arXiv subjects

Haoruo Zhang

Publications and source records attributed to Haoruo Zhang.

5 recordsLinked to original sources

arXiv2026

PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rollout

Local pedestrian-vehicle forecasting spans heterogeneous physical scales: pedestrians combine root locomotion with articulated motion, whereas vehicles are rigid bodies described by kinematic state and oriented extent. Existing road-agent forecasters typically omit pedestrian articulation, while pose forecasters leave vehicle futures outside the learned rollout. We introduce PV-WM, a history-only world model over structured post-perception tracks. It recurrently advances pedestrian root motion, 15-joint articulation, and learned vehicle states within a synchronized heterogeneous state. The generated pedestrian and vehicle chunks supply the next recurrent boundary; vehicle boxes are reconstructed from predicted center and heading with observed extent, and P-V geometry is recomputed after every transition. Relative to a matched one-shot complete-state predictor, recurrent execution reduces Root ADE by 12.7% and MPJPE by 14.8%. Feedback interventions show that later predictions depend on the content, temporal order, and pedestrian identity of generated articulation. Across 824 aligned Waymo contexts, with 797 providing valid future vehicle support, PV-WM reduces Root ADE by 5.2%, MPJPE by 7.6%, P-V distance error by 11.9%, and oriented-box closest-approach error by 5.8% relative to a validation-selected Modular Specialist. The single-network model uses 57.1% fewer parameters, 96.5% lower average FLOPs per local scene, and 25.5% lower measured p95 latency. PV-WM unifies this heterogeneous future state while preserving type-specific pedestrian and vehicle dynamics.

cs.RO↗

arXiv2026

Driver-WM: A Driver-Centric Traffic-Conditioned Latent World Model for In-Cabin Dynamics Rollout

Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transitions. While most driving world models forecast the external environment, in-cabin intelligence remains strictly recognition-oriented and lacks multi-step rollout capabilities for driver dynamics. We introduce Driver-WM, a driver-centric latent world model that rolls out in-cabin dynamics causally conditioned on out-cabin traffic context. This formulation unifies physical kinematics forecasting with auxiliary behavioral and emotional semantic recognition. Operating in a compact latent space constructed from frozen vision-language features, Driver-WM adopts a dual-stream architecture to separately encode external traffic and internal driver states. These streams are directionally coupled via a gated causal injection mechanism, which uses a learned vector gate to modulate external contextual perturbations while strictly enforcing temporal causality. Experiments on AIDE show robust long-horizon forecasting on reactive high-motion clips, improved driver/traffic semantic alignment, and controlled interventions that expose the external-to-internal mechanism.

cs.RO↗

arXiv2025

IsoSched: Preemptive Tile Cascaded Scheduling of Multi-DNN via Subgraph Isomorphism

Deploying deep neural network (DNN) accelerators with Layer Temporal Scheduling (LTS) often incurs significant overheads (e.g., energy and latency), as intermediate activations must be cached in DRAM. To alleviate this, Tile Spatial Scheduling (TSS) reduces such costs by fragmenting inter-layer data into smaller tiles communicated via on-chip links.However, many emerging applications require concurrent execution of multiple DNNs with complex topologies, where critical tasks must preempt others to meet stringent latency requirements (e.g., in autonomous driving, obstacle detection must complete within tens of milliseconds). Existing TSS works lack support for preemption, while prior preemption schemes rely on LTS and thus inherit its overheads. This highlights the need for preemptive and efficient TSS-based frameworks. Yet, realizing such systems is challenging due to the complexity of enabling preemption in graphs with large-scale topologies (e.g., modern large language models may contain tens of thousands of edges). To tackle this, we present IsoSched, the first framework enabling preemptive multi-DNN scheduling on TSS architecture. IsoSched first formulates scheduling of complex-topology graphs as an integer-linear program (ILP) and subgraph isomorphism problem; second, it applies Layer Concatenate and Split (LCS) for load balancing in tile pipelines; third, it employs an Ullmann-based algorithm enhanced by Monte Carlo Tree Search (MCTS) to accelerate subgraph matching, and uses compact matrix encoding (i.e., Compressed Sparse Row, CSR) to reduce memory usage. IsoSched outperforms LTS-PRM approaches (i.e., PREMA, Planaria, CD-MSA, MoCA) in Latency-Bound Throughput (LBT), speedup, and energy efficiency, and achieves higher critical task satisfaction than TSS-NPRM (i.e., HASP) across varying task complexities.

cs.DC↗

arXiv2024

Music Emotion Prediction Using Recurrent Neural Networks

This study explores the application of recurrent neural networks to recognize emotions conveyed in music, aiming to enhance music recommendation systems and support therapeutic interventions by tailoring music to fit listeners' emotional states. We utilize Russell's Emotion Quadrant to categorize music into four distinct emotional regions and develop models capable of accurately predicting these categories. Our approach involves extracting a comprehensive set of audio features using Librosa and applying various recurrent neural network architectures, including standard RNNs, Bidirectional RNNs, and Long Short-Term Memory (LSTM) networks. Initial experiments are conducted using a dataset of 900 audio clips, labeled according to the emotional quadrants. We compare the performance of our neural network models against a set of baseline classifiers and analyze their effectiveness in capturing the temporal dynamics inherent in musical expression. The results indicate that simpler RNN architectures may perform comparably or even superiorly to more complex models, particularly in smaller datasets. We've also applied the following experiments on larger datasets: one is augmented based on our original dataset, and the other is from other sources. This research not only enhances our understanding of the emotional impact of music but also demonstrates the potential of neural networks in creating more personalized and emotionally resonant music recommendation and therapy systems.

cs.SD↗

arXiv2021

Deep Music Retrieval for Fine-Grained Videos by Exploiting Cross-Modal-Encoded Voice-Overs

Recently, the witness of the rapidly growing popularity of short videos on different Internet platforms has intensified the need for a background music (BGM) retrieval system. However, existing video-music retrieval methods only based on the visual modality cannot show promising performance regarding videos with fine-grained virtual contents. In this paper, we also investigate the widely added voice-overs in short videos and propose a novel framework to retrieve BGM for fine-grained short videos. In our framework, we use the self-attention (SA) and the cross-modal attention (CMA) modules to explore the intra- and the inter-relationships of different modalities respectively. For balancing the modalities, we dynamically assign different weights to the modal features via a fusion gate. For paring the query and the BGM embeddings, we introduce a triplet pseudo-label loss to constrain the semantics of the modal embeddings. As there are no existing virtual-content video-BGM retrieval datasets, we build and release two virtual-content video datasets HoK400 and CFM400. Experimental results show that our method achieves superior performance and outperforms other state-of-the-art methods with large margins.

cs.IR↗