arXiv subjects

Zhicheng Bao

Publications and source records attributed to Zhicheng Bao.

12 recordsLinked to original sources

arXiv2026

LIBERO-RECOVER: Beyond Task Success Towards Failure Recovery in Robotic Manipulation Models

Vision-Language-Action (VLA) or World Action (WAM) models have recently demonstrated remarkable performance in robotic manipulation. On LIBERO, SOTA method have achieved nearly 100\% success rates, seemingly suggesting that the models are ready for deployment in real world. However, near perfect performance on existing benchmarks can be misleading: success under ideal conditions does not imply real world robustness. Existing benchmarks primarily evaluate task completion from predefined initial states, while real world interactions inevitably involve failures such as failed grasps, collisions, and unintended object movements. A robot must therefore not only execute tasks successfully, but also recognize and recover from failures to continue the task. Yet this capability remains largely unmeasured, revealing a critical gap between benchmark performance and real world reliability. To address this gap, we introduce LIBERO-Recover Benchmark, a large scale benchmark for failure recovery in robotic manipulation. Built upon LIBERO, we collect real execution failures from SOTA embodied models and construct 1,000+ scenarios across four recovery levels: (1) Action Retry, (2) Action Adaptation, (3) Object State Recovery, and (4) Environmental Recovery. We evaluate four core capabilities: spatial understanding, object structure reasoning, interaction understanding, and topological reasoning. As the first large-scale benchmark for embodied failure recovery, LIBERO-Recover shifts evaluation from \emph{Can the robot succeed?''} to \emph{Can the robot recover after failure?''}, promoting robust and generalizable embodied agents. The project will be avaible in \textcolor{blue}{https://liulin815.github.io/LIBERO-Recovery/}.

cs.RO↗

arXiv2026

STCC: A Unified Source-Channel Semantic Token Coding Framework for Semantic Communications

Deep Joint Source-Channel Coding (JSCC) has emerged as a promising paradigm for overcoming the ``cliff effect" in wireless communications. However, existing Deep JSCC frameworks operate directly on raw analog data such as image pixels rather than the discrete semantic tokens that foundation models require. Moreover, traditional systems employ fixed, hand-designed constellations that treat all tokens equally, leading to catastrophic random errors under channel noise. In this paper, the Semantic Token Codebook Communication (STCC) is proposed as a unified source-channel semantic token coding framework designed to transmit the discrete semantic tokens of foundation models over noisy channels. The core of STCC is the Semantic Token Codec (STC). It accepts discrete tokens as input, which maintains compatibility with foundation models while employing a residual multiple layer perceptron, i.e., MLP-based encoder that learns geometrically structured constellations optimized with a triple-loss objective. This learned mapping forces the channel topology to align with the semantic embedding space, ensuring that channel noise results in topological errors rather than random corruption. This phenomenon is theoretically and empirically characterized, identifying ``Semantic Drift" in symbolic modalities and ``Structural Distortion" in perceptual modalities, where errors shift predictions to semantically or structurally similar tokens. Extensive experiments demonstrate that STCC significantly outperforms traditional systems in low-SNR regimes, effectively converting channel noise into semantic variations without requiring receiver-side modification.

cs.IT↗

arXiv2026

Breaking Semantic-Aware Watermarks via LLM-Guided Coherence-Preserving Semantic Injection

Generative images have proliferated on Web platforms in social media and online copyright distribution scenarios, and semantic watermarking has increasingly been integrated into diffusion models to support reliable provenance tracking and forgery prevention for web content. Traditional noise-layer-based watermarking, however, remains vulnerable to inversion attacks that can recover embedded signals. To mitigate this, recent content-aware semantic watermarking schemes bind watermark signals to high-level image semantics, constraining local edits that would otherwise disrupt global coherence. Yet, large language models (LLMs) possess structured reasoning capabilities that enable targeted exploration of semantic spaces, allowing locally fine-grained but globally coherent semantic alterations that invalidate such bindings. To expose this overlooked vulnerability, we introduce a Coherence-Preserving Semantic Injection (CSI) attack that leverages LLM-guided semantic manipulation under embedding-space similarity constraints. This alignment enforces visual-semantic consistency while selectively perturbing watermark-relevant semantics, ultimately inducing detector misclassification. Extensive empirical results show that CSI consistently outperforms prevailing attack baselines against content-aware semantic watermarking, revealing a fundamental security weakness of current semantic watermark designs when confronted with LLM-driven semantic perturbations.

cs.LG↗

arXiv2025

Conquering High Packet-Loss Erasure: MoE Swin Transformer-Based Video Semantic Communication

Semantic communication with joint semantic-channel coding robustly transmits diverse data modalities but faces challenges in mitigating semantic information loss due to packet drops in packet-based systems. Under current protocols, packets with errors are discarded, preventing the receiver from utilizing erroneous semantic data for robust decoding. To address this issue, a packet-loss-resistant MoE Swin Transformer-based Video Semantic Communication (MSTVSC) system is proposed in this paper. Semantic vectors are encoded by MSTVSC and transmitted through upper-layer protocol packetization. To investigate the impact of the packetization, a theoretical analysis of the packetization strategy is provided. To mitigate the semantic loss caused by packet loss, a 3D CNN at the receiver recovers missing information using un-lost semantic data and an packet-loss mask matrix. Semantic-level interleaving is employed to reduce concentrated semantic loss from packet drops. To improve compression, a common-individual decomposition approach is adopted, with downsampling applied to individual information to minimize redundancy. The model is lightweighted for practical deployment. Extensive simulations and comparisons demonstrate strong performance, achieving an MS-SSIM greater than 0.6 and a PSNR exceeding 20 dB at a 90% packet loss rate.

cs.ET↗

arXiv2024

Semantic Feature Decomposition based Semantic Communication System of Images with Large-scale Visual Generation Models

The end-to-end image communication system has been widely studied in the academic community. The escalating demands on image communication systems in terms of data volume, environmental complexity, and task precision require enhanced communication efficiency, anti-noise ability and semantic fidelity. Therefore, we proposed a novel paradigm based on Semantic Feature Decomposition (SeFD) for the integration of semantic communication and large-scale visual generation models to achieve high-performance, highly interpretable and controllable image communication. According to this paradigm, a Texture-Color based Semantic Communication system of Images TCSCI is proposed. TCSCI decomposing the images into their natural language description (text), texture and color semantic features at the transmitter. During the transmission, features are transmitted over the wireless channel, and at the receiver, a large-scale visual generation model is utilized to restore the image through received features. TCSCI can achieve extremely compressed, highly noise-resistant, and visually similar image semantic communication, while ensuring the interpretability and editability of the transmission process. The experiments demonstrate that the TCSCI outperforms traditional image communication systems and existing semantic communication systems under extreme compression with good anti-noise performance and interpretability.

cs.CV↗

arXiv2024

Semantic Similarity Score for Measuring Visual Similarity at Semantic Level

Semantic communication, as a revolutionary communication architecture, is considered a promising novel communication paradigm. Unlike traditional symbol-based error-free communication systems, semantic-based visual communication systems extract, compress, transmit, and reconstruct images at the semantic level. However, widely used image similarity evaluation metrics, whether pixel-based MSE or PSNR or structure-based MS-SSIM, struggle to accurately measure the loss of semantic-level information of the source during system transmission. This presents challenges in evaluating the performance of visual semantic communication systems, especially when comparing them with traditional communication systems. To address this, we propose a semantic evaluation metric -- SeSS (Semantic Similarity Score), based on Scene Graph Generation and graph matching, which shifts the similarity scores between images into semantic-level graph matching scores. Meanwhile, semantic similarity scores for tens of thousands of image pairs are manually annotated to fine-tune the hyperparameters in the graph matching algorithm, aligning the metric more closely with human semantic perception. The performance of the SeSS is tested on different datasets, including (1)images transmitted by traditional and semantic communication systems at different compression rates, (2)images transmitted by traditional and semantic communication systems at different signal-to-noise ratios, (3)images generated by large-scale model with different noise levels introduced, and (4)cases of images subjected to certain special transformations. The experiments demonstrate the effectiveness of SeSS, indicating that the metric can measure the semantic-level differences in semantic-level information of images and can be used for evaluation in visual semantic communication systems.

cs.CV↗

arXiv2024

sDAC -- Semantic Digital Analog Converter for Semantic Communications

In this paper, we propose a novel semantic digital analog converter (sDAC) for the compatibility of semantic communications and digital communications. Most of the current semantic communication systems are based on the analog modulations, ignoring their incorporation with digital communication systems, which are more common in practice. In fact, quantization methods in traditional communication systems are not appropriate for use in the era of semantic communication as these methods do not consider the semantic information inside symbols. In this case, any bit flip caused by channel noise can lead to a great performance drop. To address this challenge, sDAC is proposed. It is a simple yet efficient and generative module used to realize digital and analog bi-directional conversion. On the transmitter side, continuous values from the encoder are converted to binary bits and then can be modulated by any existing methods. After transmitting through the noisy channel, these bits get demodulated by paired methods and converted back to continuous values for further semantic decoding. The whole progress does not depend on any specific semantic model, modulation methods, or channel conditions. In the experiment section, the performance of sDAC is tested across different semantic models, semantic tasks, modulation methods, channel conditions and quantization orders. Test results show that the proposed sDAC has great generative properties and channel robustness.

cs.IT↗

arXiv2023

Semantic Importance-Aware Based for Multi-User Communication Over MIMO Fading Channels

Semantic communication, as a novel communication paradigm, has attracted the interest of many scholars, with multi-user, multi-input multi-output (MIMO) scenarios being one of the critical contexts. This paper presents a semantic importance-aware based communication system (SIA-SC) over MIMO Rayleigh fading channels. Combining the semantic symbols' inequality and the equivalent subchannels of MIMO channels based on Singular Value Decomposition (SVD) maximizes the end-to-end semantic performance through the new layer mapping method. For multi-user scenarios, a method of semantic interference cancellation is proposed. Furthermore, a new metric, namely semantic information distortion (SID), is established to unify the expressions of semantic performance, which is affected by channel bandwidth ratio (CBR) and signal-to-noise ratio (SNR). With the help of the proposed metric, we derived performance expressions and Semantic Outage Probability (SOP) of SIA-SC for Single-User Single-Input Single-Output (SU-SISO), Single-User MIMO (SU-MIMO), Multi-Users SISO (MU-MIMO) and Multi-Users MIMO (MU-MIMO) scenarios. Numerical experiments show that SIA-SC can significantly improve semantic performance across various scenarios.

cs.IT↗

arXiv2023

A Relay System for Semantic Image Transmission based on Shared Feature Extraction and Hyperprior Entropy Compression

Nowadays, the need for high-quality image reconstruction and restoration is more and more urgent. However, most image transmission systems may suffer from image quality degradation or transmission interruption in the face of interference such as channel noise and link fading. To solve this problem, a relay communication network for semantic image transmission based on shared feature extraction and hyperprior entropy compression (HEC) is proposed, where the shared feature extraction technology based on Pearson correlation is proposed to eliminate partial shared feature of extracted semantic latent feature. In addition, the HEC technology is used to resist the effect of channel noise and link fading and carried out respectively at the source node and the relay node. Experimental results demonstrate that compared with other recent research methods, the proposed system has lower transmission overhead and higher semantic image transmission performance. Particularly, under the same conditions, the multi-scale structural similarity (MS-SSIM) of this system is superior to the comparison method by approximately 0.2.

cs.CV↗

arXiv2023

MDVSC -- Wireless Model Division Video Semantic Communication

This paper introduces a novel method for transmitting video data over noisy wireless channels with high efficiency and controllability. The method derivates from model division multiple access (MDMA) to extract common semantic features from video frames. It also uses deep joint source-channel coding (JSCC) as the main framework to establish communication links and deal with channel noise. An entropy-based variable length coding scheme is developed to adjust the data amount accurately and explicitly. We name our method as model division video semantic communication (MDVSC). The main steps of our approach are as follows: first, video frames are transformed into a latent space to reduce computational complexity and redistribute data. Then, common features and individual features are extracted, and variable length coding is applied to further eliminate redundant semantic information under the communication bandwidth constraint. We evaluate our method on standard video test sequences and compare it with traditional wireless video coding methods. The results show that MDVSC generally surpasses the conventional methods in terms of quality metrics and has the capability to control code length precisely. Moreover, additional experiments and ablation studies are conducted to demonstrate its potential for various tasks.

cs.CE↗

arXiv2023

Semantic Communications System with Model Division Multiple Access and Controllable Coding Rate for Point Cloud

Point cloud, as a 3D representation, is widely used in autonomous driving, virtual reality (VR), and augmented reality (AR). However, traditional communication systems think that the point cloud's semantic information is irrelevant to communication, which hinders the efficient transmission of point clouds in the era of artificial intelligence (AI). This paper proposes a point cloud based semantic communication system (PCSC), which uses AI-based encoding techniques to extract the semantic information of the point cloud and joint source-channel coding (JSCC) technology to overcome the distortion caused by noise channels and solve the "cliff effect" in traditional communication. In addition, the system realizes the controllable coding rate without fine-tuning the network. The method analyzes the coded semantic vector's importance and discards semantically-unimportant information, thereby improving the transmission efficiency. Besides, PCSC and the recently proposed non-orthogonal model division multiple access (MDMA) technology are combined to design a point cloud MDMA transmission system (M-PCSC) for multi-user transmission. Relevant experimental results show that the proposed method outperforms the traditional method 10dB in the same channel bandwidth ratio under the PSNR D1 and PSNR D2 metrics. In terms of transmission, the proposed method can effectively solve the "cliff effect" in the traditional methods.

cs.MM↗

arXiv2023

MDVSC -- Wireless Model Division Video Semantic Communication

In this paper, we propose a new wireless video communication scheme to achieve high-efficiency video transmission over noisy channels. It exploits the idea of model division multiple access (MDMA) and extracts common semantic features across video frames. Besides, deep joint source-channel coding (JSCC) is applied to overcome the distortion caused by noisy channels. The proposed framework is collected under the name model division video semantic communication (MDVSC). In particular, temporal relative video frames are first transformed into a latent space for computing complexity reduction and data redistribution. Accordingly, a novel entropy-based variable length coding is developed further to compress semantic information under the communication bandwidth cost limitation. The whole MDVSC is an end-to-end learnable system. It can be formulated as an optimization problem whose goal is to minimize end-to-end transmission distortion under restricted communication resources. Across standard video source test sequences, test results show that the MDVSC outperforms traditional wireless video coding schemes generally under perceptual quality metrics and has the ability to control code length precisely.

cs.MM↗