arXiv subjects

Ziyu Jiang

Publications and source records attributed to Ziyu Jiang.

At least 19 recordsLinked to original sources

arXiv2026

LangDriveCTRL: Natural Language Controllable Driving Scene Editing with Multi-modal Agents

LangDriveCTRL is a natural-language-controllable framework for editing real-world driving videos to synthesize diverse traffic scenarios. It represents each video as an explicit 3D scene graph, decomposing the scene into a static background and dynamic object nodes. To enable fine-grained editing and realism, it introduces a feedback-driven agentic pipeline. An Orchestrator converts user instructions into executable graphs that coordinate specialized multi-modal agents and tools. An Object Grounding Agent aligns free-form text with target object nodes in the scene graph; a Behavior Editing Agent generates multi-object trajectories from language instructions; and a Behavior Reviewer Agent iteratively reviews and refines the generated trajectories. The edited scene graph is rendered and harmonized using a video diffusion tool, and then further refined by a Video Reviewer Agent to ensure photorealism and appearance alignment. LangDriveCTRL supports both object node editing (removal, insertion, and replacement) and multi-object behavior editing from natural-language instructions. Quantitatively, it achieves nearly $2\times$ higher instruction alignment than the previous SoTA, with superior photorealism, structural preservation, and traffic realism. Project page is available at: https://yunhe24.github.io/langdrivectrl/.

cs.CV↗

arXiv2026

Moment-Based Inference for Regression with Latent Dirichlet Covariates

Topic models are often used as dimension-reduction tools before regression, with estimated document-level topic shares treated as observed covariates. This plug-in workflow creates two inferential difficulties: valid inference requires a regular first-stage-to-second-stage expansion that propagates topic-estimation uncertainty, and, at fixed document length, a document's topic mixture cannot be consistently recovered from its own words even when the population topic matrix is known. Corrected spectral moment methods for latent Dirichlet allocation (LDA) offer a starting point: when the total Dirichlet concentration is known, low-order word moments can be corrected to yield operators diagonal in the latent topic basis. We extend this to downstream regression. Under a finite LDA model with response residuals orthogonal to the low-order token moments used for identification, response-weighted word moments admit the same correction, and the resulting supervised operator identifies the regression coefficient $β$ directly, without estimating document-level topic shares. The main obstacle is that the correction depends on the unknown total concentration $α_0$. We show that, for $k\ge3$ topics and under a generic finite-probe condition, $α_0$ is identified by commutativity: at the true value a family of corrected word-moment operators commute, whereas away from it they generically do not. This yields a feasible estimator and lets uncertainty in $\hatα_0$ propagate into inference for $β$. The estimator is asymptotically linear as the number of documents grows with fixed document length, with sandwich standard errors from document-level moment contributions. Simulations show near-nominal coverage where plug-in topic-share regressions can undercover, and an application to top economics journals illustrates contrast inference for latent topic effects.

econ.EM↗

arXiv2026

PhyCo: Learning Controllable Physical Priors for Generative Motion

Modern video diffusion models excel at appearance synthesis but still struggle with physical consistency: objects drift, collisions lack realistic rebound, and material responses seldom match their underlying properties. We present PhyCo, a framework that introduces continuous, interpretable, and physically grounded control into video generation. Our approach integrates three key components: (i) a large-scale dataset of over 100K photorealistic simulation videos where friction, restitution, deformation, and force are systematically varied across diverse scenarios; (ii) physics-supervised fine-tuning of a pretrained diffusion model using a ControlNet conditioned on pixel-aligned physical property maps; and (iii) VLM-guided reward optimization, where a fine-tuned vision-language model evaluates generated videos with targeted physics queries and provides differentiable feedback. This combination enables a generative model to produce physically consistent and controllable outputs through variations in physical attributes-without any simulator or geometry reconstruction at inference. On the Physics-IQ benchmark, PhyCo significantly improves physical realism over strong baselines, and human studies confirm clearer and more faithful control over physical attributes. Our results demonstrate a scalable path toward physically consistent, controllable generative video models that generalize beyond synthetic training environments.

cs.CV↗

arXiv2026

HorizonWeaver: Generalizable Multi-Level Semantic Editing for Driving Scenes

Ensuring safety in autonomous driving requires scalable generation of realistic, controllable driving scenes beyond what real-world testing provides. Yet existing instruction guided image editors, trained on object-centric or artistic data, struggle with dense, safety-critical driving layouts. We propose HorizonWeaver, which tackles three fundamental challenges in driving scene editing: (1) multi-level granularity, requiring coherent object- and scene-level edits in dense environments; (2) rich high-level semantics, preserving diverse objects while following detailed instructions; and (3) ubiquitous domain shifts, handling changes in climate, layout, and traffic across unseen environments. The core of HorizonWeaver is a set of complementary contributions across data, model, and training: (1) Data: Large-scale dataset generation, where we build a paired real/synthetic dataset from Boreas, nuScenes, and Argoverse2 to improve generalization; (2) Model: Language-Guided Masks for fine-grained editing, where semantics-enriched masks and prompts enable precise, language-guided edits; and (3) Training: Content preservation and instruction alignment, where joint losses enforce scene consistency and instruction fidelity. Together, HorizonWeaver provides a scalable framework for photorealistic, instruction-driven editing of complex driving scenes, collecting 255K images across 13 editing categories and outperforming prior methods in L1, CLIP, and DINO metrics, achieving +46.4% user preference and improving BEV segmentation IoU by +33%. Project page: https://msoroco.github.io/horizonweaver/

cs.CV↗

arXiv2026

Let It Flow: Agentic Crafting on Rock and Roll, Building the ROME Model within an Open Agentic Learning Ecosystem

Agentic crafting requires LLMs to operate in real-world environments over multiple turns by taking actions, observing outcomes, and iteratively refining artifacts. Despite its importance, the open-source community lacks a principled, end-to-end ecosystem to streamline agent development. We introduce the Agentic Learning Ecosystem (ALE), a foundational infrastructure that optimizes the production pipeline for agentic model. ALE consists of three components: ROLL, a post-training framework for weight optimization; ROCK, a sandbox environment manager for trajectory generation; and iFlow CLI, an agent framework for efficient context engineering. We release ROME, an open-source agent grounded by ALE and trained on over one million trajectories. Our approach includes data composition protocols for synthesizing complex behaviors and a novel policy optimization algorithm, Interaction-Perceptive Agentic Policy Optimization (IPA), which assigns credit over semantic interaction chunks rather than individual tokens to improve long-horizon training stability. Empirically, we evaluate ROME within a structured setting and introduce Terminal Bench Pro, a benchmark with improved scale and contamination control. ROME demonstrates strong performance across benchmarks like SWE-bench Verified and Terminal Bench, proving the effectiveness of ALE.

cs.AI↗

arXiv2026

HorizonForge: Driving Scene Editing with Any Trajectories and Any Vehicles

Controllable driving scene generation is critical for realistic and scalable autonomous driving simulation, yet existing approaches struggle to jointly achieve photorealism and precise control. We introduce HorizonForge, a unified framework that reconstructs scenes as editable Gaussian Splats and Meshes, enabling fine-grained 3D manipulation and language-driven vehicle insertion. Edits are rendered through a noise-aware video diffusion process that enforces spatial and temporal consistency, producing diverse scene variations in a single feed-forward pass without per-trajectory optimization. To standardize evaluation, we further propose HorizonSuite, a comprehensive benchmark spanning ego- and agent-level editing tasks such as trajectory modifications and object manipulation. Extensive experiments show that Gaussian-Mesh representation delivers substantially higher fidelity than alternative 3D representations, and that temporal priors from video diffusion are essential for coherent synthesis. Combining these findings, HorizonForge establishes a simple yet powerful paradigm for photorealistic, controllable driving simulation, achieving an 83.4% user-preference gain and a 25.19% FID improvement over the second best state-of-the-art method. Project page: https://horizonforge.github.io/ .

cs.CV↗

arXiv2025

AutoScape: Geometry-Consistent Long-Horizon Scene Generation

This paper proposes AutoScape, a long-horizon driving scene generation framework. At its core is a novel RGB-D diffusion model that iteratively generates sparse, geometrically consistent keyframes, serving as reliable anchors for the scene's appearance and geometry. To maintain long-range geometric consistency, the model 1) jointly handles image and depth in a shared latent space, 2) explicitly conditions on the existing scene geometry (i.e., rendered point clouds) from previously generated keyframes, and 3) steers the sampling process with a warp-consistent guidance. Given high-quality RGB-D keyframes, a video diffusion model then interpolates between them to produce dense and coherent video frames. AutoScape generates realistic and geometrically consistent driving videos of over 20 seconds, improving the long-horizon FID and FVD scores over the prior state-of-the-art by 48.6\% and 43.0\%, respectively.

cs.CV↗

arXiv2025

Identification and Estimation of Simultaneous Equation Models Using Higher-Order Cumulant Restrictions

Identifying structural parameters in linear simultaneous-equation models is a longstanding challenge. Recent work exploits information in higher-order moments of non-Gaussian data. In this literature, the structural errors are typically assumed to be uncorrelated so that, after standardizing the covariance matrix of the observables (whitening), the structural parameter matrix becomes orthogonal -- a device that underpins many identification proofs but can be restrictive in econometric applications. We show that neither zero covariance nor whitening is necessary. For any order $h>2$, a simple diagonality condition on the $h$th-order cumulants alone identifies the structural parameter matrix -- up to unknown scaling and permutation -- as the solution to an eigenvector problem; no restrictions on cumulants of other orders are required. This general, single-order result enlarges the class of models covered by our framework and yields a sample-analogue estimator that is $\sqrt{n}$-consistent, asymptotically normal, and easy to compute. Furthermore, when uncorrelatedness is intrinsic -- as in vector autoregressive (VAR) models -- our framework provides a transparent overidentification test. Monte Carlo experiments show favorable finite-sample performance, and two applications -- "Returns to Schooling" and "Uncertainty and the Business Cycle" -- demonstrate its practical value.

econ.EM↗

arXiv2024

Drive-1-to-3: Enriching Diffusion Priors for Novel View Synthesis of Real Vehicles

The recent advent of large-scale 3D data, e.g. Objaverse, has led to impressive progress in training pose-conditioned diffusion models for novel view synthesis. However, due to the synthetic nature of such 3D data, their performance drops significantly when applied to real-world images. This paper consolidates a set of good practices to finetune large pretrained models for a real-world task -- harvesting vehicle assets for autonomous driving applications. To this end, we delve into the discrepancies between the synthetic data and real driving data, then develop several strategies to account for them properly. Specifically, we start with a virtual camera rotation of real images to ensure geometric alignment with synthetic data and consistency with the pose manifold defined by pretrained models. We also identify important design choices in object-centric data curation to account for varying object distances in real driving scenes -- learn across varying object scales with fixed camera focal length. Further, we perform occlusion-aware training in latent spaces to account for ubiquitous occlusions in real data, and handle large viewpoint changes by leveraging a symmetric prior. Our insights lead to effective finetuning that results in a $68.8\%$ reduction in FID for novel view synthesis over prior arts.

cs.CV↗

arXiv2024

CRAG -- Comprehensive RAG Benchmark

Retrieval-Augmented Generation (RAG) has recently emerged as a promising solution to alleviate Large Language Model (LLM)'s deficiency in lack of knowledge. Existing RAG datasets, however, do not adequately represent the diverse and dynamic nature of real-world Question Answering (QA) tasks. To bridge this gap, we introduce the Comprehensive RAG Benchmark (CRAG), a factual question answering benchmark of 4,409 question-answer pairs and mock APIs to simulate web and Knowledge Graph (KG) search. CRAG is designed to encapsulate a diverse array of questions across five domains and eight question categories, reflecting varied entity popularity from popular to long-tail, and temporal dynamisms ranging from years to seconds. Our evaluation of this benchmark highlights the gap to fully trustworthy QA. Whereas most advanced LLMs achieve <=34% accuracy on CRAG, adding RAG in a straightforward manner improves the accuracy only to 44%. State-of-the-art industry RAG solutions only answer 63% of questions without any hallucination. CRAG also reveals much lower accuracy in answering questions regarding facts with higher dynamism, lower popularity, or higher complexity, suggesting future research directions. The CRAG benchmark laid the groundwork for a KDD Cup 2024 challenge and attracted thousands of participants and submissions. We commit to maintaining CRAG to serve research communities in advancing RAG solutions and general QA solutions. CRAG is available at https://github.com/facebookresearch/CRAG/.

cs.CL↗

arXiv2024

Neural Networks with Sparse Activation Induced by Large Bias: Tighter Analysis with Bias-Generalized NTK

We study training one-hidden-layer ReLU networks in the neural tangent kernel (NTK) regime, where the networks' biases are initialized to some constant rather than zero. We prove that under such initialization, the neural network will have sparse activation throughout the entire training process, which enables fast training procedures via some sophisticated computational methods. With such initialization, we show that the neural networks possess a different limiting kernel which we call \textit{bias-generalized NTK}, and we study various properties of the neural networks with this new kernel. We first characterize the gradient descent dynamics. In particular, we show that the network in this case can achieve as fast convergence as the dense network, as opposed to the previous work suggesting that the sparse networks converge slower. In addition, our result improves the previous required width to ensure convergence. Secondly, we study the networks' generalization: we show a width-sparsity dependence, which yields a sparsity-dependent Rademacher complexity and generalization bound. To our knowledge, this is the first sparsity-dependent generalization result via Rademacher complexity. Lastly, we study the smallest eigenvalue of this new kernel. We identify a data-dependent region where we can derive a much sharper lower bound on the NTK's smallest eigenvalue than the worst-case bound previously known. This can lead to improvement in the generalization bound.

cs.LG↗

arXiv2024

LidaRF: Delving into Lidar for Neural Radiance Field on Street Scenes

Photorealistic simulation plays a crucial role in applications such as autonomous driving, where advances in neural radiance fields (NeRFs) may allow better scalability through the automatic creation of digital 3D assets. However, reconstruction quality suffers on street scenes due to largely collinear camera motions and sparser samplings at higher speeds. On the other hand, the application often demands rendering from camera views that deviate from the inputs to accurately simulate behaviors like lane changes. In this paper, we propose several insights that allow a better utilization of Lidar data to improve NeRF quality on street scenes. First, our framework learns a geometric scene representation from Lidar, which is fused with the implicit grid-based representation for radiance decoding, thereby supplying stronger geometric information offered by explicit point cloud. Second, we put forth a robust occlusion-aware depth supervision scheme, which allows utilizing densified Lidar points by accumulation. Third, we generate augmented training views from Lidar points for further improvement. Our insights translate to largely improved novel view synthesis under real driving scenes.

cs.CV↗

arXiv2023

Graph Mixture of Experts: Learning on Large-Scale Graphs with Explicit Diversity Modeling

Graph neural networks (GNNs) have found extensive applications in learning from graph data. However, real-world graphs often possess diverse structures and comprise nodes and edges of varying types. To bolster the generalization capacity of GNNs, it has become customary to augment training graph structures through techniques like graph augmentations and large-scale pre-training on a wider array of graphs. Balancing this diversity while avoiding increased computational costs and the notorious trainability issues of GNNs is crucial. This study introduces the concept of Mixture-of-Experts (MoE) to GNNs, with the aim of augmenting their capacity to adapt to a diverse range of training graph structures, without incurring explosive computational overhead. The proposed Graph Mixture of Experts (GMoE) model empowers individual nodes in the graph to dynamically and adaptively select more general information aggregation experts. These experts are trained to capture distinct subgroups of graph structures and to incorporate information with varying hop sizes, where those with larger hop sizes specialize in gathering information over longer distances. The effectiveness of GMoE is validated through a series of experiments on a diverse set of tasks, including graph, node, and link prediction, using the OGB benchmark. Notably, it enhances ROC-AUC by $1.81\%$ in ogbg-molhiv and by $1.40\%$ in ogbg-molbbbp, when compared to the non-MoE baselines. Our code is publicly available at https://github.com/VITA-Group/Graph-Mixture-of-Experts.

cs.LG↗

arXiv2023

How Does Pruning Impact Long-Tailed Multi-Label Medical Image Classifiers?

Pruning has emerged as a powerful technique for compressing deep neural networks, reducing memory usage and inference time without significantly affecting overall performance. However, the nuanced ways in which pruning impacts model behavior are not well understood, particularly for long-tailed, multi-label datasets commonly found in clinical settings. This knowledge gap could have dangerous implications when deploying a pruned model for diagnosis, where unexpected model behavior could impact patient well-being. To fill this gap, we perform the first analysis of pruning's effect on neural networks trained to diagnose thorax diseases from chest X-rays (CXRs). On two large CXR datasets, we examine which diseases are most affected by pruning and characterize class "forgettability" based on disease frequency and co-occurrence behavior. Further, we identify individual CXRs where uncompressed and heavily pruned models disagree, known as pruning-identified exemplars (PIEs), and conduct a human reader study to evaluate their unifying qualities. We find that radiologists perceive PIEs as having more label noise, lower image quality, and higher diagnosis difficulty. This work represents a first step toward understanding the impact of pruning on model behavior in deep long-tailed, multi-label medical image classification. All code, model weights, and data access instructions can be found at https://github.com/VITA-Group/PruneCXR.

cs.CV↗

arXiv2023

Layer Grafted Pre-training: Bridging Contrastive Learning And Masked Image Modeling For Label-Efficient Representations

Recently, both Contrastive Learning (CL) and Mask Image Modeling (MIM) demonstrate that self-supervision is powerful to learn good representations. However, naively combining them is far from success. In this paper, we start by making the empirical observation that a naive joint optimization of CL and MIM losses leads to conflicting gradient directions - more severe as the layers go deeper. This motivates us to shift the paradigm from combining loss at the end, to choosing the proper learning method per network layer. Inspired by experimental observations, we find that MIM and CL are suitable to lower and higher layers, respectively. We hence propose to combine them in a surprisingly simple, "sequential cascade" fashion: early layers are first trained under one MIM loss, on top of which latter layers continue to be trained under another CL loss. The proposed Layer Grafted Pre-training learns good visual representations that demonstrate superior label efficiency in downstream applications, in particular yielding strong few-shot performance besides linear evaluation. For instance, on ImageNet-1k, Layer Grafted Pre-training yields 65.5% Top-1 accuracy in terms of 1% few-shot learning with ViT-B/16, which improves MIM and CL baselines by 14.4% and 2.1% with no bells and whistles. The code is available at https://github.com/VITA-Group/layerGraftedPretraining_ICLR23.git.

cs.CV↗

arXiv2022

M$^3$ViT: Mixture-of-Experts Vision Transformer for Efficient Multi-task Learning with Model-Accelerator Co-design

Multi-task learning (MTL) encapsulates multiple learned tasks in a single model and often lets those tasks learn better jointly. However, when deploying MTL onto those real-world systems that are often resource-constrained or latency-sensitive, two prominent challenges arise: (i) during training, simultaneously optimizing all tasks is often difficult due to gradient conflicts across tasks; (ii) at inference, current MTL regimes have to activate nearly the entire model even to just execute a single task. Yet most real systems demand only one or two tasks at each moment, and switch between tasks as needed: therefore such all tasks activated inference is also highly inefficient and non-scalable. In this paper, we present a model-accelerator co-design framework to enable efficient on-device MTL. Our framework, dubbed M$^3$ViT, customizes mixture-of-experts (MoE) layers into a vision transformer (ViT) backbone for MTL, and sparsely activates task-specific experts during training. Then at inference with any task of interest, the same design allows for activating only the task-corresponding sparse expert pathway, instead of the full model. Our new model design is further enhanced by hardware-level innovations, in particular, a novel computation reordering scheme tailored for memory-constrained MTL that achieves zero-overhead switching between tasks and can scale to any number of experts. When executing single-task inference, M$^{3}$ViT achieves higher accuracies than encoder-focused MTL methods, while significantly reducing 88% inference FLOPs. When implemented on a hardware platform of one Xilinx ZCU104 FPGA, our co-design framework reduces the memory requirement by 2.4 times, while achieving energy efficiency up to 9.23 times higher than a comparable FPGA baseline. Code is available at: https://github.com/VITA-Group/M3ViT.

cs.CV↗

arXiv2022

Long-Tailed Classification of Thorax Diseases on Chest X-Ray: A New Benchmark Study

Imaging exams, such as chest radiography, will yield a small set of common findings and a much larger set of uncommon findings. While a trained radiologist can learn the visual presentation of rare conditions by studying a few representative examples, teaching a machine to learn from such a "long-tailed" distribution is much more difficult, as standard methods would be easily biased toward the most frequent classes. In this paper, we present a comprehensive benchmark study of the long-tailed learning problem in the specific domain of thorax diseases on chest X-rays. We focus on learning from naturally distributed chest X-ray data, optimizing classification accuracy over not only the common "head" classes, but also the rare yet critical "tail" classes. To accomplish this, we introduce a challenging new long-tailed chest X-ray benchmark to facilitate research on developing long-tailed learning methods for medical image classification. The benchmark consists of two chest X-ray datasets for 19- and 20-way thorax disease classification, containing classes with as many as 53,000 and as few as 7 labeled training images. We evaluate both standard and state-of-the-art long-tailed learning methods on this new benchmark, analyzing which aspects of these methods are most beneficial for long-tailed medical image classification and summarizing insights for future algorithm design. The datasets, trained models, and code are available at https://github.com/VITA-Group/LongTailCXR.

cs.CV↗

arXiv2021

Improving Contrastive Learning on Imbalanced Seed Data via Open-World Sampling

Contrastive learning approaches have achieved great success in learning visual representations with few labels of the target classes. That implies a tantalizing possibility of scaling them up beyond a curated "seed" benchmark, to incorporating more unlabeled images from the internet-scale external sources to enhance its performance. However, in practice, larger amount of unlabeled data will require more computing resources due to the bigger model size and longer training needed. Moreover, open-world unlabeled data usually follows an implicit long-tail class or attribute distribution, many of which also do not belong to the target classes. Blindly leveraging all unlabeled data hence can lead to the data imbalance as well as distraction issues. This motivates us to seek a principled approach to strategically select unlabeled data from an external source, in order to learn generalizable, balanced and diverse representations for relevant classes. In this work, we present an open-world unlabeled data sampling framework called Model-Aware K-center (MAK), which follows three simple principles: (1) tailness, which encourages sampling of examples from tail classes, by sorting the empirical contrastive loss expectation (ECLE) of samples over random data augmentations; (2) proximity, which rejects the out-of-distribution outliers that may distract training; and (3) diversity, which ensures diversity in the set of sampled examples. Empirically, using ImageNet-100-LT (without labels) as the seed dataset and two "noisy" external data sources, we demonstrate that MAK can consistently improve both the overall representation quality and the class balancedness of the learned features, as evaluated via linear classifier evaluation on full-shot and few-shot settings. The code is available at: https://github.com/VITA-Group/MAK

cs.CV↗