arXiv subjects

Shuo Jiang

Publications and source records attributed to Shuo Jiang.

At least 37 records · Page 2Linked to original sources

arXiv2026

Large Language Models for Combinatorial Optimization of Design Structure Matrix

In complex engineering systems, the dependencies among components or development activities are often modeled and analyzed using Design Structure Matrix (DSM). Reorganizing elements within a DSM to minimize feedback loops and enhance modularity or process efficiency constitutes a challenging combinatorial optimization (CO) problem in engineering design and operations. As problem sizes increase and dependency networks become more intricate, traditional optimization methods that rely solely on mathematical heuristics often fail to capture the contextual nuances and struggle to deliver effective solutions. In this study, we explore the potential of Large Language Models (LLMs) to address such CO problems by leveraging their capabilities for advanced reasoning and contextual understanding. We propose a novel LLM-based framework that integrates network topology with contextual domain knowledge for iterative optimization of DSM sequencing-a common CO problem. Experiments on various DSM cases demonstrate that our method consistently achieves faster convergence and superior solution quality compared to both stochastic and deterministic baselines. Notably, incorporating contextual domain knowledge significantly enhances optimization performance regardless of the chosen LLM backbone. These findings highlight the potential of LLMs to solve complex engineering CO problems by combining semantic and mathematical reasoning. This approach paves the way towards a new paradigm in LLM-based engineering design optimization.

cs.CE↗

arXiv2026

ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced contextual reasoning for heavy clutter environment grasping strategies. ThinkGrasp can effectively identify and generate grasp poses for target objects, even when they are heavily obstructed or nearly invisible, by using goal-oriented language to guide the removal of obstructing objects. This approach progressively uncovers the target object and ultimately grasps it with a few steps and a high success rate. In both simulated and real experiments, ThinkGrasp achieved a high success rate and significantly outperformed state-of-the-art methods in heavily cluttered environments or with diverse unseen objects, demonstrating strong generalization capabilities.

cs.RO↗

arXiv2026

Multimodal OCR: Parse Anything from Documents

We present Multimodal OCR (MOCR), a document parsing paradigm that jointly parses text and graphics into unified textual representations. Unlike conventional OCR systems that focus on text recognition and leave graphical regions as cropped pixels, our method, termed dots.mocr, treats visual elements such as charts, diagrams, tables, and icons as first-class parsing targets, enabling systems to parse documents while preserving semantic relationships across elements. It offers several advantages: (1) it reconstructs both text and graphics as structured outputs, enabling more faithful document reconstruction; (2) it supports end-to-end training over heterogeneous document elements, allowing models to exploit semantic relations between textual and visual components; and (3) it converts previously discarded graphics into reusable code-level supervision, unlocking multimodal supervision embedded in existing documents. To make this paradigm practical at scale, we build a comprehensive data engine from PDFs, rendered webpages, and native SVG assets, and train a compact 3B-parameter model through staged pretraining and supervised fine-tuning. We evaluate dots.mocr from two perspectives: document parsing and structured graphics parsing. On document parsing benchmarks, it ranks second only to Gemini 3 Pro on our OCR Arena Elo leaderboard, surpasses existing open-source document parsing systems, and sets a new state of the art of 83.9 on olmOCR Bench. On structured graphics parsing, our model achieves higher reconstruction quality than Gemini 3 Pro across image-to-SVG benchmarks, demonstrating strong performance on charts, UI layouts, scientific figures, and chemical diagrams. These results show a scalable path toward building large-scale image-to-code corpora for multimodal pretraining. Code and models are publicly available at https://github.com/rednote-hilab/dots.mocr.

cs.CV↗

arXiv2026

CARE: Cognitive-reasoning Augmented Reinforcement for Emotional Support Conversation

Emotional Support Conversation (ESC) plays a vital role in alleviating psychological stress and providing emotional value through dialogue. While recent studies have largely focused on data augmentation and synthetic corpus construction, they often overlook the deeper cognitive reasoning processes that underpin effective emotional support. To address this gap, we propose \textbf{CARE}, a novel framework that strengthens reasoning in ESC without relying on large-scale synthetic data. CARE leverages the original ESC training set to guide models in generating logically coherent and supportive responses, thereby explicitly enhancing cognitive reasoning. Building on this foundation, we further employ reinforcement learning to refine and reinforce the reasoning process. Experimental results demonstrate that CARE significantly improves both the logical soundness and supportive quality of responses, advancing the development of empathetic, cognitively robust, and human-like emotional support systems.

cs.CL↗

arXiv2025

A Large Scale Benchmark for Test Time Adaptation Methods in Medical Image Segmentation

Test time Adaptation is a promising approach for mitigating domain shift in medical image segmentation; however, current evaluations remain limited in terms of modality coverage, task diversity, and methodological consistency. We present MedSeg-TTA, a comprehensive benchmark that examines twenty representative adaptation methods across seven imaging modalities, including MRI, CT, ultrasound, pathology, dermoscopy, OCT, and chest X-ray, under fully unified data preprocessing, backbone configuration, and test time protocols. The benchmark encompasses four significant adaptation paradigms: Input-level Transformation, Feature-level Alignment, Output-level Regularization, and Prior Estimation, enabling the first systematic cross-modality comparison of their reliability and applicability. The results show that no single paradigm performs best in all conditions. Input-level methods are more stable under mild appearance shifts. Feature-level and Output-level methods offer greater advantages in boundary-related metrics, whereas prior-based methods exhibit strong modality dependence. Several methods degrade significantly under large inter-center and inter-device shifts, which highlights the importance of principled method selection for clinical deployment. MedSeg-TTA provides standardized datasets, validated implementations, and a public leaderboard, establishing a rigorous foundation for future research on robust, clinically reliable test-time adaptation. All source codes and open-source datasets are available at https://github.com/wenjing-gg/MedSeg-TTA.

cs.CV↗

arXiv2025

Safety Control of Service Robots with LLMs and Embodied Knowledge Graphs

Safety limitations in service robotics across various industries have raised significant concerns about the need for robust mechanisms ensuring that robots adhere to safe practices, thereby preventing actions that might harm humans or cause property damage. Despite advances, including the integration of Knowledge Graphs (KGs) with Large Language Models (LLMs), challenges in ensuring consistent safety in autonomous robot actions persist. In this paper, we propose a novel integration of Large Language Models with Embodied Robotic Control Prompts (ERCPs) and Embodied Knowledge Graphs (EKGs) to enhance the safety framework for service robots. ERCPs are designed as predefined instructions that ensure LLMs generate safe and precise responses. These responses are subsequently validated by EKGs, which provide a comprehensive knowledge base ensuring that the actions of the robot are continuously aligned with safety protocols, thereby promoting safer operational practices in varied contexts. Our experimental setup involved diverse real-world tasks, where robots equipped with our framework demonstrated significantly higher compliance with safety standards compared to traditional methods. This integration fosters secure human-robot interactions and positions our methodology at the forefront of AI-driven safety innovations in service robotics.

cs.RO↗

arXiv2025

Hierarchical Spatio-Temporal Attention Network with Adaptive Risk-Aware Decision for Forward Collision Warning in Complex Scenarios

Forward Collision Warning systems are crucial for vehicle safety and autonomous driving, yet current methods often fail to balance precise multi-agent interaction modeling with real-time decision adaptability, evidenced by the high computational cost for edge deployment and the unreliability stemming from simplified interaction models.To overcome these dual challenges-computational complexity and modeling insufficiency-along with the high false alarm rates of traditional static-threshold warnings, this paper introduces an integrated FCW framework that pairs a Hierarchical Spatio-Temporal Attention Network with a Dynamic Risk Threshold Adjustment algorithm. HSTAN employs a decoupled architecture (Graph Attention Network for spatial, cascaded GRU with self-attention for temporal) to achieve superior performance and efficiency, requiring only 12.3 ms inference time (73% faster than Transformer methods) and reducing the Average Displacement Error (ADE) to 0.73m (42.2% better than Social_LSTM) on the NGSIM dataset. Furthermore, Conformalized Quantile Regression enhances reliability by generating prediction intervals (91.3% coverage at 90% confidence), which the DTRA module then converts into timely warnings via a physics-informed risk potential function and an adaptive threshold mechanism inspired by statistical process control.Tested across multi-scenario datasets, the complete system demonstrates high efficacy, achieving an F1 score of 0.912, a low false alarm rate of 8.2%, and an ample warning lead time of 2.8 seconds, validating the framework's superior performance and practical deployment feasibility in complex environments.

cs.LG↗

arXiv2025

Intelligent Design 4.0: Paradigm Evolution Toward the Agentic AI Era

Research and practice in Intelligent Design (ID) have significantly enhanced engineering innovation, efficiency, quality, and productivity over recent decades, fundamentally reshaping how engineering designers think, behave, and interact with design processes. The recent emergence of Foundation Models (FMs), particularly Large Language Models (LLMs), has demonstrated general knowledge-based reasoning capabilities, and open new avenues for further transformation in engineering design. In this context, this paper introduces Intelligent Design 4.0 (ID 4.0) as an emerging paradigm empowered by foundation model-based agentic AI systems. We review the historical evolution of ID across four distinct stages: rule-based expert systems, task-specific machine learning models, large-scale foundation AI models, and the recent emerging paradigm of foundation model-based multi-agent collaboration. We propose an ontological framework for ID 4.0 and discuss its potential to support end-to-end automation of engineering design processes through coordinated, autonomous multi-agent-based systems. Furthermore, we discuss challenges and opportunities of ID 4.0, including perspectives on data foundations, agent collaboration mechanisms, and the formulation of design problems and objectives. In sum, these insights provide a foundation for advancing Intelligent Design toward greater adaptivity, autonomy, and effectiveness in addressing the growing complexity of engineering design.

cs.CE↗

arXiv2025

Graph Unlearning Meets Influence-aware Negative Preference Optimization

Recent advancements in graph unlearning models have enhanced model utility by preserving the node representation essentially invariant, while using gradient ascent on the forget set to achieve unlearning. However, this approach causes a drastic degradation in model utility during the unlearning process due to the rapid divergence speed of gradient ascent. In this paper, we introduce \textbf{INPO}, an \textbf{I}nfluence-aware \textbf{N}egative \textbf{P}reference \textbf{O}ptimization framework that focuses on slowing the divergence speed and improving the robustness of the model utility to the unlearning process. Specifically, we first analyze that NPO has slower divergence speed and theoretically propose that unlearning high-influence edges can reduce impact of unlearning. We design an influence-aware message function to amplify the influence of unlearned edges and mitigate the tight topological coupling between the forget set and the retain set. The influence of each edge is quickly estimated by a removal-based method. Additionally, we propose a topological entropy loss from the perspective of topology to avoid excessive information loss in the local structure during unlearning. Extensive experiments conducted on five real-world datasets demonstrate that INPO-based model achieves state-of-the-art performance on all forget quality metrics while maintaining the model's utility. Codes are available at \href{https://github.com/sh-qiangchen/INPO}{https://github.com/sh-qiangchen/INPO}.

cs.LG↗

arXiv2025

SmaRT: Style-Modulated Robust Test-Time Adaptation for Cross-Domain Brain Tumor Segmentation in MRI

Reliable brain tumor segmentation in MRI is indispensable for treatment planning and outcome monitoring, yet models trained on curated benchmarks often fail under domain shifts arising from scanner and protocol variability as well as population heterogeneity. Such gaps are especially severe in low-resource and pediatric cohorts, where conventional test-time or source-free adaptation strategies often suffer from instability and structural inconsistency. We propose SmaRT, a style-modulated robust test-time adaptation framework that enables source-free cross-domain generalization. SmaRT integrates style-aware augmentation to mitigate appearance discrepancies, a dual-branch momentum strategy for stable pseudo-label refinement, and structural priors enforcing consistency, integrity, and connectivity. This synergy ensures both adaptation stability and anatomical fidelity under extreme domain shifts. Extensive evaluations on sub-Saharan Africa and pediatric glioma datasets show that SmaRT consistently outperforms state-of-the-art methods, with notable gains in Dice accuracy and boundary precision. Overall, SmaRT bridges the gap between algorithmic advances and equitable clinical applicability, supporting robust deployment of MRI-based neuro-oncology tools in diverse clinical environments. Our source code is available at https://github.com/baiyou1234/SmaRT.

cs.CV↗

arXiv2025

Bridging the Gap in Missing Modalities: Leveraging Knowledge Distillation and Style Matching for Brain Tumor Segmentation

Accurate and reliable brain tumor segmentation, particularly when dealing with missing modalities, remains a critical challenge in medical image analysis. Previous studies have not fully resolved the challenges of tumor boundary segmentation insensitivity and feature transfer in the absence of key imaging modalities. In this study, we introduce MST-KDNet, aimed at addressing these critical issues. Our model features Multi-Scale Transformer Knowledge Distillation to effectively capture attention weights at various resolutions, Dual-Mode Logit Distillation to improve the transfer of knowledge, and a Global Style Matching Module that integrates feature matching with adversarial learning. Comprehensive experiments conducted on the BraTS and FeTS 2024 datasets demonstrate that MST-KDNet surpasses current leading methods in both Dice and HD95 scores, particularly in conditions with substantial modality loss. Our approach shows exceptional robustness and generalization potential, making it a promising candidate for real-world clinical applications. Our source code is available at https://github.com/Quanato607/MST-KDNet.

cs.CV↗

arXiv2025

Robot Tactile Gesture Recognition Based on Full-body Modular E-skin

With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize tactile gestures and interpret them as human commands. We developed a modular robot E-skin, composed of multiple irregularly shaped skin patches, which can be assembled to cover the robot's body while capturing real-time pressure and pose data from thousands of sensing points. To process this information, we propose an equivariant graph neural network-based recognizer that efficiently and accurately classifies diverse tactile gestures, including poke, grab, stroke, and double-pat. By mapping the recognized gestures to predefined robot actions, we enable intuitive human-robot interaction purely through tactile input.

cs.RO↗

arXiv2025

Kaiwu: A Multimodal Manipulation Dataset and Framework for Robot Learning and Human-Robot Interaction

Cutting-edge robot learning techniques including foundation models and imitation learning from humans all pose huge demands on large-scale and high-quality datasets which constitute one of the bottleneck in the general intelligent robot fields. This paper presents the Kaiwu multimodal dataset to address the missing real-world synchronized multimodal data problems in the sophisticated assembling scenario,especially with dynamics information and its fine-grained labelling. The dataset first provides an integration of human,environment and robot data collection framework with 20 subjects and 30 interaction objects resulting in totally 11,664 instances of integrated actions. For each of the demonstration,hand motions,operation pressures,sounds of the assembling process,multi-view videos, high-precision motion capture information,eye gaze with first-person videos,electromyography signals are all recorded. Fine-grained multi-level annotation based on absolute timestamp,and semantic segmentation labelling are performed. Kaiwu dataset aims to facilitate robot learning,dexterous manipulation,human intention investigation and human-robot collaboration research.

cs.RO↗

arXiv2025

AutoTRIZ: Automating Engineering Innovation with TRIZ and Large Language Models

Various ideation methods, such as morphological analysis and design-by-analogy, have been developed to aid creative problem-solving and innovation. Among them, the Theory of Inventive Problem Solving (TRIZ) stands out as one of the best-known methods. However, the complexity of TRIZ and its reliance on users' knowledge, experience, and reasoning capabilities limit its practicality. To address this, we introduce AutoTRIZ, an artificial ideation system that integrates Large Language Models (LLMs) to automate and enhance the TRIZ methodology. By leveraging LLMs' vast pre-trained knowledge and advanced reasoning capabilities, AutoTRIZ offers a novel, generative, and interpretable approach to engineering innovation. AutoTRIZ takes a problem statement from the user as its initial input, automatically conduct the TRIZ reasoning process and generates a structured solution report. We demonstrate and evaluate the effectiveness of AutoTRIZ through comparative experiments with textbook cases and a real-world application in the design of a Battery Thermal Management System (BTMS). Moreover, the proposed LLM-based framework holds the potential for extension to automate other knowledge-based ideation methods, such as SCAMPER, Design Heuristics, and Design-by-Analogy, paving the way for a new era of AI-driven innovation tools.

cs.HC↗

arXiv2025

XLSTM-HVED: Cross-Modal Brain Tumor Segmentation and MRI Reconstruction Method Using Vision XLSTM and Heteromodal Variational Encoder-Decoder

Neurogliomas are among the most aggressive forms of cancer, presenting considerable challenges in both treatment and monitoring due to their unpredictable biological behavior. Magnetic resonance imaging (MRI) is currently the preferred method for diagnosing and monitoring gliomas. However, the lack of specific imaging techniques often compromises the accuracy of tumor segmentation during the imaging process. To address this issue, we introduce the XLSTM-HVED model. This model integrates a hetero-modal encoder-decoder framework with the Vision XLSTM module to reconstruct missing MRI modalities. By deeply fusing spatial and temporal features, it enhances tumor segmentation performance. The key innovation of our approach is the Self-Attention Variational Encoder (SAVE) module, which improves the integration of modal features. Additionally, it optimizes the interaction of features between segmentation and reconstruction tasks through the Squeeze-Fusion-Excitation Cross Awareness (SFECA) module. Our experiments using the BraTS 2024 dataset demonstrate that our model significantly outperforms existing advanced methods in handling cases where modalities are missing. Our source code is available at https://github.com/Quanato607/XLSTM-HVED.

eess.IV↗

arXiv2024

Large Language Models for Combinatorial Optimization of Design Structure Matrix

Combinatorial optimization (CO) is essential for improving efficiency and performance in engineering applications. As complexity increases with larger problem sizes and more intricate dependencies, identifying the optimal solution become challenging. When it comes to real-world engineering problems, algorithms based on pure mathematical reasoning are limited and incapable to capture the contextual nuances necessary for optimization. This study explores the potential of Large Language Models (LLMs) in solving engineering CO problems by leveraging their reasoning power and contextual knowledge. We propose a novel LLM-based framework that integrates network topology and domain knowledge to optimize the sequencing of Design Structure Matrix (DSM)-a common CO problem. Our experiments on various DSM cases demonstrate that the proposed method achieves faster convergence and higher solution quality than benchmark methods. Moreover, results show that incorporating contextual domain knowledge significantly improves performance despite the choice of LLMs. These findings highlight the potential of LLMs in tackling complex real-world CO problems by combining semantic and mathematical reasoning. This approach paves the way for a new paradigm in in real-world combinatorial optimization.

cs.CE↗

arXiv2024

Flipping-based Policy for Chance-Constrained Markov Decision Processes

Safe reinforcement learning (RL) is a promising approach for many real-world decision-making problems where ensuring safety is a critical necessity. In safe RL research, while expected cumulative safety constraints (ECSCs) are typically the first choices, chance constraints are often more pragmatic for incorporating safety under uncertainties. This paper proposes a \textit{flipping-based policy} for Chance-Constrained Markov Decision Processes (CCMDPs). The flipping-based policy selects the next action by tossing a potentially distorted coin between two action candidates. The probability of the flip and the two action candidates vary depending on the state. We establish a Bellman equation for CCMDPs and further prove the existence of a flipping-based policy within the optimal solution sets. Since solving the problem with joint chance constraints is challenging in practice, we then prove that joint chance constraints can be approximated into Expected Cumulative Safety Constraints (ECSCs) and that there exists a flipping-based policy in the optimal solution sets for constrained MDPs with ECSCs. As a specific instance of practical implementations, we present a framework for adapting constrained policy optimization to train a flipping-based policy. This framework can be applied to other safe RL algorithms. We demonstrate that the flipping-based policy can improve the performance of the existing safe RL algorithms under the same limits of safety constraints on Safety Gym benchmarks.

cs.LG↗

arXiv2024

Robot Body Schema Learning from Full-body Extero/Proprioception Sensors

For a robot, its body structure is an a-prior knowledge when it is designed. However, when such information is not available, can a robot recognize it by itself? In this paper, we aim to grant a robot such ability to learn its body structure from exteroception and proprioception data collected from on-body sensors. By a novel machine learning method, the robot can learn a binary Heterogeneous Dependency Matrix from its sensor readings. We showed such matrix is equivalent to a Heterogeneous out-tree structure which can uniquely represent the robot body topology. We explored the properties of such matrix and the out-tree, and proposed a remedy to fix them when they are contaminated by partial observability or data noise. We ran our algorithm on 6 different robots with different body structures in simulation and 1 real robot. Our algorithm correctly recognized their body structures with only on-body sensor readings but no topology prior knowledge.

cs.RO↗