arXiv subjects

Daoheng Li

Publications and source records attributed to Daoheng Li.

3 recordsLinked to original sources

arXiv2026

Multi-View Structural Representations for Physically-Consistent TeX Generation

Infrared and visible images provide complementary cues for low-light image generation, and physics-based methods can better exploit this complementarity. However, existing physics-based methods still rely heavily on paired data. To address these limitations, we propose Multi-View Routing Mixture-of-Experts (MVR-MoE), a framework for physically consistent TeX generation that learns multi-view structural representations. MVR-MoE mines intrinsic structural cues from infrared and visible images to organize them into multi-view representations, while the proposed multi-view hyper connections expand the feature space and preserve both shared evidence and modality-specific details. A hierarchical routing mechanism further regulates feature utilization at both the structural-view level and the expert level, enabling adaptive exploitation of heterogeneous cues. The predicted temperature, emissivity, and texture maps are constrained by the Stefan-Boltzmann law to ensure physically consistent. Extensive experiments on challenging datasets demonstrate that MVR-MoE achieves superior robustness and discriminability while remaining lightweight.

cs.CV↗

arXiv2026

What Should Robot Policies Learn to Predict? Rethinking Supervision Targets in Vision-Language-Action Learning

Vision-language-action (VLA) policies are typically trained with action prediction as the primary supervision signal, since robots ultimately execute actions. Auxiliary objectives such as latent-action (LA) and future-vision (FV) prediction are often added to improve policy learning, yet they compete with action prediction for the same training budget. We ask whether, under a fixed budget, allocating a substantial share of training samples to such objectives, rather than to further action prediction, can improve policy learning. We build a unified VLA framework that couples a two-stream multimodal diffusion transformer (MMDiT) with a sample-level router, which assigns each training sample to either action prediction or an auxiliary objective and thus makes supervision allocation explicit. Within this framework, we instantiate three LA targets based on LAPA and its DINO-feature variants, and three FV targets based on DINOv3, V-JEPA 2, and Wan2.2 representations. Across LIBERO, CALVIN, and four real-robot tasks, suitable LA and FV supervision outperforms action-only training under the same budget, even when action prediction receives no more than half of the training samples. FV generally outperforms LA, although the strongest LA target remains competitive on CALVIN. Diagnostic analyses suggest that DINO-based LA targets emphasize relative motion, whereas FV targets emphasize absolute position and task identity. We therefore argue that what robot policies learn to predict, and how training is allocated among these targets, should be treated as explicit design choices rather than defaulting to action-dominant training.

cs.RO↗

arXiv2026

PhysVR: Vision-Language Model Guided Interference-aware Temporal Feature Refinement for Remote Physiological Measurement

Remote photoplethysmography (rPPG) enables contactless physiological measurement from facial videos, yet its subtle pulse-related variations are easily affected by illumination variation, head motion, facial blur, and region-of-interest instability. Existing methods mainly suppress interference during feature learning, while whether the learned temporal features remain affected by interference and how to further suppress such interference before rPPG estimation are rarely examined. To address this limitation, we propose PhysVR, a vision-language model guided interference-aware temporal feature refinement framework for rPPG estimation. Specifically, a physiological backbone produces global temporal features and a coarse rPPG prediction, from which signal-derived physiological reliability evidence is constructed from local temporal characteristics. In parallel, a frozen vision-language model processes sampled facial frames under an interference-oriented prompt, and an evidence head extracts visual interference evidence from the VLM output. Temporal cross-attention integrates the physiological and visual evidence with the global temporal features to construct interference-aware temporal context. Guided by this context, a shared temporal correction unit performs general refinement, while four interference-specific experts selectively suppress different interference through adaptive routing. The refined temporal features are then used for final rPPG estimation. Extensive experiments on five public benchmarks demonstrate that PhysVR consistently outperforms representative methods under both intra-dataset and cross-dataset evaluation protocols.

cs.CV↗