arXiv subjects

Yuan Gao

Publications and source records attributed to Yuan Gao.

At least 163 records · Page 9Linked to original sources

arXiv2026

Cross-view Domain Generalization via Geometric Consistency for LiDAR Semantic Segmentation

Domain-generalized LiDAR semantic segmentation (LSS) seeks to train models on source-domain point clouds that generalize reliably to multiple unseen target domains, which is essential for real-world LiDAR applications. However, existing approaches assume similar acquisition views (e.g., vehicle-mounted) and struggle in cross-view scenarios, where observations differ substantially due to viewpoint-dependent structural incompleteness and non-uniform point density. Accordingly, we formulate cross-view domain generalization for LiDAR semantic segmentation and propose a novel framework, termed CVGC (Cross-View Geometric Consistency). Specifically, we introduce a cross-view geometric augmentation module that models viewpoint-induced variations in visibility and sampling density, generating multiple cross-view observations of the same scene. Subsequently, a geometric consistency module enforces consistent semantic and occupancy predictions across geometrically augmented point clouds of the same scene. Extensive experiments on six public LiDAR datasets establish the first systematic evaluation of cross-view domain generalization for LiDAR semantic segmentation, demonstrating that CVGC consistently outperforms state-of-the-art methods when generalizing from a single source domain to multiple target domains with heterogeneous acquisition viewpoints. The source code will be publicly available at https://github.com/KintomZi/CVGC-DG

cs.CV↗

arXiv2026

Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis

For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of autonomous driving systems. Traditional scenario generation relies on rule-based systems, knowledge-driven models, and data-driven synthesis, often producing limited diversity and unrealistic safety-critical cases. With the emergence of foundation models, which represent a new generation of pre-trained, general-purpose AI models, developers can process heterogeneous inputs (e.g., natural language, sensor data, HD maps, and control actions), enabling the synthesis and interpretation of complex driving scenarios. In this paper, we conduct a survey about the application of foundation models for scenario generation and scenario analysis in autonomous driving (as of May 2025). Our survey presents a unified taxonomy that includes large language models, vision-language models, multimodal large language models, diffusion models, and world models for the generation and analysis of autonomous driving scenarios. In addition, we review the methodologies, open-source datasets, simulation platforms, and benchmark challenges, and we examine the evaluation metrics tailored explicitly to scenario generation and analysis. Finally, the survey concludes by highlighting the open challenges and research questions, and outlining promising future research directions. All reviewed papers are listed in a continuously maintained repository, which contains supplementary materials and is available at https://github.com/TUM-AVS/FM-for-Scenario-Generation-Analysis.

cs.RO↗

arXiv2026

MRMR: A Realistic and Expert-Level Multidisciplinary Benchmark for Reasoning-Intensive Multimodal Retrieval

We introduce MRMR, the first expert-level multidisciplinary multimodal retrieval benchmark requiring intensive reasoning. MRMR contains 1,502 queries spanning 23 domains, with positive documents carefully verified by human experts. Compared to prior benchmarks, MRMR introduces three key advancements. First, it challenges retrieval systems across diverse areas of expertise, enabling fine-grained model comparison across domains. Second, queries are reasoning-intensive, with images requiring deeper interpretation such as diagnosing microscopic slides. We further introduce Contradiction Retrieval, a novel task requiring models to identify conflicting concepts. Finally, queries and documents are constructed as image-text interleaved sequences. Unlike earlier benchmarks restricted to single images or unimodal documents, MRMR offers a realistic setting with multi-image queries and mixed-modality corpus documents. We conduct an extensive evaluation of 4 categories of multimodal retrieval systems and 14 frontier models on MRMR. The text embedding model Qwen3-Embedding with LLM-generated image captions achieves the highest performance, highlighting substantial room for improving multimodal retrieval models. Although latest multimodal models such as Ops-MM-Embedding perform competitively on expert-domain queries, they fall short on reasoning-intensive tasks. We believe that MRMR paves the way for advancing multimodal retrieval in more realistic and challenging scenarios.

cs.IR↗

arXiv2026

Generalizable and Robust Beam Prediction for 6G Networks: An Deep-Learning Framework with Positioning Feature Fusion

Beamforming (BF) is essential for enhancing system capacity in fifth generation (5G) and beyond wireless networks, yet exhaustive beam training in ultra-massive multiple-input multiple-output (MIMO) systems incurs substantial overhead. To address this challenge, we propose a deep learning based framework that leverages position-aware features to improve beam prediction accuracy while reducing training costs. The proposed approach uses spatial coordinate labels to supervise a position extraction branch and integrates the resulting representations with beam-domain features through a feature fusion module. A dual-branch RegNet architecture is adopted to jointly learn location related and communication features for beam prediction. Two fusion strategies, namely adaptive fusion and adversarial fusion, are introduced to enable efficient feature integration. The proposed framework is evaluated on datasets generated by the DeepMIMO simulator across four urban scenarios at 3.5 GHz following 3GPP specifications, where both reference signal received power and user equipment location information are available. Simulation results under both in-distribution and out-of-distribution settings demonstrate that the proposed approach consistently outperforms traditional baselines and achieves more accurate and robust beam prediction by effectively incorporating positioning information.

eess.SP↗

arXiv2026

Dynamic Channel Charting: An LSTM-AE-based Approach

With the development of the sixth-generation (6G) communication system, Channel State Information (CSI) plays a crucial role in improving network performance. Traditional Channel Charting (CC) methods map high-dimensional CSI data to low-dimensional spaces to help reveal the geometric structure of wireless channels. However, most existing CC methods focus on learning static geometric structures and ignore the dynamic nature of the channel over time, leading to instability and poor topological consistency of the channel charting in complex environments. To address this issue, this paper proposes a novel time-series channel charting approach based on the integration of Long Short-Term Memory (LSTM) networks and Auto encoders (AE) (LSTM-AE-CC). This method incorporates a temporal modeling mechanism into the traditional CC framework, capturing temporal dependencies in CSI using LSTM and learning continuous latent representations with AE. The proposed method ensures both geometric consistency of the channel and explicit modeling of the time-varying properties. Experimental results demonstrate that the proposed method outperforms traditional CC methods in various real-world communication scenarios, particularly in terms of channel charting stability, trajectory continuity, and long-term predictability.

eess.SP↗

arXiv2026

End-to-end reconstruction of OCT optical properties and speckle-reduced structural intensity via physics-based learning

Inverse scattering in optical coherence tomography (OCT) seeks to recover both structural images and intrinsic tissue optical properties, including refractive index, scattering coefficient, and anisotropy. This inverse problem is challenging due to attenuation, speckle noise, and strong coupling among parameters. We propose a regularized end-to-end deep learning framework that jointly reconstructs optical parameter maps and speckle-reduced OCT structural intensity for layer visualization. Trained with Monte Carlo-simulated ground truth, our network incorporates a physics-based OCT forward model that generates predicted signals from the estimated parameters, providing physics-consistent supervision for parameter recovery and artifact suppression. Experiments on the synthetic corneal OCT dataset demonstrate robust optical map recovery under noise, improved resolution, and enhanced structural fidelity. This approach enables quantitative multi-parameter tissue characterization and highlights the benefit of combining physics-informed modeling with deep learning for computational OCT.

cs.CV↗

arXiv2026

Meanshift Shape Formation Control Using Discrete Mass Distribution

The density-distribution method has recently become a promising paradigm owing to its adaptability to variations in swarm size. However, existing studies face practical challenges in achieving complex shape representation and decentralized implementation. This motivates us to develop a fully decentralized, distribution-based control strategy with the dual capability of forming complex shapes and adapting to swarm-size variations. Specifically, we first propose a discrete mass-distribution function defined over a set of sample points to model swarm formation. In contrast to the continuous density-distribution method, our model eliminates the requirement for defining continuous density functions-a task that is difficult for complex shapes. Second, we design a decentralized meanshift control law to coordinate the swarm's global distribution to fit the sample-point distribution by feeding back mass estimates. The mass estimates for all sample points are achieved by the robots in a decentralized manner via the designed mass estimator. It is shown that the mass estimates of the sample points can asymptotically converge to the true global values. To validate the proposed strategy, we conduct comprehensive simulations and real-world experiments to evaluate the efficiency of complex shape formation and adaptability to swarm-size variations.

cs.RO↗

arXiv2026

Channel Extrapolation for MIMO Systems with the Assistance of Multi-path Information Induced from Channel State Information

Acquiring channel state information (CSI) through traditional methods, such as channel estimation, is increasingly challenging for the emerging sixth generation (6G) mobile networks due to high overhead. To address this issue, channel extrapolation techniques have been proposed to acquire complete CSI from a limited number of known CSIs. To improve extrapolation accuracy, environmental information, such as visual images or radar data, has been utilized, which poses challenges including additional hardware, privacy and multi-modal alignment concerns. To this end, this paper proposes a novel channel extrapolation framework by leveraging environment-related multi-path characteristics induced directly from CSI without integrating additional modalities. Specifically, we propose utilizing the multi-path characteristics in the form of power-delay profile (PDP), which is acquired using a CSI-to-PDP module. CSI-to-PDP module is trained in an AE-based framework by reconstructing the PDPs and constraining the latent low-dimensional features to represent the CSI. We further extract the total power & power-weighted delay of all the identified paths in PDP as the multi-path information. Building on this, we proposed a MAE architecture trained in a self-supervised manner to perform channel extrapolation. Unlike standard MAE approaches, our method employs separate encoders to extract features from the masked CSI and the multi-path information, which are then fused by a cross-attention module. Extensive simulations demonstrate that this framework improves extrapolation performance dramatically, with a minor increase in inference time (around 0.1 ms). Furthermore, our model shows strong generalization capabilities, particularly when only a small portion of the CSI is known, outperforming existing benchmarks.

eess.SP↗

arXiv2026

Near-Field Positioning for XL-MIMO Uniform Circular Arrays: An Attention-Enhanced Deep Learning Approach

In the evolving landscape of sixth-generation (6G) mobile communication, multiple-input multiple-output (MIMO) systems are incorporating an unprecedented number of antenna elements, advancing towards Extremely large-scale multiple-input-multiple-output (XL-MIMO) systems. This enhancement significantly increases the spatial degrees of freedom, offering substantial benefits for wireless positioning. However, the expansion of the near-field range in XL-MIMO challenges the traditional far-field assumptions used in previous MIMO models. Among various configurations, uniform circular arrays (UCAs) demonstrate superior performance by maintaining constant angular resolution, unlike linear planar arrays. Addressing how to leverage the expanded aperture and harness the near-field effects in XL-MIMO systems remains an area requiring further investigation. In this paper, we introduce an attention-enhanced deep learning approach for precise positioning. We employ a dual-path channel attention mechanism and a spatial attention mechanism to effectively integrate channel-level and spatial-level features. Our comprehensive simulations show that this model surpasses existing benchmarks such as attention-based positioning networks (ABPN), near-field positioning networks (NFLnet), convolutional neural networks (CNN), and multilayer perceptrons (MLP). The proposed model achieves superior positioning accuracy by utilizing covariance metrics of the input signal. Also, simulation results reveal that covariance metric is advantageous for positioning over channel state information (CSI) in terms of positioning accuracy and model efficiency.

eess.SP↗

arXiv2026

Context-Aware Deep Learning for Robust Channel Extrapolation in Fluid Antenna Systems

Fluid antenna systems (FAS) offer remarkable spatial flexibility but face significant challenges in acquiring high-resolution channel state information (CSI), leading to considerable overhead. To address this issue, we propose CANet, a robust deep learning model for channel extrapolation in FAS. CANet combines context-adaptive modeling with a cross-scale attention mechanism and is built on a ConvNeXt v2 backbone to improve extrapolation accuracy for unobserved antenna ports. To further enhance robustness, we introduce a novel spatial amplitude perturbation strategy, inspired by frequency-domain augmentation techniques in image processing. This motivates the incorporation of a Fourier-domain loss function, capturing frequency-domain consistency, alongside a spectral structure consistency loss that reinforces learning stability under perturbations. Our simulation results demonstrate that CANet outperforms benchmark models across a wide range of signal-to-noise ratio (SNR) levels.

eess.SP↗

arXiv2026

Astra: General Interactive World Model with Autoregressive Denoising

Recent advances in diffusion transformers have empowered video generation models to generate high-quality video clips from texts or images. However, world models with the ability to predict long-horizon futures from past observations and actions remain underexplored, especially for general-purpose scenarios and various forms of actions. To bridge this gap, we introduce Astra, an interactive general world model that generates real-world futures for diverse scenarios (e.g., autonomous driving, robot grasping) with precise action interactions (e.g., camera motion, robot action). We propose an autoregressive denoising architecture and use temporal causal attention to aggregate past observations and support streaming outputs. We use a noise-augmented history memory to avoid over-reliance on past frames to balance responsiveness with temporal coherence. For precise action control, we introduce an action-aware adapter that directly injects action signals into the denoising process. We further develop a mixture of action experts that dynamically route heterogeneous action modalities, enhancing versatility across diverse real-world tasks such as exploration, manipulation, and camera control. Astra achieves interactive, consistent, and general long-term video prediction and supports various forms of interactions. Experiments across multiple datasets demonstrate the improvements of Astra in fidelity, long-range prediction, and action alignment over existing state-of-the-art world models.

cs.CV↗

arXiv2026

Efficient UAV trajectory prediction: A multi-modal deep diffusion framework

To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for multi-modal UAV trajectory prediction, termed the Multi-Modal Deep Fusion Framework, is designed. The overall architecture consists of two modality-specific feature extraction networks and a bidirectional cross-attention fusion module, aiming to fully exploit the complementary information of LiDAR and radar point clouds in spatial geometric structure and dynamic reflection characteristics. In the feature extraction stage, the model employs independent but structurally identical feature encoders for LiDAR and radar. After feature extraction, the model enters the Bidirectional Cross-Attention Mechanism stage to achieve information complementarity and semantic alignment between the two modalities. To verify the effectiveness of the proposed model, the MMAUD dataset used in the CVPR 2024 UG2+ UAV Tracking and Pose-Estimation Challenge is adopted as the training and testing dataset. Experimental results show that the proposed multi-modal fusion model significantly improves trajectory prediction accuracy, achieving a 40% improvement compared to the baseline model. In addition, ablation experiments are conducted to demonstrate the effectiveness of different loss functions and post-processing strategies in improving model performance. The proposed model can effectively utilize multi-modal data and provides an efficient solution for unauthorized UAV trajectory prediction in the low-altitude economy.

cs.CV↗

arXiv2026

SONAR: Self-Distilled Continual Pre-training for Domain Adaptive Audio Representation

Self-supervised learning (SSL) on large-scale datasets like AudioSet has become the dominant paradigm for audio representation learning. While the continuous influx of new, unlabeled audio presents an opportunity to enrich these static representations, a naive approach is to retrain the model from scratch using all available data. However, this method is computationally prohibitive and discards the valuable knowledge embedded in the previously trained model weights. To address this inefficiency, we propose SONAR (Self-distilled cONtinual pre-training for domain adaptive Audio Representation), a continual pre-training framework built upon BEATs. SONAR effectively adapts to new domains while mitigating catastrophic forgetting by tackling three key challenges: implementing a joint sampling strategy for new and prior data, applying regularization to balance specificity and generality, and dynamically expanding the tokenizer codebook for novel acoustic patterns. Experiments across four distinct domains demonstrate that our method achieves both high adaptability and robust resistance to forgetting.

cs.SD↗

arXiv2026

Adversarial Alignment: Ensuring Value Consistency in Large Language Models for Sensitive Domains

With the wide application of large language models (LLMs), the problems of bias and value inconsistency in sensitive domains have gradually emerged, especially in terms of race, society and politics. In this paper, we propose an adversarial alignment framework, which enhances the value consistency of the model in sensitive domains through continued pre-training, instruction fine-tuning and adversarial training. In adversarial training, we use the Attacker to generate controversial queries, the Actor to generate responses with value consistency, and the Critic to filter and ensure response quality. Furthermore, we train a Value-Consistent Large Language Model, VC-LLM, for sensitive domains, and construct a bilingual evaluation dataset in Chinese and English. The experimental results show that VC-LLM performs better than the existing mainstream models in both Chinese and English tests, verifying the effectiveness of the method. Warning: This paper contains examples of LLMs that are offensive or harmful in nature.

cs.CL↗

arXiv2026

NeuralOM: Neural Ocean Model for Subseasonal-to-Seasonal Simulation

Long-term, high-fidelity simulation of slow-changing physical systems, such as the ocean and climate, presents a fundamental challenge in scientific computing. Traditional autoregressive machine learning models often fail in these tasks as minor errors accumulate and lead to rapid forecast degradation. To address this problem, we propose NeuralOM, a general neural operator framework designed for simulating complex, slow-changing dynamics. NeuralOM's core consists of two key innovations: (1) a Progressive Residual Correction Framework that decomposes the forecasting task into a series of fine-grained refinement steps, effectively suppressing long-term error accumulation; and (2) a Physics-Guided Graph Network whose built-in adaptive messaging mechanism explicitly models multi-scale physical interactions, such as gradient-driven flows and multiplicative couplings, thereby enhancing physical consistency while maintaining computational efficiency. We validate NeuralOM on the challenging task of global Subseasonal-to-Seasonal (S2S) ocean simulation. Extensive experiments demonstrate that NeuralOM not only surpasses state-of-the-art models in forecast accuracy and long-term stability, but also excels in simulating extreme events. For instance, at a 60-day lead time, NeuralOM achieves a 13.3% lower RMSE compared to the best-performing baseline, offering a stable, efficient, and physically-aware paradigm for data-driven scientific computing. Code link: https://github.com/YuanGao-YG/NeuralOM.

cs.LG↗

arXiv2026

Effective outdoor pathloss prediction: A multi-layer segmentation approach with weighting map

Predicting pathloss by considering the physical environment is crucial for effective wireless network planning. Traditional methods, such as ray tracing and model-based approaches, often face challenges due to high computational complexity and discrepancies between models and real-world environments. In contrast, deep learning has emerged as a promising alternative, offering accurate path loss predictions with reduced computational complexity. In our research, we introduce a ResNet-based model designed to enhance path loss prediction. We employ innovative techniques to capture key features of the environment by generating transmission (Tx) and reception (Rx) depth maps, as well as a distance map from the geographic data. Recognizing the significant attenuation caused by signal reflection and diffraction, particularly at high frequencies, we have developed a weighting map that emphasizes the areas adjacent to the direct path between Tx and Rx for path loss prediction. {Extensive simulations demonstrate that our model outperforms PPNet, RPNet, and Vision Transformer (ViT) by 1.2-3.0 dB using dataset of ITU challenge 2024 and ICASSP 2023. In addition, the floating point operations (FLOPs) of the proposed model is 60\% less than those of benchmarks.} Additionally, ablation studies confirm that the inclusion of the weighting map significantly enhances prediction performance.

eess.SP↗

arXiv2026

New $X$-Secure $T$-Private Information Retrieval Schemes via Rational Curves and Hermitian Curves

$X$-secure and $T$-private information retrieval (XSTPIR) is a variant of private information retrieval where data security is guaranteed against collusion among up to $X$ servers and the user's retrieval privacy is guaranteed against collusion among up to $T$ servers. Recently, researchers have constructed XSTPIR schemes through the theory of algebraic geometry codes and algebraic curves, with the aim of obtaining XSTPIR schemes that have higher maximum PIR rates for fixed field size and $X,T$ (the number of servers $N$ is not restricted). The mainstream approach is to employ curves of higher genus that have more rational points, evolving from rational curves to elliptic curves to hyperelliptic curves and, most recently, to Hermitian curves. In this paper, we propose a different perspective: with the shared goal of constructing XSTPIR schemes with higher maximum PIR rates, we move beyond the mainstream approach of seeking curves with higher genus and more rational points. Instead, we aim to achieve this goal by enhancing the utilization efficiency of rational points on curves that have already been considered in previous work. By introducing a family of bases for the polynomial space $\text{span}_{\mathbb{F}_q}\{1,x,\dots,x^{k-1}\}$ as an alternative to the Lagrange interpolation basis, we develop two new families of XSTPIR schemes based on rational curves and Hermitian curves, respectively. Parameter comparisons demonstrate that our schemes achieve superior performance. Specifically, our Hermitian-curve-based XSTPIR scheme provides the largest known maximum PIR rates when the field size $q^2\geq 14^2$ and $X+T\geq 4q$. Moreover, for any field size $q^2\geq 28^2$ and $X+T\geq 4$, our two XSTPIR schemes collectively provide the largest known maximum PIR rates.

cs.IT↗

arXiv2026

Advanced Long-term Earth System Forecasting

Reliable long-term forecasting of Earth system dynamics is fundamentally limited by instabilities in current artificial intelligence (AI) models during extended autoregressive simulations. These failures often originate from inherent spectral bias, leading to inadequate representation of critical high-frequency, small-scale processes and subsequent uncontrolled error amplification. Inspired by the nested grids in numerical models used to resolve small scales, we present TritonCast. At the core of its design is a dedicated latent dynamical core, which ensures the long-term stability of the macro-evolution at a coarse scale. An outer structure then fuses this stable trend with fine-grained local details. This design effectively mitigates the spectral bias caused by cross-scale interactions. In atmospheric science, it achieves state-of-the-art accuracy on the WeatherBench 2 benchmark while demonstrating exceptional long-term stability: executing year-long autoregressive global forecasts and completing multi-year climate simulations that span the entire available $2500$-day test period without drift. In oceanography, it extends skillful eddy forecast to $120$ days and exhibits unprecedented zero-shot cross-resolution generalization. Ablation studies reveal that this performance stems from the synergistic interplay of the architecture's core components. TritonCast thus offers a promising pathway towards a new generation of trustworthy, AI-driven simulations. This significant advance has the potential to accelerate discovery in climate and Earth system science, enabling more reliable long-term forecasting and deeper insights into complex geophysical dynamics.

cs.LG↗