arXiv subjects

Zhengqing Gao

Publications and source records attributed to Zhengqing Gao.

12 recordsLinked to original sources

arXiv2026

SEES: A Self-Evolving Embodied System via Failure-Guided VLA Policy Adaptation

Recent vision-language-action (VLA) policies demonstrate promising generalization across diverse short-horizon tasks. However, they remain unreliable on long-horizon tasks, partly because the large-scale training data is biased toward single-stage manipulation tasks that are cheaper to demonstrate. A single weak atomic skill can cause failures across multiple multi-stage tasks. To address such failures, existing methods often require experts to identify the bottleneck and provide additional demonstrations, making the improvement costly and potentially impractical after deployment. To this end, we present a Self-Evolving Embodied System (SEES) that learns from failures and improves the VLA policy without additional expert demonstrations. SEES decomposes long-horizon tasks into atomic tasks and routes them to corresponding family policies. Each family consists of related atomic skills that share one VLA adapter. During execution, the system automatically monitors atomic-task outcomes to identify the most frequently failing atomic skills as the current bottlenecks. To overcome these bottlenecks, SEES constructs tailored RL tasks in simulation by restoring previously encountered states and generating task-specific success criteria with an LLM. Online RL updates the shared family adapters to promote positive transfer among related atomic skills and cumulative improvement across evolution rounds. Extensive experiments show that SEES can be integrated with different VLA backbones to progressively improve their long-horizon performance. We also observe continued improvement on unseen tasks, providing evidence of transfer beyond the evolution settings.

cs.RO↗

arXiv2026

From Fixed Grids to Moving Particles:A Transferable Latent Operator for Fluid Dynamics

Lagrangian modeling is vital to fluid dynamics, as it characterizes particle transport and complements the Eulerian representation. However, Lagrangian trajectories are less commonly available than Eulerian fields, while most neural operators are trained and evaluated primarily in the Eulerian representation. This mismatch motivates a new learning problem: can a model trained solely on Eulerian observations generalize zero-shot from Eulerian field prediction to Lagrangian particle rollout, without Lagrangian supervision or task-specific adaptation? To address this problem, we propose the Transferable Latent Operator (TLO), which learns a unified flow representation shared by Eulerian field prediction and Lagrangian particle rollout. TLO decouples latent flow evolution from coordinate-dependent decoding: querying the evolving latent representation at fixed spatial coordinates yields Eulerian fields, whereas querying velocities at particle positions and recursively updating these positions enables Lagrangian rollout. Across five fluid-dynamics benchmarks, TLO consistently outperforms existing neural operators in both Eulerian field prediction and zero-shot Lagrangian rollout, with further gains from limited Lagrangian fine-tuning.

cs.LG↗

arXiv2026

HUGE-Bench: A Benchmark for High-Level UAV Vision-Language-Action Tasks

Existing UAV vision-language navigation (VLN) benchmarks have enabled language-guided flight, but they largely focus on long, step-wise route descriptions with goal-centric evaluation, making them less diagnostic for real operations where brief, high-level commands must be grounded into safe multi-stage behaviors. We present HUGE-Bench, a benchmark for High-Level UAV Vision-Language-Action (HL-VLA) tasks that tests whether an agent can interpret concise language and execute complex, process-oriented trajectories with safety awareness. HUGE-Bench comprises 4 real-world digital twin scenes, 8 high-level tasks, and 2.56M meters of trajectories, and is built on an aligned 3D Gaussian Splatting (3DGS)-Mesh representation that combines photorealistic rendering with collision-capable geometry for scalable generation and collision-aware evaluation. We introduce process-oriented and collision-aware metrics to assess process fidelity, terminal accuracy, and safety. Experiments on representative state-of-the-art VLA models reveal significant gaps in high-level semantic completion and safe execution, highlighting HUGE-Bench as a diagnostic testbed for high-level UAV autonomy.

cs.CV↗

arXiv2026

AnisoLift: Anisotropic Latent Representations for Coarse Particle Liquid Enhancement

Particle-based liquid simulation is widely used in graphics and physical modeling, but high-resolution rollouts remain computationally expensive. Consequently, many methods aim to recover fine-scale dynamics and dense transport patterns from coarse particle simulations. However, these methods typically rely on additional particle generation, which still incurs considerable computational overhead and leads to poor representation. To this end, we propose AnisoLift, a structured latent closure framework that augments each coarse particle with learnable anisotropic ellipsoidal components. This allows the model to capture directional local structure from the underlying high-resolution flow without introducing extra particles. Given a coarse simulation, our model predicts residual corrections to particle states to bring the updated state closer to the aligned high-resolution teacher. Our training objective jointly supervises particle dynamics and anisotropic geometric structure, encouraging both physical consistency and structural coherence. Extensive experiments show that our approach enhances coarse liquid simulations through improving fidelity to fully resolved flow behavior.

cs.GR↗

arXiv2026

FLUIDSPLAT: Reconstructing Physical Fields from Sparse Sensors via Gaussian Primitives

Reconstructing continuous flow fields from sparse surface-mounted sensors is central to aerodynamic design, flow control, and digital-twin instrumentation. Existing neural methods for this task typically encode sensor readings into implicit latent codes with little spatial interpretability and limited formal guidance on how representational capacity should scale with observation count. Inspired by 3D Gaussian Splatting, we introduce FLUIDSPLAT, a sensor-conditioned model that predicts K anisotropic Gaussian primitives forming a partition-of-unity scaffold, a spatially explicit and interpretable intermediate representation of the flow. For an idealized Gaussian primitive estimator, we prove an $O(K^{-s/d})$ approximation rate for fields with Sobolev smoothness $s$; incorporating $N$ noisy observations yields a squared-risk decomposition with bias $O(K^{-2s/d})$ and variance $O(σ^{2}K/N)$.Balancing the two yields $K^{*}\!\sim\!(N/σ^{2})^{d/(2s+d)}$: primitive count cannot grow freely under sparse sensing, revealing a variance bottleneck that motivates complementing the scaffold with a state-conditioned residual decoder. Across four benchmarks spanning 2D and 3D, FLUIDSPLAT achieves 11-28% error reduction over several strong baselines on cylinder flow, AirfRANS, FlowBench LDC-3D, and PhySense-Car 3D benchmarks.

cs.LG↗

arXiv2026

KineVLA: Towards Kinematics-Aware Vision-Language-Action Models with Bi-Level Action Decomposition

In this paper, we introduce a novel kinematics-rich vision-language-action (VLA) task, in which language commands densely encode diverse kinematic attributes (such as direction, trajectory, orientation, and relative displacement) from initiation through completion, at key moments, unlike existing action instructions that capture kinematics only coarsely or partially, thereby supporting fine-grained and personalized manipulation. In this setting, where task goals remain invariant while execution trajectories must adapt to instruction-level kinematic specifications. To address this challenge, we propose KineVLA, a vision-language-action framework that explicitly decouples goal-level invariance from kinematics-level variability through a bi-level action representation and bi-level reasoning tokens to serve as explicit, supervised intermediate variables that align language and action. To support this task, we construct the kinematics-aware VLA datasets spanning both simulation and real-world robotic platforms, featuring instruction-level kinematic variations and bi-level annotations. Extensive experiments on LIBERO and a Realman-75 robot demonstrate that KineVLA consistently outperforms strong VLA baselines on kinematics-sensitive benchmarks, achieving more precise, controllable, and generalizable manipulation behaviors.

cs.RO↗

arXiv2026

Mirage2Matter: A Physically Grounded Gaussian World Model from Video

The scalability of embodied intelligence is fundamentally constrained by the scarcity of real-world interaction data. While simulation platforms provide a promising alternative, existing approaches often suffer from a substantial visual and physical gap to real environments and rely on expensive sensors, precise robot calibration, or depth measurements, limiting their practicality at scale. We present Simulate Anything, a graphics-driven world modeling and simulation framework that enables efficient generation of high-fidelity embodied training data using only multi-view environment videos and off-the-shelf assets. Our approach reconstructs real-world environments into a photorealistic scene representation using 3D Gaussian Splatting (3DGS), seamlessly capturing fine-grained geometry and appearance from video. We then leverage generative models to recover a physically realistic representation and integrate it into a simulation environment via a precision calibration target, enabling accurate scale alignment between the reconstructed scene and the real world. Together, these components provide a unified, editable, and physically grounded world model. Vision Language Action (VLA) models trained on our simulated data achieve strong zero-shot performance on downstream tasks, matching or even surpassing results obtained with real-world data, highlighting the potential of reconstruction-driven world modeling for scalable and practical embodied intelligence training.

cs.CV↗

arXiv2025

MLLM-For3D: Adapting Multimodal Large Language Model for 3D Reasoning Segmentation

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation, adapting these capabilities to 3D scenes remains underexplored. In this paper, we introduce MLLM-For3D, a simple yet effective framework that transfers knowledge from 2D MLLMs to 3D scene understanding. Specifically, we utilize MLLMs to generate multi-view pseudo segmentation masks and corresponding text embeddings, then unproject 2D masks into 3D space and align them with the text embeddings. The primary challenge lies in the absence of 3D context and spatial consistency across multiple views, causing the model to hallucinate objects that do not exist and fail to target objects consistently. Training the 3D model with such irrelevant objects leads to performance degradation. To address this, we introduce a spatial consistency strategy to enforce that segmentation masks remain coherent in the 3D space, effectively capturing the geometry of the scene. Moreover, we develop a Token-for-Query approach for multimodal semantic alignment, enabling consistent identification of the same object across different views. Extensive evaluations on various challenging indoor scene benchmarks demonstrate that, even without any labeled 3D training data, MLLM-For3D outperforms existing 3D reasoning segmentation methods, effectively interpreting user intent, understanding 3D scenes, and reasoning about spatial relationships.

cs.CV↗

arXiv2025

ProtoGS: Efficient and High-Quality Rendering with 3D Gaussian Prototypes

3D Gaussian Splatting (3DGS) has made significant strides in novel view synthesis but is limited by the substantial number of Gaussian primitives required, posing challenges for deployment on lightweight devices. Recent methods address this issue by compressing the storage size of densified Gaussians, yet fail to preserve rendering quality and efficiency. To overcome these limitations, we propose ProtoGS to learn Gaussian prototypes to represent Gaussian primitives, significantly reducing the total Gaussian amount without sacrificing visual quality. Our method directly uses Gaussian prototypes to enable efficient rendering and leverage the resulting reconstruction loss to guide prototype learning. To further optimize memory efficiency during training, we incorporate structure-from-motion (SfM) points as anchor points to group Gaussian primitives. Gaussian prototypes are derived within each group by clustering of K-means, and both the anchor points and the prototypes are optimized jointly. Our experiments on real-world and synthetic datasets prove that we outperform existing methods, achieving a substantial reduction in the number of Gaussians, and enabling high rendering speed while maintaining or even enhancing rendering fidelity.

cs.CV↗

arXiv2024

Adapting Vision-Language Models to Open Classes via Test-Time Prompt Tuning

Adapting pre-trained models to open classes is a challenging problem in machine learning. Vision-language models fully explore the knowledge of text modality, demonstrating strong zero-shot recognition performance, which is naturally suited for various open-set problems. More recently, some research focuses on fine-tuning such models to downstream tasks. Prompt tuning methods achieved huge improvements by learning context vectors on few-shot data. However, through the evaluation under open-set adaptation setting with the test data including new classes, we find that there exists a dilemma that learned prompts have worse generalization abilities than hand-crafted prompts. In this paper, we consider combining the advantages of both and come up with a test-time prompt tuning approach, which leverages the maximum concept matching (MCM) scores as dynamic weights to generate an input-conditioned prompt for each image during test. Through extensive experiments on 11 different datasets, we show that our proposed method outperforms all comparison methods on average considering both base and new classes. The code is available at https://github.com/gaozhengqing/TTPT

cs.CV↗

arXiv2024

Unified Entropy Optimization for Open-Set Test-Time Adaptation

Test-time adaptation (TTA) aims at adapting a model pre-trained on the labeled source domain to the unlabeled target domain. Existing methods usually focus on improving TTA performance under covariate shifts, while neglecting semantic shifts. In this paper, we delve into a realistic open-set TTA setting where the target domain may contain samples from unknown classes. Many state-of-the-art closed-set TTA methods perform poorly when applied to open-set scenarios, which can be attributed to the inaccurate estimation of data distribution and model confidence. To address these issues, we propose a simple but effective framework called unified entropy optimization (UniEnt), which is capable of simultaneously adapting to covariate-shifted in-distribution (csID) data and detecting covariate-shifted out-of-distribution (csOOD) data. Specifically, UniEnt first mines pseudo-csID and pseudo-csOOD samples from test data, followed by entropy minimization on the pseudo-csID data and entropy maximization on the pseudo-csOOD data. Furthermore, we introduce UniEnt+ to alleviate the noise caused by hard data partition leveraging sample-level confidence. Extensive experiments on CIFAR benchmarks and Tiny-ImageNet-C show the superiority of our framework. The code is available at https://github.com/gaozhengqing/UniEnt

cs.CV↗

arXiv2024

Local Causal Discovery with Linear non-Gaussian Cyclic Models

Local causal discovery is of great practical significance, as there are often situations where the discovery of the global causal structure is unnecessary, and the interest lies solely on a single target variable. Most existing local methods utilize conditional independence relations, providing only a partially directed graph, and assume acyclicity for the ground-truth structure, even though real-world scenarios often involve cycles like feedback mechanisms. In this work, we present a general, unified local causal discovery method with linear non-Gaussian models, whether they are cyclic or acyclic. We extend the application of independent component analysis from the global context to independent subspace analysis, enabling the exact identification of the equivalent local directed structures and causal strengths from the Markov blanket of the target variable. We also propose an alternative regression-based method in the particular acyclic scenarios. Our identifiability results are empirically validated using both synthetic and real-world datasets.

cs.LG↗