arXiv subjects

Ming Yang

Publications and source records attributed to Ming Yang.

At least 145 records · Page 8Linked to original sources

arXiv2025

JAEGER: Dual-Level Humanoid Whole-Body Controller

This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control of the upper and lower bodies into two independent controllers, so that they can better focus on their distinct tasks. This separation alleviates the dimensionality curse and improves fault tolerance. JAEGER supports both root velocity tracking (coarse-grained control) and local joint angle tracking (fine-grained control), enabling versatile and stable movements. To train the controller, we utilize a human motion dataset (AMASS), retargeting human poses to humanoid poses through an efficient retargeting network, and employ a curriculum learning approach. This method performs supervised learning for initialization, followed by reinforcement learning for further exploration. We conduct our experiments on two humanoid platforms and demonstrate the superiority of our approach against state-of-the-art methods in both simulation and real environments.

cs.RO↗

arXiv2025

E2MPL:An Enduring and Efficient Meta Prompt Learning Framework for Few-shot Unsupervised Domain Adaptation

Few-shot unsupervised domain adaptation (FS-UDA) leverages a limited amount of labeled data from a source domain to enable accurate classification in an unlabeled target domain. Despite recent advancements, current approaches of FS-UDA continue to confront a major challenge: models often demonstrate instability when adapted to new FS-UDA tasks and necessitate considerable time investment. To address these challenges, we put forward a novel framework called Enduring and Efficient Meta-Prompt Learning (E2MPL) for FS-UDA. Within this framework, we utilize the pre-trained CLIP model as the backbone of feature learning. Firstly, we design domain-shared prompts, consisting of virtual tokens, which primarily capture meta-knowledge from a wide range of meta-tasks to mitigate the domain gaps. Secondly, we develop a task prompt learning network that adaptively learns task-specific specific prompts with the goal of achieving fast and stable task generalization. Thirdly, we formulate the meta-prompt learning process as a bilevel optimization problem, consisting of (outer) meta-prompt learner and (inner) task-specific classifier and domain adapter. Also, the inner objective of each meta-task has the closed-form solution, which enables efficient prompt learning and adaptation to new tasks in a single step. Extensive experimental studies demonstrate the promising performance of our framework in a domain adaptation benchmark dataset DomainNet. Compared with state-of-the-art methods, our method has improved accuracy by at least 15.4% and reduced the time by 68.5% on average in 5-way 1-shot tasks, and improved accuracy by 8.7% and reduced the time by 74.1% on average in 5-way 5-shot tasks. Moreover, our approach exhibits more enduring performance than the other methods, i.e., being more stable across 3600 test tasks.

cs.CV↗

arXiv2025

The Conformal Primon Gas at the End of Time

The Belinksy-Khalatnikov-Lifshitz dynamics of gravity close to a spacelike singularity can be mapped, at each point in space separately, onto the motion of a particle bouncing within half the fundamental domain of the modular group. We show that the semiclassical quantisation of this motion is a conformal quantum mechanics where the states are constrained to be modular invariant. Each such state defines an odd automorphic $L$-function. In particular, in a basis of dilatation eigenstates the wavefunction is proportional to the $L$-function along the critical axis and hence vanishes at the nontrivial zeros. We show that the $L$-function along the positive real axis is equal to the partition function of a gas of non-interacting charged oscillators labeled by prime numbers. This generalises Julia's notion of a primon gas. Each state therefore has a corresponding, dual, primon gas with a distinct nontrivial set of chemical potentials that ensure modular invariance. We extract universal features of these theories by averaging the logarithm of the partition function over the chemical potentials. The averaging produces the Witten index of a fermionic primon gas.

hep-th↗

arXiv2025

Domain Generalizable Knowledge Tracing via Concept Aggregation and Relation-Based Attention

Knowledge Tracing (KT) is a critical task in online education systems, aiming to monitor students' knowledge states throughout a learning period. Common KT approaches involve predicting the probability of a student correctly answering the next question based on their exercise history. However, these methods often suffer from performance degradation when faced with the scarcity of student interactions in new education systems. To address this, we leverage student interactions from existing education systems to mitigate performance degradation caused by limited training data. Nevertheless, these interactions exhibit significant differences since they are derived from different education systems. To address this issue, we propose a domain generalization approach for knowledge tracing, where existing education systems are considered source domains, and new education systems with limited data are considered target domains. Additionally, we design a domain-generalizable knowledge tracing framework (DGKT) that can be applied to any KT model. Specifically, we present a concept aggregation approach designed to reduce conceptual disparities within sequences of student interactions from diverse domains. To further mitigate domain discrepancies, we introduce a novel normalization module called Sequence Instance Normalization (SeqIN). Moreover, to fully leverage exercise information, we propose a new knowledge tracing model tailored for the domain generalization KT task, named Domain-Generalizable Relation-based Knowledge Tracing (DGRKT). Extensive experiments across five benchmark datasets demonstrate that the proposed method performs well despite limited training data.

cs.AI↗

arXiv2025

Observation of universal topological magnetoelectric switching in multiferroic GdMn2O5

Topological magnetoelectricity was recently revealed as an emergent topic, which opens a unique route to precisely control magnetoelectric functionality. Here we report the synchronous magnetic-electric-cycle operation of topological magnetoelectric switching in GdMn2O5. Compared with pure magnetic-cycle operation, this topological winding can be accessed in a much broader parameter space, i.e. orientation of magnetic field is not limited to the magic angle and the effect can persist up to the Curie temperature. The fine tuning of free energy landscape is responsible to this topological behavior.

cond-mat.mtrl-sci↗

arXiv2025

Weather-Magician: Reconstruction and Rendering Framework for 4D Weather Synthesis In Real Time

For tasks such as urban digital twins, VR/AR/game scene design, or creating synthetic films, the traditional industrial approach often involves manually modeling scenes and using various rendering engines to complete the rendering process. This approach typically requires high labor costs and hardware demands, and can result in poor quality when replicating complex real-world scenes. A more efficient approach is to use data from captured real-world scenes, then apply reconstruction and rendering algorithms to quickly recreate the authentic scene. However, current algorithms are unable to effectively reconstruct and render real-world weather effects. To address this, we propose a framework based on gaussian splatting, that can reconstruct real scenes and render them under synthesized 4D weather effects. Our work can simulate various common weather effects by applying Gaussians modeling and rendering techniques. It supports continuous dynamic weather changes and can easily control the details of the effects. Additionally, our work has low hardware requirements and achieves real-time rendering performance. The result demos can be accessed on our project homepage: weathermagician.github.io

cs.CV↗

arXiv2025

FedSaaS: Class-Consistency Federated Semantic Segmentation via Global Prototype Supervision and Local Adversarial Harmonization

Federated semantic segmentation enables pixel-level classification in images through collaborative learning while maintaining data privacy. However, existing research commonly overlooks the fine-grained class relationships within the semantic space when addressing heterogeneous problems, particularly domain shift. This oversight results in ambiguities between class representation. To overcome this challenge, we propose a novel federated segmentation framework that strikes class consistency, termed FedSaaS. Specifically, we introduce class exemplars as a criterion for both local- and global-level class representations. On the server side, the uploaded class exemplars are leveraged to model class prototypes, which supervise global branch of clients, ensuring alignment with global-level representation. On the client side, we incorporate an adversarial mechanism to harmonize contributions of global and local branches, leading to consistent output. Moreover, multilevel contrastive losses are employed on both sides to enforce consistency between two-level representations in the same semantic space. Extensive experiments on several driving scene segmentation datasets demonstrate that our framework outperforms state-of-the-art methods, significantly improving average segmentation accuracy and effectively addressing the class-consistency representation problem.

cs.CV↗

arXiv2025

Ditto: Motion-Space Diffusion for Controllable Realtime Talking Head Synthesis

Recent advances in diffusion models have endowed talking head synthesis with subtle expressions and vivid head movements, but have also led to slow inference speed and insufficient control over generated results. To address these issues, we propose Ditto, a diffusion-based talking head framework that enables fine-grained controls and real-time inference. Specifically, we utilize an off-the-shelf motion extractor and devise a diffusion transformer to generate representations in a specific motion space. We optimize the model architecture and training strategy to address the issues in generating motion representations, including insufficient disentanglement between motion and identity, and large internal discrepancies within the representation. Besides, we employ diverse conditional signals while establishing a mapping between motion representation and facial semantics, enabling control over the generation process and correction of the results. Moreover, we jointly optimize the holistic framework to enable streaming processing, real-time inference, and low first-frame delay, offering functionalities crucial for interactive applications such as AI assistants. Extensive experimental results demonstrate that Ditto generates compelling talking head videos and exhibits superiority in both controllability and real-time performance.

cs.CV↗

arXiv2025

From Mapping to Composing: A Two-Stage Framework for Zero-shot Composed Image Retrieval

Composed Image Retrieval (CIR) is a challenging multimodal task that retrieves a target image based on a reference image and accompanying modification text. Due to the high cost of annotating CIR triplet datasets, zero-shot (ZS) CIR has gained traction as a promising alternative. Existing studies mainly focus on projection-based methods, which map an image to a single pseudo-word token. However, these methods face three critical challenges: (1) insufficient pseudo-word token representation capacity, (2) discrepancies between training and inference phases, and (3) reliance on large-scale synthetic data. To address these issues, we propose a two-stage framework where the training is accomplished from mapping to composing. In the first stage, we enhance image-to-pseudo-word token learning by introducing a visual semantic injection module and a soft text alignment objective, enabling the token to capture richer and fine-grained image information. In the second stage, we optimize the text encoder using a small amount of synthetic triplet data, enabling it to effectively extract compositional semantics by combining pseudo-word tokens with modification text for accurate target image retrieval. The strong visual-to-pseudo mapping established in the first stage provides a solid foundation for the second stage, making our approach compatible with both high- and low-quality synthetic data, and capable of achieving significant performance gains with only a small amount of synthetic data. Extensive experiments were conducted on three public datasets, achieving superior performance compared to existing approaches.

cs.CV↗

arXiv2025

From Imitation to Exploration: End-to-end Autonomous Driving based on World Model

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL), which can quickly derive driving strategies by mimicking expert behaviors. However, IL often struggles to handle scenarios outside the training dataset, especially in high-dynamic and interaction-intensive traffic environments. In contrast, Reinforcement Learning (RL)-based driving models can optimize driving decisions through interaction with the environment, improving adaptability and robustness. To leverage the strengths of both IL and RL, we propose RAMBLE, an end-to-end world model-based RL method for driving decision-making. RAMBLE extracts environmental context information from RGB images and LiDAR data through an asymmetrical variational autoencoder. A transformer-based architecture is then used to capture the dynamic transitions of traffic participants. Next, an actor-critic structure reinforcement learning algorithm is applied to derive driving strategies based on the latent features of the current state and dynamics. To accelerate policy convergence and ensure stable training, we introduce a training scheme that initializes the policy network using IL, and employs KL loss and soft update mechanisms to smoothly transition the model from IL to RL. RAMBLE achieves state-of-the-art performance in route completion rate on the CARLA Leaderboard 1.0 and completes all 38 scenarios on the CARLA Leaderboard 2.0, demonstrating its effectiveness in handling complex and dynamic traffic scenarios. The model will be open-sourced upon paper acceptance at https://github.com/SCP-CN-001/ramble to support further research and development in autonomous driving.

cs.AI↗

arXiv2025

HOPE: A Reinforcement Learning-based Hybrid Policy Path Planner for Diverse Parking Scenarios

Automated parking stands as a highly anticipated application of autonomous driving technology. However, existing path planning methodologies fall short of addressing this need due to their incapability to handle the diverse and complex parking scenarios in reality. While non-learning methods provide reliable planning results, they are vulnerable to intricate occasions, whereas learning-based ones are good at exploration but unstable in converging to feasible solutions. To leverage the strengths of both approaches, we introduce Hybrid pOlicy Path plannEr (HOPE). This novel solution integrates a reinforcement learning agent with Reeds-Shepp curves, enabling effective planning across diverse scenarios. HOPE guides the exploration of the reinforcement learning agent by applying an action mask mechanism and employs a transformer to integrate the perceived environmental information with the mask. To facilitate the training and evaluation of the proposed planner, we propose a criterion for categorizing the difficulty level of parking scenarios based on space and obstacle distribution. Experimental results demonstrate that our approach outperforms typical rule-based algorithms and traditional reinforcement learning methods, showing higher planning success rates and generalization across various scenarios. We also conduct real-world experiments to verify the practicability of HOPE. The code for our solution is openly available on https://github.com/jiamiya/HOPE.

cs.RO↗

arXiv2025

M2-omni: Advancing Omni-MLLM for Comprehensive Modality Support with Competitive Performance

We present M2-omni, a cutting-edge, open-source omni-MLLM that achieves competitive performance to GPT-4o. M2-omni employs a unified multimodal sequence modeling framework, which empowers Large Language Models(LLMs) to acquire comprehensive cross-modal understanding and generation capabilities. Specifically, M2-omni can process arbitrary combinations of audio, video, image, and text modalities as input, generating multimodal sequences interleaving with audio, image, or text outputs, thereby enabling an advanced and interactive real-time experience. The training of such an omni-MLLM is challenged by significant disparities in data quantity and convergence rates across modalities. To address these challenges, we propose a step balance strategy during pre-training to handle the quantity disparities in modality-specific data. Additionally, a dynamically adaptive balance strategy is introduced during the instruction tuning stage to synchronize the modality-wise training progress, ensuring optimal convergence. Notably, we prioritize preserving strong performance on pure text tasks to maintain the robustness of M2-omni's language understanding capability throughout the training process. To our best knowledge, M2-omni is currently a very competitive open-source model to GPT-4o, characterized by its comprehensive modality and task support, as well as its exceptional performance. We expect M2-omni will advance the development of omni-MLLMs, thus facilitating future research in this domain.

cs.LG↗

arXiv2025

Floquet-Engineered Hybrid Topological Orders with Majorana Edge Modes in Number-Conserving Fermionic Quantum Simulators

We develop an experimental protocol based on Floquet-engineered ultracold fermions in optical lattices, enabling the emulation of pair-hopping and competing singlet/triplet pairing interactions. Through large-scale density matrix renormalization group (DMRG) simulations, we uncover three emergent topological phases: (i) A Majorana-enabled spin-density-wave (MS) phase featuring exponentially localized edge charges, non-local fermionic edge correlations, and doubly degenerate entanglement spectra; (ii) A z-axis polarized triplet superconducting (TS) phase exhibiting fractionalized edge spins (S=1/4 per edge), two-fold ground state degeneracy and a bulk single-particle gap; (iii) A hybrid x-directional triplet superconducting (XTS) phase that uniquely combines fractional spin textures and Majorana-type edge correlations, defining a new universality class of hybrid orders in number-conserving systems. These findings establish a universal framework for engineering non-Abelian topological matter, crucially bypassing the need for external pairing fields while maintaining experimental feasibility with current cold-atom techniques.

cond-mat.quant-gas↗

arXiv2025

Stellar parameters, extinction, and distances for stars in SMSS DR2 by SPar method

The availability of large datasets containing stellar parameters, distances, and extinctions for stars in the Milky Way, particularly within the Galactic disk, is essential for advancing our understanding of the Galaxy's stellar populations, structure, kinematics, and chemical evolution. In this study, we present a catalog of stellar parameters, including effective temperature (\teff), metallicity (\feh), absolute magnitudes ($M_{G}$), distances ($d$), and reddening values (\ebr), for a sample of 141 million stars from the SkyMapper Southern Survey (SMSS). These parameters are derived using the SPar algorithm, which employs a fitting procedure to match multi-band photometric observations and estimate the stellar properties (\teff, \feh, $M_G$, $d$, and \ebr) on an individual star basis, following the methodology outlined in our previous work. This study successfully determines stellar parameters and extinction values simultaneously for stars located in high and low Galactic latitudes. The resulting stellar parameters and extinction values are in good agreement with results from other studies, demonstrating the robustness of our method. We derive a temperature dispersion of 195\,K and a metallicity dispersion of 0.31\,dex when comparing our results with spectroscopic data. The catalog produced in this work provides a valuable resource for future research on the Galactic metallicity distribution function, the structure of the Galaxy, three-dimensional extinction mapping, and other related astrophysical topics.

astro-ph.GA↗

arXiv2025

Identification of a dwarf galaxy stream in Gaia, and its possible association with the VPOS structure

Low surface density streams are important tracers to study the formation and evolution of the Milky Way. Using the accurate astrometric measurements from Gaia mission, we discover a low surface density stream in the north hemisphere, with length of $\sim110$ degree and width of $1.23$ kpc. The vertical velocity dispersion perpendicular to the stream is around $22.4$ km s$^{-1}$. The spectral data of member candidate stars from LAMOST and DESI shows a large metallicity range from $-1.8$ to $-0.7$. Based on those properties we claim that the stream is originated from a dwarf galaxy. The median metallicity of $\mathrm{[Fe/H]}=-1.3$ indicates a massive dwarf galaxy origination with stellar mass around $2.0\times10^7M_\odot$, which is comparable with the Fornax dwarf galaxy and smaller than LMC/SMC and Sagittarius. We also find the globular cluster Pyxis is highly associated with the stream in the phase space $E-L_Z$ and metallicity. The massive progenitor also suggests that many dwarf galaxies, including massive ones, have been disrupted during their evolution orbiting the Milky Way and left with very low surface density structures. This is important to understand the {\it missing satellites} problem. The orbit information of the stream shows tight association between its progenitor and the Vast POlar Structure (VPOS), which indicates that the satellites fell into the Milky Way in groups, which brought many globular clusters into the Milky Way.

astro-ph.GA↗

arXiv2025

Knowledge Rectification for Camouflaged Object Detection: Unlocking Insights from Low-Quality Data

Low-quality data often suffer from insufficient image details, introducing an extra implicit aspect of camouflage that complicates camouflaged object detection (COD). Existing COD methods focus primarily on high-quality data, overlooking the challenges posed by low-quality data, which leads to significant performance degradation. Therefore, we propose KRNet, the first framework explicitly designed for COD on low-quality data. KRNet presents a Leader-Follower framework where the Leader extracts dual gold-standard distributions: conditional and hybrid, from high-quality data to drive the Follower in rectifying knowledge learned from low-quality data. The framework further benefits from a cross-consistency strategy that improves the rectification of these distributions and a time-dependent conditional encoder that enriches the distribution diversity. Extensive experiments on benchmark datasets demonstrate that KRNet outperforms state-of-the-art COD methods and super-resolution-assisted COD approaches, proving its effectiveness in tackling the challenges of low-quality data in COD.

cs.CV↗

arXiv2025

DynFocus: Dynamic Cooperative Network Empowers LLMs with Video Understanding

The challenge in LLM-based video understanding lies in preserving visual and semantic information in long videos while maintaining a memory-affordable token count. However, redundancy and correspondence in videos have hindered the performance potential of existing methods. Through statistical learning on current datasets, we observe that redundancy occurs in both repeated and answer-irrelevant frames, and the corresponding frames vary with different questions. This suggests the possibility of adopting dynamic encoding to balance detailed video information preservation with token budget reduction. To this end, we propose a dynamic cooperative network, DynFocus, for memory-efficient video encoding in this paper. Specifically, i) a Dynamic Event Prototype Estimation (DPE) module to dynamically select meaningful frames for question answering; (ii) a Compact Cooperative Encoding (CCE) module that encodes meaningful frames with detailed visual appearance and the remaining frames with sketchy perception separately. We evaluate our method on five publicly available benchmarks, and experimental results consistently demonstrate that our method achieves competitive performance.

cs.CV↗

arXiv2025

Robotic Sim-to-Real Transfer for Long-Horizon Pick-and-Place Tasks in the Robotic Sim2Real Competition

This paper presents a fully autonomous robotic system that performs sim-to-real transfer in complex long-horizon tasks involving navigation, recognition, grasping, and stacking in an environment with multiple obstacles. The key feature of the system is the ability to overcome typical sensing and actuation discrepancies during sim-to-real transfer and to achieve consistent performance without any algorithmic modifications. To accomplish this, a lightweight noise-resistant visual perception system and a nonlinearity-robust servo system are adopted. We conduct a series of tests in both simulated and real-world environments. The visual perception system achieves the speed of 11 ms per frame due to its lightweight nature, and the servo system achieves sub-centimeter accuracy with the proposed controller. Both exhibit high consistency during sim-to-real transfer. Benefiting from these, our robotic system took first place in the mineral searching task of the Robotic Sim2Real Challenge hosted at ICRA 2024.

cs.RO↗