arXiv subjects

Zhijie Wu

Publications and source records attributed to Zhijie Wu.

9 recordsLinked to original sources

arXiv2026

Neural Introspection Gating for Adaptive KV-Cache Reuse in Vision-Language-Action Models

Vision-Language-Action(VLA) models map camera images and language instructions directly to motor commands through a single autoregressive transformer. In real-time control, they still spend substantial compute recomputing key-value(KV) representations for visual tokens that barely change across neighboring frames. Recent work such as VLA-Cache reduces that cost by reusing KV states for visually static patches, but its policy relies only on observation-space heuristics and does not account for the model's own uncertainty. We propose Gated VLA-Cache, a lightweight, training-free extension that augments visual-similarity caching with neural introspection. The method monitors the logit margin between the top two predicted action tokens, a zero-cost confidence signal available during decoding. When the margin drops below a threshold, the cache is invalidated and a full recompute is triggered. Evaluated on four LIBERO benchmark suites with both OpenVLA and OpenVLA-OFT, Gated VLA-Cache improves reliability when blind caching hurts. On LIBERO-Goal and LIBERO-Long, it recovers over 100% of the lost accuracy while retaining 80% of the compute savings.

cs.RO↗

arXiv2026

CycleRL: Sim-to-Real Deep Reinforcement Learning for Robust Autonomous Bicycle Control

Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches and limited adaptability to real-world uncertainties. To address this, we develop CycleRL, a comprehensive sim-to-real framework for robust autonomous bicycle control. Our approach establishes a direct perception-to-action mapping within the high-fidelity NVIDIA Isaac Sim environment, leveraging Proximal Policy Optimization (PPO) to optimize the control policy. The framework features a composite reward function tailored for concurrent balance maintenance, velocity tracking, and steering control. Crucially, systematic domain randomization is employed to reduce the reliance on precise system modeling, bridge the simulation-to-reality gap and facilitate direct transfer. In simulation, CycleRL achieves promising performance, including a 99.90% balance success rate, a heading tracking error of 1.15°, and a velocity tracking error of 0.18 m/s. These quantitative results, coupled with successful hardware deployment, validate DRL as an effective paradigm for autonomous bicycle control, offering superior adaptability over traditional methods. Video demonstrations are available at https://cpnt-lab.github.io/CycleRL/.

cs.RO↗

arXiv2026

MERG3R: A Divide-and-Conquer Approach to Large-Scale Neural Visual Geometry

Recent advancements in neural visual geometry, including transformer-based models such as VGGT and Pi3, have achieved impressive accuracy on 3D reconstruction tasks. However, their reliance on full attention makes them fundamentally limited by GPU memory capacity, preventing them from scaling to large, unordered image collections. We introduce MERG3R, a training-free divide-and-conquer framework that enables geometric foundation models to operate far beyond their native memory limits. MERG3R first reorders and partitions unordered images into overlapping, geometrically diverse subsets that can be reconstructed independently. It then merges the resulting local reconstructions through an efficient global alignment and confidence-weighted bundle adjustment procedure, producing a globally consistent 3D model. Our framework is model-agnostic and can be paired with existing neural geometry models. Across large-scale datasets, including 7-Scenes, NRGBD, Tanks & Temples, and Cambridge Landmarks, MERG3R consistently improves reconstruction accuracy, memory efficiency, and scalability, enabling high-quality reconstruction when the dataset exceeds memory capacity limits.

cs.CV↗

arXiv2024

Representing Animatable Avatar via Factorized Neural Fields

For reconstructing high-fidelity human 3D models from monocular videos, it is crucial to maintain consistent large-scale body shapes along with finely matched subtle wrinkles. This paper explores the observation that the per-frame rendering results can be factorized into a pose-independent component and a corresponding pose-dependent equivalent to facilitate frame consistency. Pose adaptive textures can be further improved by restricting frequency bands of these two components. In detail, pose-independent outputs are expected to be low-frequency, while highfrequency information is linked to pose-dependent factors. We achieve a coherent preservation of both coarse body contours across the entire input video and finegrained texture features that are time variant with a dual-branch network with distinct frequency components. The first branch takes coordinates in canonical space as input, while the second branch additionally considers features outputted by the first branch and pose information of each frame. Our network integrates the information predicted by both branches and utilizes volume rendering to generate photo-realistic 3D human images. Through experiments, we demonstrate that our network surpasses the neural radiance fields (NeRF) based state-of-the-art methods in preserving high-frequency details and ensuring consistent body contours.

cs.CV↗

arXiv2023

Neural Fourier Filter Bank

We present a novel method to provide efficient and highly detailed reconstructions. Inspired by wavelets, we learn a neural field that decompose the signal both spatially and frequency-wise. We follow the recent grid-based paradigm for spatial decomposition, but unlike existing work, encourage specific frequencies to be stored in each grid via Fourier features encodings. We then apply a multi-layer perceptron with sine activations, taking these Fourier encoded features in at appropriate layers so that higher-frequency components are accumulated on top of lower-frequency components sequentially, which we sum up to form the final output. We demonstrate that our method outperforms the state of the art regarding model compactness and convergence speed on multiple tasks: 2D image fitting, 3D shape reconstruction, and neural radiance fields. Our code is available at https://github.com/ubc-vision/NFFB.

cs.CV↗

arXiv2020

Stochastic stem cell models with mutation: A comparison of asymmetric and symmetric divisions

In order to fulfill cell proliferation and differentiation through cellular hierarchy, stem cells can undergo either asymmetric or symmetric divisions. Recent studies pay special attention to the effect of different modes of stem cell division on the lifetime risk of cancer, and report that symmetric division is more beneficial to delay the onset of cancer. The fate uncertainty of symmetric division is considered to be the reason for the cancer-delaying effect. In this paper we compare asymmetric and symmetric divisions of stem cells via studying stochastic stem cell models with mutations. Specially, by using rigorous mathematical analysis we find that both asymmetric and symmetric models show the same statistical average, but symmetric model shows higher fluctuation than asymmetric model. We further show that the difference between the two models would be more remarkable for lower mutation rates. Our work quantifies the uncertainty of cell division and highlights the significance of stochasticity for distinguishing between different modes of stem cell division.

q-bio.PE↗

arXiv2019

EFANet: Exchangeable Feature Alignment Network for Arbitrary Style Transfer

Style transfer has been an important topic both in computer vision and graphics. Since the seminal work of Gatys et al. first demonstrates the power of stylization through optimization in the deep feature space, quite a few approaches have achieved real-time arbitrary style transfer with straightforward statistic matching techniques. In this work, our key observation is that only considering features in the input style image for the global deep feature statistic matching or local patch swap may not always ensure a satisfactory style transfer; see e.g., Figure 1. Instead, we propose a novel transfer framework, EFANet, that aims to jointly analyze and better align exchangeable features extracted from content and style image pair. In this way, the style features from the style image seek for the best compatibility with the content information in the content image, leading to more structured stylization results. In addition, a new whitening loss is developed for purifying the computed content features and better fusion with styles in feature space. Qualitative and quantitative experiments demonstrate the advantages of our approach.

cs.CV↗

arXiv2019

SAGNet:Structure-aware Generative Network for 3D-Shape Modeling

We present SAGNet, a structure-aware generative model for 3D shapes. Given a set of segmented objects of a certain class, the geometry of their parts and the pairwise relationships between them (the structure) are jointly learned and embedded in a latent space by an autoencoder. The encoder intertwines the geometry and structure features into a single latent code, while the decoder disentangles the features and reconstructs the geometry and structure of the 3D model. Our autoencoder consists of two branches, one for the structure and one for the geometry. The key idea is that during the analysis, the two branches exchange information between them, thereby learning the dependencies between structure and geometry and encoding two augmented features, which are then fused into a single latent code. This explicit intertwining of information enables separately controlling the geometry and the structure of the generated models. We evaluate the performance of our method and conduct an ablation study. We explicitly show that encoding of shapes accounts for both similarities in structure and geometry. A variety of quality results generated by SAGNet are presented. The data and code are at https://github.com/zhijieW-94/SAGNet.

cs.GR↗

arXiv2019

ETNet: Error Transition Network for Arbitrary Style Transfer

Numerous valuable efforts have been devoted to achieving arbitrary style transfer since the seminal work of Gatys et al. However, existing state-of-the-art approaches often generate insufficiently stylized results under challenging cases. We believe a fundamental reason is that these approaches try to generate the stylized result in a single shot and hence fail to fully satisfy the constraints on semantic structures in the content images and style patterns in the style images. Inspired by the works on error-correction, instead, we propose a self-correcting model to predict what is wrong with the current stylization and refine it accordingly in an iterative manner. For each refinement, we transit the error features across both the spatial and scale domain and invert the processed features into a residual image, with a network we call Error Transition Network (ETNet). The proposed model improves over the state-of-the-art methods with better semantic structures and more adaptive style pattern details. Various qualitative and quantitative experiments show that the key concept of both progressive strategy and error-correction leads to better results. Code and models are available at https://github.com/zhijieW94/ETNet.

cs.CV↗