arXiv subjects

Tong Zhao

Publications and source records attributed to Tong Zhao.

At least 109 records · Page 6Linked to original sources

arXiv2025

Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?

Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth system with a smooth one, allowing one to use these synthesis tools more effectively. However, applying classical control synthesis methods to smoothed contact dynamics remains relatively under-explored. This paper analyzes the efficacy of linear controller synthesis using differential simulators based on contact smoothing. We introduce natural baselines for leveraging contact smoothing to compute (a) open-loop plans robust to uncertain conditions and/or dynamics, and (b) feedback gains to stabilize around open-loop plans. Using robotic bimanual whole-body manipulation as a testbed, we perform extensive empirical experiments on over 300 trajectories and analyze why LQR seems insufficient for stabilizing contact-rich plans. The video summarizing this paper and hardware experiments is found here: https://youtu.be/HLaKi6qbwQg?si=_zCAmBBD6rGSitm9.

cs.RO↗

arXiv2025

Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?

The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation tasks that require complex coordination of multiple contacts are difficult to collect due to the limitations of current teleoperation interfaces. We investigate how to leverage model-based planning and optimization to generate training data for contact-rich dexterous manipulation tasks. Our analysis reveals that popular sampling-based planners like rapidly exploring random tree (RRT), while efficient for motion planning, produce demonstrations with unfavorably high entropy. This motivates modifications to our data generation pipeline that prioritizes demonstration consistency while maintaining solution diversity. Combined with a diffusion-based goal-conditioned BC approach, our method enables effective policy learning and zero-shot transfer to hardware for two challenging contact-rich manipulation tasks.

cs.RO↗

arXiv2025

BEV-GS: Feed-forward Gaussian Splatting in Bird's-Eye-View for Road Reconstruction

Road surface is the sole contact medium for wheels or robot feet. Reconstructing road surface is crucial for unmanned vehicles and mobile robots. Recent studies on Neural Radiance Fields (NeRF) and Gaussian Splatting (GS) have achieved remarkable results in scene reconstruction. However, they typically rely on multi-view image inputs and require prolonged optimization times. In this paper, we propose BEV-GS, a real-time single-frame road surface reconstruction method based on feed-forward Gaussian splatting. BEV-GS consists of a prediction module and a rendering module. The prediction module introduces separate geometry and texture networks following Bird's-Eye-View paradigm. Geometric and texture parameters are directly estimated from a single frame, avoiding per-scene optimization. In the rendering module, we utilize grid Gaussian for road surface representation and novel view synthesis, which better aligns with road surface characteristics. Our method achieves state-of-the-art performance on the real-world dataset RSRD. The road elevation error reduces to 1.73 cm, and the PSNR of novel view synthesis reaches 28.36 dB. The prediction and rendering FPS is 26, and 2061, respectively, enabling high-accuracy and real-time applications. The code will be available at: \href{https://github.com/cat-wwh/BEV-GS}{\texttt{https://github.com/cat-wwh/BEV-GS}}

cs.GR↗

arXiv2025

Mosaic of Modalities: A Comprehensive Benchmark for Multimodal Graph Learning

Graph machine learning has made significant strides in recent years, yet the integration of visual information with graph structure and its potential for improving performance in downstream tasks remains an underexplored area. To address this critical gap, we introduce the Multimodal Graph Benchmark (MM-GRAPH), a pioneering benchmark that incorporates both visual and textual information into graph learning tasks. MM-GRAPH extends beyond existing text-attributed graph benchmarks, offering a more comprehensive evaluation framework for multimodal graph learning Our benchmark comprises seven diverse datasets of varying scales (ranging from thousands to millions of edges), designed to assess algorithms across different tasks in real-world scenarios. These datasets feature rich multimodal node attributes, including visual data, which enables a more holistic evaluation of various graph learning frameworks in complex, multimodal environments. To support advancements in this emerging field, we provide an extensive empirical study on various graph learning frameworks when presented with features from multiple modalities, particularly emphasizing the impact of visual information. This study offers valuable insights into the challenges and opportunities of integrating visual data into graph learning.

cs.LG↗

arXiv2025

Beyond Unimodal Boundaries: Generative Recommendation with Multimodal Semantics

Generative recommendation (GR) has become a powerful paradigm in recommendation systems that implicitly links modality and semantics to item representation, in contrast to previous methods that relied on non-semantic item identifiers in autoregressive models. However, previous research has predominantly treated modalities in isolation, typically assuming item content is unimodal (usually text). We argue that this is a significant limitation given the rich, multimodal nature of real-world data and the potential sensitivity of GR models to modality choices and usage. Our work aims to explore the critical problem of Multimodal Generative Recommendation (MGR), highlighting the importance of modality choices in GR nframeworks. We reveal that GR models are particularly sensitive to different modalities and examine the challenges in achieving effective GR when multiple modalities are available. By evaluating design strategies for effectively leveraging multiple modalities, we identify key challenges and introduce MGR-LF++, an enhanced late fusion framework that employs contrastive modality alignment and special tokens to denote different modalities, achieving a performance improvement of over 20% compared to single-modality alternatives.

cs.IR↗

arXiv2025

ResBench: Benchmarking LLM-Generated FPGA Designs with Resource Awareness

Field-Programmable Gate Arrays (FPGAs) are widely used in modern hardware design, yet writing Hardware Description Language (HDL) code for FPGA implementation remains a complex and time-consuming task. Large Language Models (LLMs) have emerged as a promising tool for HDL generation, but existing benchmarks for LLM-based code generation primarily focus on functional correctness while overlooking hardware resource usage. Furthermore, current benchmarks offer limited diversity and do not fully represent the wide range of real-world FPGA applications. To address these shortcomings, we introduce ResBench, the first resource-focused benchmark explicitly designed to distinguish between resource-optimized and inefficient LLM-generated HDL code. ResBench consists of 56 problems across 12 categories, covering applications from finite state machines to financial computing. Our open-source evaluation framework automatically tests LLMs by generating Verilog code, verifying correctness, and measuring resource usage. The experiments, which primarily analyze Lookup Table (LUT) usage, reveal significant differences among LLMs, demonstrating ResBench's capability to identify models that generate more resource-optimized FPGA designs.

cs.AR↗

arXiv2025

A Counterintuitive Correlation Between Neutron-Star Radii Inferred from Pulse Modeling and Surface Emission Beaming

Thermal X-ray emission from rotation-powered millisecond pulsars, shaped by gravitational lensing and the beaming of the surface radiation, provides critical insights into neutron star properties. This approach has been the focus of observations with the NICER mission. Using a semi-analytic model to calculate pulse profiles, we investigate the effects of adopting incorrect beaming models on the inferred compactness of neutron stars. We demonstrate that assuming a more centrally peaked beaming pattern when fitting data from a more isotropic emitter leads to an underestimation of compactness in the case of two antipodal polar caps. We present a detailed analysis of this counterintuitive result, offering both qualitative insights and quantitative estimates. If the atmospheric heating in the millisecond pulsars observed with NICER is shallow, the inferred radii for these sources could be significantly overestimated, with important implications for neutron star structure and equation-of-state constraints.

astro-ph.HE↗

arXiv2025

FlashRAG: A Modular Toolkit for Efficient Retrieval-Augmented Generation Research

With the advent of large language models (LLMs) and multimodal large language models (MLLMs), the potential of retrieval-augmented generation (RAG) has attracted considerable research attention. Various novel algorithms and models have been introduced to enhance different aspects of RAG systems. However, the absence of a standardized framework for implementation, coupled with the inherently complex RAG process, makes it challenging and time-consuming for researchers to compare and evaluate these approaches in a consistent environment. Existing RAG toolkits, such as LangChain and LlamaIndex, while available, are often heavy and inflexibly, failing to meet the customization needs of researchers. In response to this challenge, we develop \ours{}, an efficient and modular open-source toolkit designed to assist researchers in reproducing and comparing existing RAG methods and developing their own algorithms within a unified framework. Our toolkit has implemented 16 advanced RAG methods and gathered and organized 38 benchmark datasets. It has various features, including a customizable modular framework, multimodal RAG capabilities, a rich collection of pre-implemented RAG works, comprehensive datasets, efficient auxiliary pre-processing scripts, and extensive and standard evaluation metrics. Our toolkit and resources are available at https://github.com/RUC-NLPIR/FlashRAG.

cs.CL↗

arXiv2025

Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation

Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent complexity of these tasks, acquiring sufficient demonstration data and training policies that generalize to unseen scenarios remain a largely unresolved challenge. Building on recent advances in planning through contacts, we introduce Generalizable Planning-Guided Diffusion Policy Learning (GLIDE), an approach that effectively learns to solve contact-rich bimanual manipulation tasks by leveraging model-based motion planners to generate demonstration data in high-fidelity physics simulation. Through efficient planning in randomized environments, our approach generates large-scale and high-quality synthetic motion trajectories for tasks involving diverse objects and transformations. We then train a task-conditioned diffusion policy via behavior cloning using these demonstrations. To tackle the sim-to-real gap, we propose a set of essential design options in feature extraction, task representation, action prediction, and data augmentation that enable learning robust prediction of smooth action sequences and generalization to unseen scenarios. Through experiments in both simulation and the real world, we demonstrate that our approach can enable a bimanual robotic system to effectively manipulate objects of diverse geometries, dimensions, and physical properties. Website: https://glide-manip.github.io/

cs.RO↗

arXiv2025

IceBerg: Debiased Self-Training for Class-Imbalanced Node Classification

Graph Neural Networks (GNNs) have achieved great success in dealing with non-Euclidean graph-structured data and have been widely deployed in many real-world applications. However, their effectiveness is often jeopardized under class-imbalanced training sets. Most existing studies have analyzed class-imbalanced node classification from a supervised learning perspective, but they do not fully utilize the large number of unlabeled nodes in semi-supervised scenarios. We claim that the supervised signal is just the tip of the iceberg and a large number of unlabeled nodes have not yet been effectively utilized. In this work, we propose IceBerg, a debiased self-training framework to address the class-imbalanced and few-shot challenges for GNNs at the same time. Specifically, to figure out the Matthew effect and label distribution shift in self-training, we propose Double Balancing, which can largely improve the performance of existing baselines with just a few lines of code as a simple plug-and-play module. Secondly, to enhance the long-range propagation capability of GNNs, we disentangle the propagation and transformation operations of GNNs. Therefore, the weak supervision signals can propagate more effectively to address the few-shot issue. In summary, we find that leveraging unlabeled nodes can significantly enhance the performance of GNNs in class-imbalanced and few-shot scenarios, and even small, surgical modifications can lead to substantial performance improvements. Systematic experiments on benchmark datasets show that our method can deliver considerable performance gain over existing class-imbalanced node classification baselines. Additionally, due to IceBerg's outstanding ability to leverage unsupervised signals, it also achieves state-of-the-art results in few-shot node classification scenarios. The code of IceBerg is available at: https://github.com/ZhixunLEE/IceBerg.

cs.LG↗

arXiv2025

GraphHash: Graph Clustering Enables Parameter Efficiency in Recommender Systems

Deep recommender systems rely heavily on large embedding tables to handle high-cardinality categorical features such as user/item identifiers, and face significant memory constraints at scale. To tackle this challenge, hashing techniques are often employed to map multiple entities to the same embedding and thus reduce the size of the embedding tables. Concurrently, graph-based collaborative signals have emerged as powerful tools in recommender systems, yet their potential for optimizing embedding table reduction remains unexplored. This paper introduces GraphHash, the first graph-based approach that leverages modularity-based bipartite graph clustering on user-item interaction graphs to reduce embedding table sizes. We demonstrate that the modularity objective has a theoretical connection to message-passing, which provides a foundation for our method. By employing fast clustering algorithms, GraphHash serves as a computationally efficient proxy for message-passing during preprocessing and a plug-and-play graph-based alternative to traditional ID hashing. Extensive experiments show that GraphHash substantially outperforms diverse hashing baselines on both retrieval and click-through-rate prediction tasks. In particular, GraphHash achieves on average a 101.52% improvement in recall when reducing the embedding table size by more than 75%, highlighting the value of graph-based collaborative information for model reduction. Our code is available at https://github.com/snap-research/GraphHash.

cs.IR↗

arXiv2025

Retrieval-Augmented Generation with Graphs (GraphRAG)

Retrieval-augmented generation (RAG) is a powerful technique that enhances downstream task execution by retrieving additional information, such as knowledge, skills, and tools from external sources. Graph, by its intrinsic "nodes connected by edges" nature, encodes massive heterogeneous and relational information, making it a golden resource for RAG in tremendous real-world applications. As a result, we have recently witnessed increasing attention on equipping RAG with Graph, i.e., GraphRAG. However, unlike conventional RAG, where the retriever, generator, and external data sources can be uniformly designed in the neural-embedding space, the uniqueness of graph-structured data, such as diverse-formatted and domain-specific relational knowledge, poses unique and significant challenges when designing GraphRAG for different domains. Given the broad applicability, the associated design challenges, and the recent surge in GraphRAG, a systematic and up-to-date survey of its key concepts and techniques is urgently desired. Following this motivation, we present a comprehensive and up-to-date survey on GraphRAG. Our survey first proposes a holistic GraphRAG framework by defining its key components, including query processor, retriever, organizer, generator, and data source. Furthermore, recognizing that graphs in different domains exhibit distinct relational patterns and require dedicated designs, we review GraphRAG techniques uniquely tailored to each domain. Finally, we discuss research challenges and brainstorm directions to inspire cross-disciplinary opportunities. Our survey repository is publicly maintained at https://github.com/Graph-RAG/GraphRAG/.

cs.IR↗

arXiv2025

Large Scale Finite-Temperature Real-time Time Dependent Density Functional Theory Calculation with Hybrid Functional on ARM and GPU Systems

Ultra-fast electronic phenomena originating from finite temperature, such as nonlinear optical excitation, can be simulated with high fidelity via real-time time dependent density functional theory (rt-TDDFT) calculations with hybrid functional. However, previous rt-TDDFT simulations of real materials using the optimal gauge--known as the parallel transport gauge--have been limited to low-temperature systems with band gaps. In this paper, we introduce the parallel transport-implicit midpoint (PT-IM) method, which significantly accelerates finite-temperature rt-TDDFT calculations of real materials with hybrid function. We first implement PT-IM with hybrid functional in our plane wave code PWDFT, and optimized it on both GPU and ARM platforms to build a solid baseline code. Next, we propose a diagonalization method to reduce computation and communication complexity, and then, we employ adaptively compressed exchange (ACE) method to reduce the frequency of the most expensive Fock exchange operator. Finally, we adopt the ring\_based method and the shared memory mechanism to overlap computation and communication and alleviate memory consumption respectively. Numerical results show that our optimized code can reach 3072 atoms for rt-TDDFT simulation with hybrid functional at finite temperature on 192 computing nodes, the time-to-solution for one time step is 429.3s, which is 41.4 times faster compared to the baseline.

cond-mat.mtrl-sci↗

arXiv2024

Enhancing Item Tokenization for Generative Recommendation through Self-Improvement

Generative recommendation systems, driven by large language models (LLMs), present an innovative approach to predicting user preferences by modeling items as token sequences and generating recommendations in a generative manner. A critical challenge in this approach is the effective tokenization of items, ensuring that they are represented in a form compatible with LLMs. Current item tokenization methods include using text descriptions, numerical strings, or sequences of discrete tokens. While text-based representations integrate seamlessly with LLM tokenization, they are often too lengthy, leading to inefficiencies and complicating accurate generation. Numerical strings, while concise, lack semantic depth and fail to capture meaningful item relationships. Tokenizing items as sequences of newly defined tokens has gained traction, but it often requires external models or algorithms for token assignment. These external processes may not align with the LLM's internal pretrained tokenization schema, leading to inconsistencies and reduced model performance. To address these limitations, we propose a self-improving item tokenization method that allows the LLM to refine its own item tokenizations during training process. Our approach starts with item tokenizations generated by any external model and periodically adjusts these tokenizations based on the LLM's learned patterns. Such alignment process ensures consistency between the tokenization and the LLM's internal understanding of the items, leading to more accurate recommendations. Furthermore, our method is simple to implement and can be integrated as a plug-and-play enhancement into existing generative recommendation systems. Experimental results on multiple datasets and using various initial tokenization strategies demonstrate the effectiveness of our method, with an average improvement of 8\% in recommendation performance.

cs.LG↗

arXiv2024

Uncovering Correlations and Biases in Parameter Inference from Neutron-Star Pulse Profile Modeling

Modeling of X-ray pulse profiles from millisecond pulsars offers a promising method of inferring the mass-to-radius ratios of neutron stars. Recent observations with NICER resulted in measurements of radii for three neutron stars using this technique. In this paper, we explore correlations between model parameters and the degree to which individual parameters can be inferred from pulse profiles, using an analytic model that allows for an efficient and interpretable exploration. We introduce a new set of model parameters that reduce the most prominent correlations and allow for an efficient sampling of posteriors. We then demonstrate that the degree of beaming of radiation emerging from the neutron star surface has a large impact on the uncertainties in the inferred model parameters. Finally, we show that the uncertainties in the model parameters for neutron stars for which the polar cap temperature falls outside of the NICER energy range are significantly degraded.

astro-ph.HE↗

arXiv2024

Unveiling hole-facilitated amorphisation in pressure-induced phase transformation of silicon

Pressure-induced phase transformation occurs during silicon (Si) wafering processes. \b{eta}-tin (Si-II) phase is formed at high pressures, followed by the transformation to Si-XII, Si-III or/and amorphous Si (α-Si) phases during the subsequent decompression. While the imposed pressure and its release rate are known to dictate the phase transformation of Si, the effect of charge carriers are ignored. Here, we experimentally unveil that the increased hole concentration facilitates the amorphization in the pressure-induced phase transformation of Si. The underlying mechanism is elucidated by the theoretical calculations based on machine-learning interatomic potentials. The hole-facilitated amorphization is also experimentally confirmed to occur in the indented Ge, GaAs or SiC. We discover that hole concentration is another determining factor for the pressure-induced phase transformations of the industrially important semiconductors.

cond-mat.mtrl-sci↗

arXiv2024

Towards Neural Scaling Laws on Graphs

Deep graph models (e.g., graph neural networks and graph transformers) have become important techniques for leveraging knowledge across various types of graphs. Yet, the neural scaling laws on graphs, i.e., how the performance of deep graph models changes with model and dataset sizes, have not been systematically investigated, casting doubts on the feasibility of achieving large graph models. To fill this gap, we benchmark many graph datasets from different tasks and make an attempt to establish the neural scaling laws on graphs from both model and data perspectives. The model size we investigated is up to 100 million parameters, and the dataset size investigated is up to 50 million samples. We first verify the validity of such laws on graphs, establishing proper formulations to describe the scaling behaviors. For model scaling, we identify that despite the parameter numbers, the model depth also plays an important role in affecting the model scaling behaviors, which differs from observations in other domains such as CV and NLP. For data scaling, we suggest that the number of graphs can not effectively measure the graph data volume in scaling law since the sizes of different graphs are highly irregular. Instead, we reform the data scaling law with the number of nodes or edges as the metric to address the irregular graph sizes. We further demonstrate that the reformed law offers a unified view of the data scaling behaviors for various fundamental graph tasks including node classification, link prediction, and graph classification. This work provides valuable insights into neural scaling laws on graphs, which can serve as an important tool for collecting new graph data and developing large graph models.

cs.LG↗

arXiv2024

Revisiting Link Prediction: A Data Perspective

Link prediction, a fundamental task on graphs, has proven indispensable in various applications, e.g., friend recommendation, protein analysis, and drug interaction prediction. However, since datasets span a multitude of domains, they could have distinct underlying mechanisms of link formation. Evidence in existing literature underscores the absence of a universally best algorithm suitable for all datasets. In this paper, we endeavor to explore principles of link prediction across diverse datasets from a data-centric perspective. We recognize three fundamental factors critical to link prediction: local structural proximity, global structural proximity, and feature proximity. We then unearth relationships among those factors where (i) global structural proximity only shows effectiveness when local structural proximity is deficient. (ii) The incompatibility can be found between feature and structural proximity. Such incompatibility leads to GNNs for Link Prediction (GNN4LP) consistently underperforming on edges where the feature proximity factor dominates. Inspired by these new insights from a data perspective, we offer practical instruction for GNN4LP model design and guidelines for selecting appropriate benchmark datasets for more comprehensive evaluations.

cs.SI↗