arXiv subjects

Zhengpu Wang

Publications and source records attributed to Zhengpu Wang.

4 recordsLinked to original sources

arXiv2026

GCS-Bridging: Restoring Connectivity of Disconnected Convex Sets for Graph-of-Convex-Sets Motion Planning

Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration space as a finite collection of convex sets and directly performs collision-free trajectory planning over these sets, substantially simplifying the planning process. However, existing GCS-based trajectory planning methods generally assume sufficient connectivity among the convex regions and do not explicitly address cases in which the start and goal regions belong to different connected components of the initial GCS map. To address this limitation, we propose GCS-Bridging, which reconnects disconnected convex regions through collision-free point paths followed by convex region inflation, thereby recovering the feasibility of otherwise disconnected GCS planning problems. Extensive simulations across multiple IRIS-related algorithms and scenarios demonstrate that GCS-Bridging restores missing start-to-goal connectivity in the initial GCS map with a 99.8% success rate. In addition, a hardware experiment on a single-arm Franka platform in a real-world scenario with initially disconnected start and goal regions validates the effectiveness of the proposed method in practical motion planning. Project website: https://zhouxk1997.github.io/GCS_Bridging/

cs.RO↗

arXiv2026

Ecological Cycle Optimizer: A novel nature-inspired metaheuristic algorithm for non-convex global optimization

This article proposes the Ecological Cycle Optimizer (ECO), a novel metaheuristic algorithm inspired by energy flow and material cycling within ecosystems. ECO draws an analogy between the dynamic process of solving optimization problems and ecological cycling. Unique update strategies are designed for the producer, consumer and decomposer, aiming to enhance the balance between exploration and exploitation processes. Through these strategies, ECO is able to approach the global optimum, simulating the evolution of an ecological system toward its optimal state of stability and balance. Moreover, a parameter sensitivity analysis is conducted on 23 classic optimization functions to determine a suitable default configuration for ECO. Furthermore, 30 competitive metaheuristic algorithms are selected to form an algorithm pool, and comprehensive experiments are conducted on the IEEE CEC-2014 and CEC-2017 test suites. Among these, five top-performing algorithms, namely ARO, CFOA, CSA, WSO, and INFO, are chosen for an in-depth comparison with the ECO on the IEEE CEC-2020 test suite, verifying the ECO's exceptional optimization performance. Finally, in order to validate the practical applicability of ECO in complex real-world engineering problems, five state-of-the-art algorithms, including FDB-AGDE, FDB-SFS, LRFDB-COA, L-SHADE, and NSM-SFS are selected for comparative experiments on five engineering problems from the CEC-2020-RW test suite, demonstrating that ECO achieves competitive performance against advanced engineering-oriented algorithms. The ECO project page is available at https://jxxsteven7.github.io/ECO-Optimizer/.

cs.NE↗

arXiv2025

Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledge

The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location prediction paradigms to achieve long-term goal reasoning, yet these methods often struggle to effectively integrate contextual relation reasoning. Alternatively, map completion-based paradigms predict long-term goals by generating semantic maps of unexplored areas. However, existing methods in this category fail to fully leverage known environmental information, resulting in suboptimal map quality that requires further improvement. In this work, we propose a novel approach to enhancing the ObjectNav task, by training a diffusion model to learn the statistical distribution patterns of objects in semantic maps, and using the map of the explored regions during navigation as the condition to generate the map of the unknown regions, thereby realizing the long-term goal reasoning of the target object, i.e., diffusion as reasoning (DAR). Meanwhile, we propose the Room Guidance method, which leverages commonsense knowledge derived from large language models (LLMs) to guide the diffusion model in generating room-aware object distributions. Based on the generated map in the unknown region, the agent sets the predicted location of the target as the goal and moves towards it. Experiments on Gibson and MP3D show the effectiveness of our method.

cs.CV↗

arXiv2024

MoTE: Reconciling Generalization with Specialization for Visual-Language to Video Knowledge Transfer

Transferring visual-language knowledge from large-scale foundation models for video recognition has proved to be effective. To bridge the domain gap, additional parametric modules are added to capture the temporal information. However, zero-shot generalization diminishes with the increase in the number of specialized parameters, making existing works a trade-off between zero-shot and close-set performance. In this paper, we present MoTE, a novel framework that enables generalization and specialization to be balanced in one unified model. Our approach tunes a mixture of temporal experts to learn multiple task views with various degrees of data fitting. To maximally preserve the knowledge of each expert, we propose \emph{Weight Merging Regularization}, which regularizes the merging process of experts in weight space. Additionally with temporal feature modulation to regularize the contribution of temporal feature during test. We achieve a sound balance between zero-shot and close-set video recognition tasks and obtain state-of-the-art or competitive results on various datasets, including Kinetics-400 \& 600, UCF, and HMDB. Code is available at \url{https://github.com/ZMHH-H/MoTE}.

cs.CV↗