arXiv subjects

Haibing Wu

Publications and source records attributed to Haibing Wu.

8 recordsLinked to original sources

arXiv2026

A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution

Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction conditions. End-to-end Vision-Language-Action policies have improved cross-task generalization, but they typically map visual and language inputs directly to robot actions, leaving limited explicit structure for long-horizon decomposition, physical verification, and recovery. We present \method, a zero-shot hierarchical framework functionally inspired by the division of roles in the human brain, comprising visual perception and state inference, language grounding and action-sequence generation from a shared atomic action library, cost-based plan selection, and real-robot execution and verification. The framework grounds commands in explicit object states, composes reusable atomic actions into task-conditioned sequences, ranks alternative sequences by execution cost, and verifies intermediate physical outcomes from refreshed observations. In the evaluation, \method{} completes 10/10 clean board trials, 10/10 pick-and-place trials, and 4/5 pyramid stacking trials for both the flat and irregular initial-layout conditions; the corresponding mean task progress is $99.03\%$, $100.00\%$, and $96.67\%$ respectively. Across all evaluated conditions, \method{} achieves higher success rates than ReKep, Dream2Flow, and $π_{0.5}$ benchmarks, demonstrating the effectiveness of combining explicit object-state reasoning, compositional atomic actions, cost-based plan selection, and closed-loop execution verification.

cs.RO↗

arXiv2026

BendTwin: Robust Dense-to-Sparse Physical Reconstruction with Bending-Aware Differentiable Spring-Mass Models

Reconstructing objects with mechanical properties from video observations enables physically consistent dynamic prediction, benefiting robotics planning and interaction. Existing spring--mass based physical driven reconstruction approaches offer efficient and differentiable physical reconstruction, but they typically rely on axial springs alone. Such formulations oversimplify the underlying structural mechanics and can become mechanically under-constrained when the physical graph is coarsened, limiting their ability to preserve stable local deformation. We present BendTwin, a bending-aware differentiable spring--mass framework for video-based reconstruction and future prediction of deformable objects. BendTwin introduces bending stiffness and damping over local surface triplets, penalizing deviations from rest angles and regularizing higher-order deformation. These bending constraints improve mechanical stability while preserving the simplicity of spring--mass system. Experiments show that BendTwin consistently outperforms the axial-only PhysTwin baseline. Ablation studies further demonstrate that the bending constraints maintain system stability across different downsampling ratios and consistently improve upon the original PhysTwin formulation. Overall, BendTwin provides an effective approach for constructing mechanically faithful digital twins from sparse-view RGB-D videos.

cs.CV↗

arXiv2026

PhySPRING: Structure-Preserving Reduction of Physics-Informed Twins via GNN

Physics-based digital twins aim to predict the dynamics of real-world objects under interaction, enabling real-to-sim-to-real applications in robotics. Current approaches reconstruct such twins as explicit physical models (such as spring-mass systems) to predict the dynamics, but the resulting models often inherit the resolution of the visual reconstruction rather than being reduced to the physical complexity required to reproduce task-relevant dynamics. This mismatch introduces redundant topology, making repeated forward-dynamics rollouts unnecessarily expensive. To address this challenge, we present PhySPRING, an fully differentiable GNN-based method to reduce complexity in spring--mass digital twins. PhySPRING jointly learns a hierarchy of coarsened graph topologies and their mechanical parameters from observations. At each reduction level, PhySPRING merges nodes with similar learned dynamic responses to optimize the topology, while maintaining every reduced layer as an explicit spring--mass system. On the PhysTwin benchmark, PhySPRING improves dense reconstruction and prediction accuracy over PhysTwin, while reduced models retain stable physical and visual fidelity with up to a 2.30 times speed-up. We further demonstrate the effectiveness of PhySPRING in a Real2Sim robot policy-evaluation pipeline, where the reduced models are substituted zero-shot into ACT and $π_0$ evaluations, maintaining comparable manipulation success rates across downsampling levels while improving action-sampling effectiveness. Together, PhySPRING enables efficient and structure-preserving spring--mass reduction without sacrificing fidelity or robotic utility.

cs.RO↗

arXiv2025

InfraDiffusion: zero-shot depth map restoration with diffusion models and prompted segmentation from sparse infrastructure point clouds

Point clouds are widely used for infrastructure monitoring by providing geometric information, where segmentation is required for downstream tasks such as defect detection. Existing research has automated semantic segmentation of structural components, while brick-level segmentation (identifying defects such as spalling and mortar loss) has been primarily conducted from RGB images. However, acquiring high-resolution images is impractical in low-light environments like masonry tunnels. Point clouds, though robust to dim lighting, are typically unstructured, sparse, and noisy, limiting fine-grained segmentation. We present InfraDiffusion, a zero-shot framework that projects masonry point clouds into depth maps using virtual cameras and restores them by adapting the Denoising Diffusion Null-space Model (DDNM). Without task-specific training, InfraDiffusion enhances visual clarity and geometric consistency of depth maps. Experiments on masonry bridge and tunnel point cloud datasets show significant improvements in brick-level segmentation using the Segment Anything Model (SAM), underscoring its potential for automated inspection of masonry assets. Our code and data is available at https://github.com/Jingyixiong/InfraDiffusion-official-implement.

cs.CV↗

arXiv2016

Balancing Between Over-Weighting and Under-Weighting in Supervised Term Weighting

Supervised term weighting could improve the performance of text categorization. A way proven to be effective is to give more weight to terms with more imbalanced distributions across categories. This paper shows that supervised term weighting should not just assign large weights to imbalanced terms, but should also control the trade-off between over-weighting and under-weighting. Over-weighting, a new concept proposed in this paper, is caused by the improper handling of singular terms and too large ratios between term weights. To prevent over-weighting, we present three regularization techniques: add-one smoothing, sublinear scaling and bias term. Add-one smoothing is used to handle singular terms. Sublinear scaling and bias term shrink the ratios between term weights. However, if sublinear functions scale down term weights too much, or the bias term is too large, under-weighting would occur and harm the performance. It is therefore critical to balance between over-weighting and under-weighting. Inspired by this insight, we also propose a new supervised term weighting scheme, regularized entropy (re). Our re employs entropy to measure term distribution, and introduces the bias term to control over-weighting and under-weighting. Empirical evaluations on topical and sentiment classification datasets indicate that sublinear scaling and bias term greatly influence the performance of supervised term weighting, and our re enjoys the best results in comparison with existing schemes.

cs.IR↗

arXiv2015

Max-Pooling Dropout for Regularization of Convolutional Neural Networks

cs.LG↗

arXiv2015

Towards Dropout Training for Convolutional Neural Networks

Recently, dropout has seen increasing use in deep learning. For deep convolutional neural networks, dropout is known to work well in fully-connected layers. However, its effect in convolutional and pooling layers is still not clear. This paper demonstrates that max-pooling dropout is equivalent to randomly picking activation based on a multinomial distribution at training time. In light of this insight, we advocate employing our proposed probabilistic weighted pooling, instead of commonly used max-pooling, to act as model averaging at test time. Empirical evidence validates the superiority of probabilistic weighted pooling. We also empirically show that the effect of convolutional dropout is not trivial, despite the dramatically reduced possibility of over-fitting due to the convolutional architecture. Elaborately designing dropout training simultaneously in max-pooling and fully-connected layers, we achieve state-of-the-art performance on MNIST, and very competitive results on CIFAR-10 and CIFAR-100, relative to other approaches without data augmentation. Finally, we compare max-pooling dropout and stochastic pooling, both of which introduce stochasticity based on multinomial distributions at pooling stage.

cs.LG↗

arXiv2015

Aspect-based Opinion Summarization with Convolutional Neural Networks

This paper considers Aspect-based Opinion Summarization (AOS) of reviews on particular products. To enable real applications, an AOS system needs to address two core subtasks, aspect extraction and sentiment classification. Most existing approaches to aspect extraction, which use linguistic analysis or topic modeling, are general across different products but not precise enough or suitable for particular products. Instead we take a less general but more precise scheme, directly mapping each review sentence into pre-defined aspects. To tackle aspect mapping and sentiment classification, we propose two Convolutional Neural Network (CNN) based methods, cascaded CNN and multitask CNN. Cascaded CNN contains two levels of convolutional networks. Multiple CNNs at level 1 deal with aspect mapping task, and a single CNN at level 2 deals with sentiment classification. Multitask CNN also contains multiple aspect CNNs and a sentiment CNN, but different networks share the same word embeddings. Experimental results indicate that both cascaded and multitask CNNs outperform SVM-based methods by large margins. Multitask CNN generally performs better than cascaded CNN.

cs.CL↗