arXiv subjects

Haotian Yao

Publications and source records attributed to Haotian Yao.

13 recordsLinked to original sources

arXiv2026

Integrated Transmission and Distribution Expansion Planning Considering Customer Actions and Distributed Energy Resources

The continued integration of distributed energy resources (DERs) motivates research into integrated system planning. While existing literature shows that DERs can reduce system costs, it often overlooks customer behaviour, particularly DER adoption driven by cost savings and incentives. System cost allocation can influence these decisions, affecting DER uptake, grid injections, and overall system efficiency. Therefore, integrated system planning should consider both system- and customer-level benefits of DERs. This paper proposes a multi-step framework that combines an integrated planning model with cost allocation and retailer business models. The integrated planning model minimizes total system costs subject to network constraints, while the cost allocation and retailer models capture customer responses to costs and DER opportunities. By coordinating these models, the framework represents how customer behaviour influences planning outcomes. The proposed approach is demonstrated on a 36-bus system, with results showing that incorporating customer decision-making reduces overall system costs, lowers reliance on transmission-connected generation, and supports more realistic system planning.

eess.SY↗

arXiv2026

PerceptionBench: Evaluating Atomic Visual Perception in Multimodal Large Language Models

We introduce PerceptionBench, a benchmark specifically designed to evaluate the atomic visual perception capabilities of Multimodal Large Language Models (MLLMs). Existing benchmarks often fail to isolate perception: holistic evaluations conflate perceptual errors with failures in reasoning or domain knowledge, while application-driven benchmarks only cover narrow, fragmented domains shaped by heuristic designs. To address these limitations, PerceptionBench adopts a bottom-up approach: by diagnosing the earliest failure points in the responses of frontier MLLMs across 42 existing benchmarks, we construct an error taxonomy whose perception branch defines ten atomic perceptual capabilities. Guided by this taxonomy, we construct 3,000 verified questions with short, unambiguous answers, each isolating a single capability, with difficulty stemming from perception rather than reasoning or knowledge. Benchmark results across sixteen frontier MLLMs reveal that atomic perception remains largely unsolved---no model reaches 60\% accuracy, perception-related hallucination is the weakest capability on average, and similar overall scores conceal sharply divergent capability profiles. PerceptionBench thus provides a capability-level standard for measuring and diagnosing the visual perception boundaries of MLLMs.

cs.CV↗

arXiv2026

WorldVQA: Measuring Atomic World Knowledge in Multimodal Large Language Models

We introduce WorldVQA, a benchmark designed to evaluate the atomic visual world knowledge of Multimodal Large Language Models (MLLMs). Unlike current evaluations, which often conflate visual knowledge retrieval with reasoning, WorldVQA decouples these capabilities to strictly measure "what the model memorizes." The benchmark assesses the atomic capability of grounding and naming visual entities across a stratified taxonomy, spanning from common head-class objects to long-tail rarities. We expect WorldVQA to serve as a rigorous test for visual factuality, thereby establishing a standard for assessing the encyclopedic breadth and hallucination rates of current and next-generation frontier models.

cs.CV↗

arXiv2025

OpenCUA: Open Foundations for Computer-Use Agents

Vision-language models have demonstrated impressive capabilities as computer-use agents (CUAs) capable of automating diverse computer tasks. As their commercial potential grows, critical details of the most capable CUA systems remain closed. As these agents will increasingly mediate digital interactions and execute consequential decisions on our behalf, the research community needs access to open CUA frameworks to study their capabilities, limitations, and risks. To bridge this gap, we propose OpenCUA, a comprehensive open-source framework for scaling CUA data and foundation models. Our framework consists of: (1) an annotation infrastructure that seamlessly captures human computer-use demonstrations; (2) AgentNet, the first large-scale computer-use task dataset spanning 3 operating systems and 200+ applications and websites; (3) a scalable pipeline that transforms demonstrations into state-action pairs with reflective long Chain-of-Thought reasoning that sustain robust performance gains as data scales. Our end-to-end agent models demonstrate strong performance across CUA benchmarks. In particular, OpenCUA-72B achieves an average success rate of 45.0% on OSWorld-Verified, establishing a new state-of-the-art (SOTA) among open-source models. Further analysis confirms that our approach generalizes well across domains and benefits significantly from increased test-time computation. We release our annotation tool, datasets, code, and models to build open foundations for further CUA research.

cs.AI↗

arXiv2025

Emission-Aware Operation of Electrical Energy Storage Systems

Since the beginning of this century, there has been a growing body of research and developments supporting the participation of energy storage systems (ESS) in the emission reduction mandates. However, regardless of these efforts and despite the need for an accelerated energy transition, we have yet to see a practical framework for operational carbon accounting and credit trading for energy storage systems. In this context, this paper proposes an emission performance credits (EPCs) framework that allows ESS, down to the prosumer level, to participate in the carbon market. Thus, a mechanism is proposed, for the first time, to calculate the grid's real-time marginal emission intensity (MEI). The MEI is then used to optimize the cumulative operational emission of ESS through carbon-aware dispatch. Consequently, the framework tracks the operational emissions and converts them into EPCs, which are then sold to regulated entities under compliance programs. Simulation results support the potential of ESS, regardless of their size, to participate in the broader carbon mitigation objectives.

eess.SY↗

arXiv2025

Kimi-VL Technical Report

We present Kimi-VL, an efficient open-source Mixture-of-Experts (MoE) vision-language model (VLM) that offers advanced multimodal reasoning, long-context understanding, and strong agent capabilities - all while activating only 2.8B parameters in its language decoder (Kimi-VL-A3B). Kimi-VL demonstrates strong performance across challenging domains: as a general-purpose VLM, Kimi-VL excels in multi-turn agent tasks (e.g., OSWorld), matching flagship models. Furthermore, it exhibits remarkable capabilities across diverse challenging vision language tasks, including college-level image and video comprehension, OCR, mathematical reasoning, and multi-image understanding. In comparative evaluations, it effectively competes with cutting-edge efficient VLMs such as GPT-4o-mini, Qwen2.5-VL-7B, and Gemma-3-12B-IT, while surpassing GPT-4o in several key domains. Kimi-VL also advances in processing long contexts and perceiving clearly. With a 128K extended context window, Kimi-VL can process diverse long inputs, achieving impressive scores of 64.5 on LongVideoBench and 35.1 on MMLongBench-Doc. Its native-resolution vision encoder, MoonViT, further allows it to see and understand ultra-high-resolution visual inputs, achieving 83.2 on InfoVQA and 34.5 on ScreenSpot-Pro, while maintaining lower computational cost for common tasks. Building upon Kimi-VL, we introduce an advanced long-thinking variant: Kimi-VL-Thinking-2506. Developed through long chain-of-thought (CoT) supervised fine-tuning (SFT) and reinforcement learning (RL), the latest model exhibits strong long-horizon reasoning capabilities (64.0 on MMMU, 46.3 on MMMU-Pro, 56.9 on MathVision, 80.1 on MathVista, 65.2 on VideoMMMU) while obtaining robust general abilities. Code and models are publicly accessible at https://github.com/MoonshotAI/Kimi-VL.

cs.CV↗

arXiv2025

Kimi k1.5: Scaling Reinforcement Learning with LLMs

Language model pretraining with next token prediction has proved effective for scaling compute but is limited to the amount of available training data. Scaling reinforcement learning (RL) unlocks a new axis for the continued improvement of artificial intelligence, with the promise that large language models (LLMs) can scale their training data by learning to explore with rewards. However, prior published work has not produced competitive results. In light of this, we report on the training practice of Kimi k1.5, our latest multi-modal LLM trained with RL, including its RL training techniques, multi-modal data recipes, and infrastructure optimization. Long context scaling and improved policy optimization methods are key ingredients of our approach, which establishes a simplistic, effective RL framework without relying on more complex techniques such as Monte Carlo tree search, value functions, and process reward models. Notably, our system achieves state-of-the-art reasoning performance across multiple benchmarks and modalities -- e.g., 77.5 on AIME, 96.2 on MATH 500, 94-th percentile on Codeforces, 74.9 on MathVista -- matching OpenAI's o1. Moreover, we present effective long2short methods that use long-CoT techniques to improve short-CoT models, yielding state-of-the-art short-CoT reasoning results -- e.g., 60.8 on AIME, 94.6 on MATH500, 47.3 on LiveCodeBench -- outperforming existing short-CoT models such as GPT-4o and Claude Sonnet 3.5 by a large margin (up to +550%).

cs.AI↗

arXiv2024

FipTR: A Simple yet Effective Transformer Framework for Future Instance Prediction in Autonomous Driving

The future instance prediction from a Bird's Eye View(BEV) perspective is a vital component in autonomous driving, which involves future instance segmentation and instance motion prediction. Existing methods usually rely on a redundant and complex pipeline which requires multiple auxiliary outputs and post-processing procedures. Moreover, estimated errors on each of the auxiliary predictions will lead to degradation of the prediction performance. In this paper, we propose a simple yet effective fully end-to-end framework named Future Instance Prediction Transformer(FipTR), which views the task as BEV instance segmentation and prediction for future frames. We propose to adopt instance queries representing specific traffic participants to directly estimate the corresponding future occupied masks, and thus get rid of complex post-processing procedures. Besides, we devise a flow-aware BEV predictor for future BEV feature prediction composed of a flow-aware deformable attention that takes backward flow guiding the offset sampling. A novel future instance matching strategy is also proposed to further improve the temporal coherence. Extensive experiments demonstrate the superiority of FipTR and its effectiveness under different temporal BEV encoders. The code is available at https://github.com/TabGuigui/FipTR .

cs.CV↗

arXiv2024

SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Driving

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task methods. Meanwhile, the widely used dense BEV features in previous end-to-end methods make it costly to extend to more modalities or tasks. In this paper, we propose a Sparse query-centric paradigm for end-to-end Autonomous Driving (SparseAD), where the sparse queries completely represent the whole driving scenario across space, time and tasks without any dense BEV representation. Concretely, we design a unified sparse architecture for perception tasks including detection, tracking, and online mapping. Moreover, we revisit motion prediction and planning, and devise a more justifiable motion planner framework. On the challenging nuScenes dataset, SparseAD achieves SOTA full-task performance among end-to-end methods and significantly narrows the performance gap between end-to-end paradigms and single-task methods. Codes will be released soon.

cs.CV↗

arXiv2024

Ray Denoising: Depth-aware Hard Negative Sampling for Multi-view 3D Object Detection

Multi-view 3D object detection systems often struggle with generating precise predictions due to the challenges in estimating depth from images, increasing redundant and incorrect detections. Our paper presents Ray Denoising, an innovative method that enhances detection accuracy by strategically sampling along camera rays to construct hard negative examples. These examples, visually challenging to differentiate from true positives, compel the model to learn depth-aware features, thereby improving its capacity to distinguish between true and false positives. Ray Denoising is designed as a plug-and-play module, compatible with any DETR-style multi-view 3D detectors, and it only minimally increases training computational costs without affecting inference speed. Our comprehensive experiments, including detailed ablation studies, consistently demonstrate that Ray Denoising outperforms strong baselines across multiple datasets. It achieves a 1.9\% improvement in mean Average Precision (mAP) over the state-of-the-art StreamPETR method on the NuScenes dataset. It shows significant performance gains on the Argoverse 2 dataset, highlighting its generalization capability. The code will be available at https://github.com/LiewFeng/RayDN.

cs.CV↗

arXiv2021

Multi-Centroid Representation Network for Domain Adaptive Person Re-ID

Recently, many approaches tackle the Unsupervised Domain Adaptive person re-identification (UDA re-ID) problem through pseudo-label-based contrastive learning. During training, a uni-centroid representation is obtained by simply averaging all the instance features from a cluster with the same pseudo label. However, a cluster may contain images with different identities (label noises) due to the imperfect clustering results, which makes the uni-centroid representation inappropriate. In this paper, we present a novel Multi-Centroid Memory (MCM) to adaptively capture different identity information within the cluster. MCM can effectively alleviate the issue of label noises by selecting proper positive/negative centroids for the query image. Moreover, we further propose two strategies to improve the contrastive learning process. First, we present a Domain-Specific Contrastive Learning (DSCL) mechanism to fully explore intradomain information by comparing samples only from the same domain. Second, we propose Second-Order Nearest Interpolation (SONI) to obtain abundant and informative negative samples. We integrate MCM, DSCL, and SONI into a unified framework named Multi-Centroid Representation Network (MCRN). Extensive experiments demonstrate the superiority of MCRN over state-of-the-art approaches on multiple UDA re-ID tasks and fully unsupervised re-ID tasks.

cs.CV↗

arXiv2021

Spatial Ensemble: a Novel Model Smoothing Mechanism for Student-Teacher Framework

Model smoothing is of central importance for obtaining a reliable teacher model in the student-teacher framework, where the teacher generates surrogate supervision signals to train the student. A popular model smoothing method is the Temporal Moving Average (TMA), which continuously averages the teacher parameters with the up-to-date student parameters. In this paper, we propose "Spatial Ensemble", a novel model smoothing mechanism in parallel with TMA. Spatial Ensemble randomly picks up a small fragment of the student model to directly replace the corresponding fragment of the teacher model. Consequentially, it stitches different fragments of historical student models into a unity, yielding the "Spatial Ensemble" effect. Spatial Ensemble obtains comparable student-teacher learning performance by itself and demonstrates valuable complementarity with temporal moving average. Their integration, named Spatial-Temporal Smoothing, brings general (sometimes significant) improvement to the student-teacher learning framework on a variety of state-of-the-art methods. For example, based on the self-supervised method BYOL, it yields +0.9% top-1 accuracy improvement on ImageNet, while based on the semi-supervised approach FixMatch, it increases the top-1 accuracy by around +6% on CIFAR-10 when only few training labels are available. Codes and models are available at: https://github.com/tengteng95/Spatial_Ensemble.

cs.CV↗

arXiv2020

Weight-dependent Gates for Network Pruning

In this paper, a simple yet effective network pruning framework is proposed to simultaneously address the problems of pruning indicator, pruning ratio, and efficiency constraint. This paper argues that the pruning decision should depend on the convolutional weights, and thus proposes novel weight-dependent gates (W-Gates) to learn the information from filter weights and obtain binary gates to prune or keep the filters automatically. To prune the network under efficiency constraints, a switchable Efficiency Module is constructed to predict the hardware latency or FLOPs of candidate pruned networks. Combined with the proposed Efficiency Module, W-Gates can perform filter pruning in an efficiency-aware manner and achieve a compact network with a better accuracy-efficiency trade-off. We have demonstrated the effectiveness of the proposed method on ResNet34, ResNet50, and MobileNet V2, respectively achieving up to 1.33/1.28/1.1 higher Top-1 accuracy with lower hardware latency on ImageNet. Compared with state-of-the-art methods, W-Gates also achieves superior performance.

cs.CV↗