 (DFCO). The experimental data were fitted and calculated by a four-sublattice molecular field model. Unlike previous studies, we found that in DyFe1-xCrxO3, the spin of the A-site rare earth ion Dy3+ also changed simultaneously with the spin reorientation of the Fe3+/Cr3+ ions. The effective spin is defined as the projection of the A site's total spin on the B site's spin plane, and the curve of temperature changes is obtained after fitting. With this theory, a very accurate thermomagnetic curve is obtained by fitting. This is convincing and, at the same time, provides a reference for the development of spintronic devices in the future.

cond-mat.mtrl-sci↗