Showing 1–34 of 34 results for author: Mi, J

One Score, Two Decisions: Selective Prediction on the Rare-Disease Tail

Authors: Zhaoyang Jiang, Zhizhong Fu, Yunsoo Kim, Zicheng Li, Xuanqi Peng, Fei Teng, Jiacong Mi, Honghan Wu

Abstract: Given a patient's clinical findings, a diagnostic system ranks possible diseases and must decide when to endorse its first prediction or defer it for review. This decision is usually made by thresholding the top score. Selective prediction over ranked outputs begins with two checks. First, the ranker must produce enough correct top-ranked predictions to make the target feasible. Across 2,000 patie… ▽ More Given a patient's clinical findings, a diagnostic system ranks possible diseases and must decide when to endorse its first prediction or defer it for review. This decision is usually made by thresholding the top score. Selective prediction over ranked outputs begins with two checks. First, the ranker must produce enough correct top-ranked predictions to make the target feasible. Across 2,000 patient records stratified by disease prevalence, eight small open-weight LLMs achieve at most 4.6% Recall@1 on ultra-rare diseases. At 10% coverage, even a perfect confidence ranking of their existing predictions therefore cannot reach 50% selective accuracy. More accurate models pass the same check, showing that the limit is regime-specific. Second, the confidence signal must match the decision being made. For fixed-candidate rankers, the top-two margin cancels components shared across candidates. On phenotype-only Exomiser, it selects 10% of cases at 29.0% accuracy, compared with 13.3% overall, while the top score provides no reliable gate. Yet that cancellation can remove information needed to detect whether the candidate list contains an answer. SciFact retrieval and biomedical entity linking confirm this distinction. Finally, we prove that unlabelled scores alone cannot determine whether switching to the margin will help. △ Less

Submitted 4 August, 2026; originally announced August 2026.

HyperDCM: Dynamic Cluster Memory Replay in Hyperbolic Space for Continual Robotic Navigation Across Scenes

Authors: Zhengfei Lu, Jian Yang, Muyu Wang, Shaowen Chen, Jinpeng Mi, Ke Li, Xiong You, Qi Wu, Xuan Tang, Xian Wei

Abstract: Continual learning in visual navigation remains challenging due to catastrophic forgetting and the difficulties associated with adapting to diverse and evolving environments. To address these issues, we propose Hyperbolic Dynamic Cluster Memory (HyperDCM), a structure-aware memory mechanism that enhances diffusion policy-based navigation through scene graph modeling and principled memory replay. H… ▽ More Continual learning in visual navigation remains challenging due to catastrophic forgetting and the difficulties associated with adapting to diverse and evolving environments. To address these issues, we propose Hyperbolic Dynamic Cluster Memory (HyperDCM), a structure-aware memory mechanism that enhances diffusion policy-based navigation through scene graph modeling and principled memory replay. HyperDCM extracts semantic scene triples from RGB observations using large vision-language models, encodes them into scene graph embeddings via a Relational Graph Convolutional Network (R-GCN), and projects the embeddings into hyperbolic space to enhance structural separability and retention in continual navigation. A dynamic clustering and structure-sensitive update strategy selects representative samples for memory replay, thereby preserving knowledge diversity and mitigating catastrophic forgetting. Experiments on multi-scene indoor and outdoor datasets demonstrate that HyperDCM achieves superior retention of past navigation capabilities and improved generalization compared to representative continual learning baselines adapted to diffusion policy navigation. △ Less

Submitted 3 July, 2026; originally announced July 2026.

Presentation, Not Mechanism: A Render Confound in Deprecation-Aware Memory Evaluation

Authors: Zhaoyang Jiang, Zhizhong Fu, Zicheng Li, Yunsoo Kim, Jiacong Mi, Xuanqi Peng, Fei Teng, Honghan Wu

Abstract: AI systems increasingly retrieve from records that revise themselves: issue threads, encyclopedic histories, policy logs, and long conversations. The challenge is not only finding relevant evidence, but deciding which claims remain in force, which were superseded, and when to abstain. Structured memories promise to solve this with typed edges, temporal updates, and conflict status, yet evaluations… ▽ More AI systems increasingly retrieve from records that revise themselves: issue threads, encyclopedic histories, policy logs, and long conversations. The challenge is not only finding relevant evidence, but deciding which claims remain in force, which were superseded, and when to abstain. Structured memories promise to solve this with typed edges, temporal updates, and conflict status, yet evaluations often change mechanism and prompt presentation together. We study this as Evidence-State Revision, comparing flat retrieval, coarse edge invalidation, and fine-grained RevisionLedger on 2,907 high-agreement questions from GitHub, multi-repo issue histories, Wikipedia, and DyKnow-style temporal streams. A render-matched control (same layout, deprecation disabled) reveals the central confound: when a value is changed and later restored, RevisionLedger appears to beat a flat baseline by +0.182, but almost all the gain comes from easier presentation; the fine-grained mechanism residual is indistinguishable from zero (+0.021 to +0.025 across two judge families). After presentation is controlled, coarse invalidation is the only mechanism that pays for current-state queries, beating the fine ledger by 0.084; the same query-sufficiency principle says provenance mainly needs retained invalidated evidence, not richer typing. Memory evaluations should hold render fixed, and deprecation-aware systems should deploy the coarsest retained state that covers their queries. △ Less

Submitted 17 July, 2026; originally announced July 2026.

Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

Authors: Wenzhe Tong, Jonathan Mi, Xili Yi, Nima Fazeli, Xiaonan Huang

Abstract: This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sensor integrates an elastomeric shell, a 3D-printed thermoplastic polyurethane (TPU) interface, and a rigid base housing an embedded camera and LED illumination ring. A novel gyroid-infill bonding technique is introduced t… ▽ More This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sensor integrates an elastomeric shell, a 3D-printed thermoplastic polyurethane (TPU) interface, and a rigid base housing an embedded camera and LED illumination ring. A novel gyroid-infill bonding technique is introduced to form a durable elastomer-TPU interface without adhesives, yielding a lightweight and modular design compatible with large-scale tensegrity structures. A tactile-to-wrench neural network maps shear vector fields to six-dimensional force and torque measurements. Experimental results demonstrate accurate and stable wrench estimation with a mean squared error (MSE) of 0.1531 on static validation data and out-of-domain generalization under dynamic motion. Furthermore, full-system integration on a 12 kg tensegrity robot confirms the sensor's ability to reliably identify ground contacts. The system substantially improves the practicality of tactile feedback for tensegrity robots, offering a low-cost, reproducible, and physically interpretable pathway toward contact-aware proprioception and state estimation. Open source files are available at \href{https://github.com/Jonathan-Twz/tensegrity-gelfoot}{github.com/Jonathan-Twz/tensegrity-gelfoot} △ Less

Submitted 17 July, 2026; originally announced July 2026.

Comments: 8 pages, 10 figures, IROS 2026

Multi-scale Object-Aware Gaze Estimation via Geometric Reasoning

Authors: Jiajie Mi, Xinyu Liu, Mengke Song, Chenglizhao Chen

Abstract: Gaze target estimation aims to predict the semantic object an observer fixates upon within an image, a task deeply rooted in the object-oriented nature of human gaze. Observers tend to select a specific semantic entity as the attentional target, rather than responding randomly across arbitrary regions of the image. However, existing methods typically model this task as a direct mapping from global… ▽ More Gaze target estimation aims to predict the semantic object an observer fixates upon within an image, a task deeply rooted in the object-oriented nature of human gaze. Observers tend to select a specific semantic entity as the attentional target, rather than responding randomly across arbitrary regions of the image. However, existing methods typically model this task as a direct mapping from global features to gaze heatmaps, essentially treating it as a pixel-level regression problem. This approach fails to explicitly represent the gazed object as a distinct entity, making it difficult to produce stable and semantically consistent predictions in complex scenes. To address this, we propose a two-stage gaze estimation framework guided by object semantics, reformulating gaze target estimation as a hierarchical reasoning process. Our method incorporates object-level representations during feature encoding to align image features with discrete semantic entities, then introduces multi-scale feature fusion and geometric constraints from head pose and gaze direction for fine-grained localization and object-level discrimination. Extensive experiments on GazeFollow, VideoAttentionTarget, ChildPlay, and GOO-Real demonstrate that our method achieves AUC of 0.961, 0.948, 0.987, and 0.977 respectively, delivering strong performance across all benchmarks while maintaining a compact parameter size of 7.1M. △ Less

Submitted 28 June, 2026; originally announced June 2026.

Comments: Accepted by ECCV 2026

Learning Emotion-discriminative Representations for Zero-Shot Cross-lingual Speech Emotion Recognition

Authors: Jinyi Mi, Ding Ma, Tomoki Toda

Abstract: Zero-shot cross-lingual speech emotion recognition (SER) remains challenging due to distribution mismatches across languages and the lack of emotion annotations in target language. Under such conditions, models trained solely on source-language data frequently suffer from degraded generalization when evaluated on unseen target languages. To address this limitation, we propose an emotion-discrimina… ▽ More Zero-shot cross-lingual speech emotion recognition (SER) remains challenging due to distribution mismatches across languages and the lack of emotion annotations in target language. Under such conditions, models trained solely on source-language data frequently suffer from degraded generalization when evaluated on unseen target languages. To address this limitation, we propose an emotion-discriminative representation learning method that integrates supervised contrastive learning and speaker adversarial learning. The contrastive learning promotes cross-lingual emotion alignment, while speaker adversarial learning suppresses speaker-related cues to encourage speaker-invariant representations. Experimental results under a zero-shot cross-lingual SER setting demonstrate that the proposed method significantly improves SER performance over conventional training strategies. △ Less

Submitted 4 June, 2026; originally announced June 2026.

Comments: Accepted to Interspeech 2026

Advancing Electrolaryngeal Speech Enhancement Through Speech-Text Representation Learning

Authors: Ding Ma, Jinyi Mi, Fengji Li, Lester Phillip Violeta, Jiajun He, Wenchin Huang, Kazuhiro Kobayashi, Tomoki Toda

Abstract: Objective: laryngectomees depend on an electromechanical device to generate electrolaryngeal (EL) speech. Compared with normal speech, EL speech suffers from severe distortion, limited phonetic variation, unnatural prosody, and temporal shifts, degrading naturalness and intelligibility. Although sequence-to-sequence (seq2seq) voice conversion (VC) based EL-speech-to-normal-speech conversion (EL2SP… ▽ More Objective: laryngectomees depend on an electromechanical device to generate electrolaryngeal (EL) speech. Compared with normal speech, EL speech suffers from severe distortion, limited phonetic variation, unnatural prosody, and temporal shifts, degrading naturalness and intelligibility. Although sequence-to-sequence (seq2seq) voice conversion (VC) based EL-speech-to-normal-speech conversion (EL2SP) is promising, substantial mismatches between EL and normal speech inevitably cause cumulative mapping errors that limit performance. To address this, we describe a novel representation learning framework integrating speech and text representations to improve mapping and reconstruction quality within a seq2seq VC model. Methods: our methodology comprises two main stages: 1) representation integration and learning, and 2) reconstruction training. A network capable of incorporating auxiliary text information is first constructed with pretrained modules to learn speech--text-based integrated representations. Then, an autoencoder-style reconstruction strategy finalizes EL2SP model to inherit these representations without increasing model complexity. We introduce three fusion strategies including middle-, input-, and hybrid-level fusion strategies that progressively enhance learning. Moreover, besides standard seq2seq VC objectives, an additional reconstruction loss on the integrated representation is introduced to refine representation transfer. Results: experiments under different EL2SP datasets consistently demonstrate that our methods, combined with data augmentations, outperform baselines relying solely on speech representations. Furthermore, progressive improvements with system design depth validate the effectiveness of our methods. Significance: the proposed methods provide an extensible and practical methodology for EL speech enhancement and assistive communication technologies. △ Less

Submitted 1 June, 2026; originally announced June 2026.

Comments: 15 pages, 7 figures. Accepted to IEEE TBME

Journal ref: IEEE Transactions on Biomedical Engineering, Early Access, 2026

Better Accuracies, Worse Reasoning: A Step-Level Audit of Medical Chain-of-Thought Distillation

Authors: Zhaoyang Jiang, Xuanqi Peng, Fei Teng, Zhizhong Fu, Yunsoo Kim, Jiacong Mi, Zicheng Li, Honghan Wu

Abstract: Chain-of-thought (CoT) distillation trains a smaller model to imitate a teacher's reasoning trace, but it is typically evaluated by final-answer metrics including accuracy. We ask whether gains in answer quality are accompanied by improvements in the trace. In medical QA, where short answer options can leave a richer clinical justification under-specified, a Qwen3-8B student distilled from a DeepS… ▽ More Chain-of-thought (CoT) distillation trains a smaller model to imitate a teacher's reasoning trace, but it is typically evaluated by final-answer metrics including accuracy. We ask whether gains in answer quality are accompanied by improvements in the trace. In medical QA, where short answer options can leave a richer clinical justification under-specified, a Qwen3-8B student distilled from a DeepSeek-V3-family teacher improves on MedQA-USMLE answer metrics (SC@64 74.7% to 84.4%; expected calibration error (ECE) 0.096 to 0.034). Yet under a Kimi-K2.6 style-blind LLM-judge audit, its error rate over non-abstained steps rises from 30.6% to 50.3%. In this primary medical setting, answer quality and trace factuality move in opposite directions. This before--after pattern persists across evaluators, teacher strengths, student scales and families, medical benchmarks, and style, segmentation, and answer-correctness controls. A 150-step blinded audit by a clinical expert reproduces the same ordering. Boundary checks narrow the scope of the claim: the risk appears when a compact answer under-constrains the rationale and a capable student can imitate expert-like form without reliably grounding each local claim. Standard answer metrics and aggregate hedging rates do not reveal the shift. When such traces are released or reused, answer-level metrics alone are insufficient. △ Less

Submitted 27 May, 2026; originally announced May 2026.

KVDrive: A Holistic Multi-Tier KV Cache Management System for Long-Context LLM Inference

Authors: Jian Lin, Jiazhi Mi, Zicong Hong, Haodong Wang, Qianli Liu, Haodyue Zhang, Peng Li, Song Guo

Abstract: Supporting long-context LLMs is challenging due to the substantial memory demands of the key-value (KV) cache. Existing offloading systems store the full cache in host memory and selectively fetch critical entries during decoding, but this strategy quickly hits a ceiling: sparsity cannot be pushed further without degrading accuracy. As a result, when context length and batch size grow, the volume… ▽ More Supporting long-context LLMs is challenging due to the substantial memory demands of the key-value (KV) cache. Existing offloading systems store the full cache in host memory and selectively fetch critical entries during decoding, but this strategy quickly hits a ceiling: sparsity cannot be pushed further without degrading accuracy. As a result, when context length and batch size grow, the volume of KV transfers rises sharply and becomes the dominant source of decoding latency. We present KVDrive, a holistic multi-tier KV cache management system spanning GPU memory, host DRAM, and SSD. Unlike prior work that pursues greater sparsity through algorithmic refinements, KVDrive tackles the problem from a systems perspective - jointly orchestrating cache placement, pipeline scheduling, and cross-tier coordination to sustain high-throughput inference under tight GPU budgets. KVDrive advances three fundamental capabilities: it adapts cache management to attention behavior to maximize reuse and minimize redundant data movement; it restructures the decoding pipeline to overlap I/O- and CPU/GPU compute-bound stages, eliminating stalls across heterogeneous resources; and it harmonizes data movement across memory tiers to unlock scalable long-context inference far beyond GPU and DRAM limits. We have implemented a fully functional prototype of KVDrive and evaluated it on long-context benchmarks with popular LLMs. The system achieves up to 1.74x higher throughput compared to state-of-the-art works while preserving accuracy. △ Less

Submitted 18 May, 2026; originally announced May 2026.

HH-SAE: Discovering and Steering Hierarchical Knowledge of Complex Manifolds

Authors: Honghan Wu, Tianyan Wang, Jiacong Mi, Zhoyang Jiang, Yunsoo Kim

Abstract: Rare semantic innovations in high-dimensional, mission-critical domains are often obscured by dense background contexts, a challenge we define as \textit{feature density conflict}. We introduce the \textbf{Hybrid Hierarchical SAE (HH-SAE)} to resolve this by factorizing manifolds into a nested hierarchy of \textbf{Contextual} ($L_0$), \textbf{Atomic} ($f_1$), and \textbf{Compository} ($f_2$) tiers… ▽ More Rare semantic innovations in high-dimensional, mission-critical domains are often obscured by dense background contexts, a challenge we define as \textit{feature density conflict}. We introduce the \textbf{Hybrid Hierarchical SAE (HH-SAE)} to resolve this by factorizing manifolds into a nested hierarchy of \textbf{Contextual} ($L_0$), \textbf{Atomic} ($f_1$), and \textbf{Compository} ($f_2$) tiers. Evaluating across disparate manifolds, HH-SAE demonstrates superior resolution by \textbf{``fracturing'' administrative clinical labels into physiological modes} and achieving a peak \textbf{cross-domain zero-shot AUC of 0.9156 in fraud detection}. Path ablation confirms the architecture's structural necessity, revealing a 13.46\% utility collapse when contextual subtraction is removed. Finally, knowledge-steered synthesis achieves a +9.9\% AUPRC lift over state-of-the-art generators, proving that HH-SAE effectively prioritizes high-order mechanistic innovation over environmental proxies to enable high-precision discovery in high-stakes environments. △ Less

Submitted 11 May, 2026; originally announced May 2026.

Human-AI Co-Evolution and Epistemic Collapse: A Dynamical Systems Perspective

Authors: Xuening Wu, Yanlan Kang, Qianya Xu, Kexuan Xie, Jiaqi Mi, Honggang Wang, Yubin Liu, Zeping Chen

Abstract: Large language models (LLMs) are reshaping how knowledge is produced, with increasing reliance on AI systems for generation, summarization, and reasoning. While prior work has studied cognitive offloading in humans and model collapse in recursive training, these effects are typically considered in isolation. We propose a unified perspective: humans and language models form a coupled dynamical syst… ▽ More Large language models (LLMs) are reshaping how knowledge is produced, with increasing reliance on AI systems for generation, summarization, and reasoning. While prior work has studied cognitive offloading in humans and model collapse in recursive training, these effects are typically considered in isolation. We propose a unified perspective: humans and language models form a coupled dynamical system linked by a feedback loop of usage, generation, and retraining. We introduce a minimal model with three variables -- human cognition, data quality, and model capability -- and show that this feedback can give rise to distinct dynamical regimes. Our analysis identifies three regimes: co-evolutionary enhancement, fragile equilibrium, and degenerative convergence. Through a simple simulation, we demonstrate that increasing reliance on AI can induce a transition toward a low-diversity, suboptimal equilibrium. From an information-theoretic perspective, this transition corresponds to an emergent information bottleneck in the human-AI loop, where entropy reduction reflects loss of diversity and support under closed-loop feedback rather than beneficial compression. These results suggest that the trajectory of AI systems is shaped not only by model design, but by the dynamics of human-AI co-evolution. △ Less

Submitted 7 May, 2026; originally announced May 2026.

Comments: 5 pages, 3 figures, ICML EIML Workshop submitted

A Regime Theory of Controller Class Selection for LLM Action Decisions

Authors: Zhaoyang Jiang, Zhizhong Fu, Yunsoo Kim, Jiacong Mi, Zicheng Li, Xuanqi Peng, Honghan Wu

Abstract: Deployed language and vision-language models must decide, on each input, whether to answer directly, retrieve evidence, defer to a stronger model, or abstain. Contrary to the common monotonicity intuition, greater per-input expressivity is not uniformly beneficial in finite samples: under identical strict cross-validation, different benchmarks prefer different controller classes. This reflects a f… ▽ More Deployed language and vision-language models must decide, on each input, whether to answer directly, retrieve evidence, defer to a stronger model, or abstain. Contrary to the common monotonicity intuition, greater per-input expressivity is not uniformly beneficial in finite samples: under identical strict cross-validation, different benchmarks prefer different controller classes. This reflects a finite-sample limitation of instance-level uncertainty signals, which can be exhausted at a distribution-dependent scale. We organize controllers into a nested lattice of four classes: fixed actions, partition routers, instance-level controllers, and prior-gated controllers, ordered by complexity. We prove a regime theory that turns three data-estimable bottlenecks into a class choice: how much improvement is possible beyond the best fixed action, whether there are enough samples for instance-level controllers to make reliable decisions, and how much improvement a coarse partition router can recover when instance-level signal is unreliable. The resulting Bernstein-tight threshold has a matching information-theoretic lower bound, and strict nested cross-validation provably selects a near-best class. Across SMS-Spam, HallusionBench, A-OKVQA, and FOLIO, the predicted class matches the empirical winner; the prior-gated controller wins on TextVQA when OCR tokens supply a label-free prediction-time prior. Code is available at https://github.com/Anonymous-Awesome-Submissions/Regime-Theory. △ Less

Submitted 7 May, 2026; originally announced May 2026.

LoViF 2026 The First Challenge on Weather Removal in Videos

Authors: Chenghao Qian, Xin Li, Yeying Jin, Shangguan Sun, Yilian Zhong, Yuxiang Chen, Shibo Yin, Yushun Fang, Xilei Zhu, Yahui Wang, Chen Lu, Ying Fu, Jianan Tian, Jifan Zhang, Chen Zhou, Junyang Jiang, Yuping Sun, Zhuohang Shi, Xiaojing Liu, Jiao Liu, Yatong Zhou, Shuai Liu, Qiang Deng, Jiajia Mi, Qianhao Luo , et al. (1 additional authors not shown)

Abstract: This paper presents a review of the LoViF 2026 Challenge on Weather Removal in Videos. The challenge encourages the development of methods for restoring clean videos from inputs degraded by adverse weather conditions such as rain and snow, with an emphasis on achieving visually plausible and temporally consistent results while preserving scene structure and motion dynamics. To support this task, w… ▽ More This paper presents a review of the LoViF 2026 Challenge on Weather Removal in Videos. The challenge encourages the development of methods for restoring clean videos from inputs degraded by adverse weather conditions such as rain and snow, with an emphasis on achieving visually plausible and temporally consistent results while preserving scene structure and motion dynamics. To support this task, we introduce a new short-form WRV dataset tailored for video weather removal. It consists of 18 videos 1,216 synthesized frames paired with 1,216 real-world ground-truth frames at a resolution of 832 x 480, and is split into training, validation, and test sets with a ratio of 1:1:1. The goal of this challenge is to advance robust and realistic video restoration under real-world weather conditions, with evaluation protocols that jointly consider fidelity and perceptual quality. The challenge attracted 37 participants and received 5 valid final submissions with corresponding fact sheets, contributing to progress in weather removal for videos. The project is publicly available at https://www.codabench.org/competitions/13462/. △ Less

Submitted 14 April, 2026; v1 submitted 12 April, 2026; originally announced April 2026.

Comments: CVPR Workshop Challenge Report

InconLens: Interactive Visual Diagnosis of Behavioral Inconsistencies in LLM-based Agentic Systems

Authors: Shuo Yan, Xiaolin Wen, Shaolun Ruan, Yanjie Zhang, Jiaming Mi, Yushi Sun, Huamin Qu, Rui Sheng

Abstract: Large Language Model (LLM)-based agentic systems have shown growing promise in tackling complex, multi-step tasks through autonomous planning, reasoning, and interaction with external environments. However, the stochastic nature of LLM generation introduces intrinsic behavioral inconsistency: the same agent may succeed in one execution but fail in another under identical inputs. Diagnosing such in… ▽ More Large Language Model (LLM)-based agentic systems have shown growing promise in tackling complex, multi-step tasks through autonomous planning, reasoning, and interaction with external environments. However, the stochastic nature of LLM generation introduces intrinsic behavioral inconsistency: the same agent may succeed in one execution but fail in another under identical inputs. Diagnosing such inconsistencies remains a major challenge for developers, as agent execution logs are often lengthy, unstructured, and difficult to compare across runs. Existing debugging and evaluation tools primarily focus on inspecting single executions, offering limited support for understanding how and why agent behaviors diverge across repeated runs. To address this challenge, we introduce InconLens, a visual analytics system designed to support interactive diagnosis of LLM-based agentic systems with a particular focus on cross-run behavioral analysis. InconLens introduces information nodes as an intermediate abstraction that captures canonical informational milestones shared across executions, enabling semantic alignment and inspection of agent reasoning trajectories across multiple runs. We demonstrate the effectiveness of InconLens through a detailed case study and further validate its usability and analytical value via expert interviews. Our results show that InconLens enables developers to more efficiently identify divergence points, uncover latent failure modes, and gain actionable insights into improving the reliability and stability of agentic systems. △ Less

Submitted 30 March, 2026; originally announced March 2026.

Reward Prediction with Factorized World States

Authors: Yijun Shen, Delong Chen, Xianming Hu, Jiaming Mi, Hongbo Zhao, Kai Zhang, Pascale Fung

Abstract: Agents must infer action outcomes and select actions that maximize a reward signal indicating how close the goal is to being reached. Supervised learning of reward models could introduce biases inherent to training data, limiting generalization to novel goals and environments. In this paper, we investigate whether well-defined world state representations alone can enable accurate reward prediction… ▽ More Agents must infer action outcomes and select actions that maximize a reward signal indicating how close the goal is to being reached. Supervised learning of reward models could introduce biases inherent to training data, limiting generalization to novel goals and environments. In this paper, we investigate whether well-defined world state representations alone can enable accurate reward prediction across domains. To address this, we introduce StateFactory, a factorized representation method that transforms unstructured observations into a hierarchical object-attribute structure using language models. This structured representation allows rewards to be estimated naturally as the semantic similarity between the current state and the goal state under hierarchical constraint. Overall, the compact representation structure induced by StateFactory enables strong reward generalization capabilities. We evaluate on RewardPrediction, a new benchmark dataset spanning five diverse domains and comprising 2,454 unique action-observation trajectories with step-wise ground-truth rewards. Our method shows promising zero-shot results against both VLWM-critic and LLM-as-a-Judge reward models, achieving 60% and 8% lower EPIC distance, respectively. Furthermore, this superior reward quality successfully translates into improved agent planning performance, yielding success rate gains of +21.64% on AlfWorld and +12.40% on ScienceWorld over reactive system-1 policies and enhancing system-2 agent planning. Project Page: https://statefactory.github.io △ Less

Submitted 10 March, 2026; originally announced March 2026.

Reflections over the Sea: Reconfigurable Intelligent Surface for Maritime Self-Powered Communications

Authors: Qianqian Zhang, Long Wang, Ben Wu, Jia Mi

Abstract: Maritime communication is becoming a vital component of 6G networks, driven by the rapid expansion of the maritime economy. However, existing technologies face critical challenges in signal coverage, availability, and robustness, especially under harsh sea conditions. This paper proposes a novel framework for the maritime Internet-of-Things (IoT) communications that leverages the reconfigurable in… ▽ More Maritime communication is becoming a vital component of 6G networks, driven by the rapid expansion of the maritime economy. However, existing technologies face critical challenges in signal coverage, availability, and robustness, especially under harsh sea conditions. This paper proposes a novel framework for the maritime Internet-of-Things (IoT) communications that leverages the reconfigurable intelligent surface (RIS) mounted on offshore infrastructures, such as wind turbines, to enhance coverage and reliability. To capture dynamic maritime environment, a near-ocean-surface channel model is developed considering the impact of sea waves. In addition, a wave energy harvesting (EH) system is designed to self-power IoT sensors for data acquisition, processing, and transmission. To support real-time adaptation, channel state information is continuously measured to optimize RIS reflection parameters and maximize multi-user communication rates. Simulation results show that the proposed system significantly improves IoT communication performance by over 20%, under harsh sea conditions. △ Less

Submitted 20 January, 2026; originally announced January 2026.

Assessing the Visual Enumeration Abilities of Specialized Counting Architectures and Vision-Language Models

Authors: Kuinan Hou, Jing Mi, Marco Zorzi, Lamberto Ballan, Alberto Testolin

Abstract: Counting the number of items in a visual scene remains a fundamental yet challenging task in computer vision. Traditional approaches to solving this problem rely on domain-specific counting architectures, which are trained using datasets annotated with a predefined set of object categories. However, recent progress in creating large-scale multimodal vision-language models (VLMs) suggests that thes… ▽ More Counting the number of items in a visual scene remains a fundamental yet challenging task in computer vision. Traditional approaches to solving this problem rely on domain-specific counting architectures, which are trained using datasets annotated with a predefined set of object categories. However, recent progress in creating large-scale multimodal vision-language models (VLMs) suggests that these domain-general architectures may offer a flexible alternative for open-set object counting. In this study, we therefore systematically compare the performance of state-of-the-art specialized counting architectures against VLMs on two popular counting datasets, as well as on a novel benchmark specifically created to have a finer-grained control over the visual properties of test images. Our findings show that most VLMs can approximately enumerate the number of items in a visual scene, matching or even surpassing the performance of specialized computer vision architectures. Notably, enumeration accuracy significantly improves when VLMs are prompted to generate intermediate representations (i.e., locations and verbal labels) of each object to be counted. Nevertheless, none of the models can reliably count the number of objects in complex visual scenes, showing that further research is still needed to create AI systems that can reliably deploy counting procedures in realistic environments. △ Less

Submitted 17 December, 2025; originally announced December 2025.

DAFM: Dynamic Adaptive Fusion for Multi-Model Collaboration in Composed Image Retrieval

Authors: Yawei Cai, Jiapeng Mi, Nan Ji, Haotian Rong, Yawei Zhang, Zhangti Li, Wenbin Guo, Rensong Xie

Abstract: Composed Image Retrieval (CIR) is a cross-modal task that aims to retrieve target images from large-scale databases using a reference image and a modification text. Most existing methods rely on a single model to perform feature fusion and similarity matching. However, this paradigm faces two major challenges. First, one model alone can't see the whole picture and the tiny details at the same time… ▽ More Composed Image Retrieval (CIR) is a cross-modal task that aims to retrieve target images from large-scale databases using a reference image and a modification text. Most existing methods rely on a single model to perform feature fusion and similarity matching. However, this paradigm faces two major challenges. First, one model alone can't see the whole picture and the tiny details at the same time; it has to handle different tasks with the same weights, so it often misses the small but important links between image and text. Second, the absence of dynamic weight allocation prevents adaptive leveraging of complementary model strengths, so the resulting embedding drifts away from the target and misleads the nearest-neighbor search in CIR. To address these limitations, we propose Dynamic Adaptive Fusion (DAFM) for multi-model collaboration in CIR. Rather than optimizing a single method in isolation, DAFM exploits the complementary strengths of heterogeneous models and adaptively rebalances their contributions. This not only maximizes retrieval accuracy but also ensures that the performance gains are independent of the fusion order, highlighting the robustness of our approach. Experiments on the CIRR and FashionIQ benchmarks demonstrate consistent improvements. Our method achieves a Recall@10 of 93.21 and an Rmean of 84.43 on CIRR, and an average Rmean of 67.48 on FashionIQ, surpassing recent strong baselines by up to 4.5%. These results confirm that dynamic multi-model collaboration provides an effective and general solution for CIR. △ Less

Submitted 17 December, 2025; v1 submitted 7 November, 2025; originally announced November 2025.

Comments: We discovered an error that affects the main conclusions, so we decided to withdraw the paper

M4SER: Multimodal, Multirepresentation, Multitask, and Multistrategy Learning for Speech Emotion Recognition

Authors: Jiajun He, Xiaohan Shi, Cheng-Hung Hu, Jinyi Mi, Xingfeng Li, Tomoki Toda

Abstract: Multimodal speech emotion recognition (SER) has emerged as pivotal for improving human-machine interaction. Researchers are increasingly leveraging both speech and textual information obtained through automatic speech recognition (ASR) to comprehensively recognize emotional states from speakers. Although this approach reduces reliance on human-annotated text data, ASR errors possibly degrade emoti… ▽ More Multimodal speech emotion recognition (SER) has emerged as pivotal for improving human-machine interaction. Researchers are increasingly leveraging both speech and textual information obtained through automatic speech recognition (ASR) to comprehensively recognize emotional states from speakers. Although this approach reduces reliance on human-annotated text data, ASR errors possibly degrade emotion recognition performance. To address this challenge, in our previous work, we introduced two auxiliary tasks, namely, ASR error detection and ASR error correction, and we proposed a novel multimodal fusion (MF) method for learning modality-specific and modality-invariant representations across different modalities. Building on this foundation, in this paper, we introduce two additional training strategies. First, we propose an adversarial network to enhance the diversity of modality-specific representations. Second, we introduce a label-based contrastive learning strategy to better capture emotional features. We refer to our proposed method as M4SER and validate its superiority over state-of-the-art methods through extensive experiments using IEMOCAP and MELD datasets. △ Less

Submitted 23 September, 2025; originally announced September 2025.

Comments: Accepted by IEEE Transactions on Audio, Speech and Language Processing

GIA-MIC: Multimodal Emotion Recognition with Gated Interactive Attention and Modality-Invariant Learning Constraints

Authors: Jiajun He, Jinyi Mi, Tomoki Toda

Abstract: Multimodal emotion recognition (MER) extracts emotions from multimodal data, including visual, speech, and text inputs, playing a key role in human-computer interaction. Attention-based fusion methods dominate MER research, achieving strong classification performance. However, two key challenges remain: effectively extracting modality-specific features and capturing cross-modal similarities despit… ▽ More Multimodal emotion recognition (MER) extracts emotions from multimodal data, including visual, speech, and text inputs, playing a key role in human-computer interaction. Attention-based fusion methods dominate MER research, achieving strong classification performance. However, two key challenges remain: effectively extracting modality-specific features and capturing cross-modal similarities despite distribution differences caused by modality heterogeneity. To address these, we propose a gated interactive attention mechanism to adaptively extract modality-specific features while enhancing emotional information through pairwise interactions. Additionally, we introduce a modality-invariant generator to learn modality-invariant representations and constrain domain shifts by aligning cross-modal similarities. Experiments on IEMOCAP demonstrate that our method outperforms state-of-the-art MER approaches, achieving WA 80.7% and UA 81.3%. △ Less

Submitted 1 June, 2025; originally announced June 2025.

Comments: Accepted by INTERSPEECH 2025

NeuroLoc: Encoding Navigation Cells for 6-DOF Camera Localization

Authors: Xun Li, Jian Yang, Fenli Jia, Muyu Wang, Qi Wu, Jun Wu, Jinpeng Mi, Jilin Hu, Peidong Liang, Xuan Tang, Ke Li, Xiong You, Xian Wei

Abstract: Recently, camera localization has been widely adopted in autonomous robotic navigation due to its efficiency and convenience. However, autonomous navigation in unknown environments often suffers from scene ambiguity, environmental disturbances, and dynamic object transformation in camera localization. To address this problem, inspired by the biological brain navigation mechanism (such as grid cell… ▽ More Recently, camera localization has been widely adopted in autonomous robotic navigation due to its efficiency and convenience. However, autonomous navigation in unknown environments often suffers from scene ambiguity, environmental disturbances, and dynamic object transformation in camera localization. To address this problem, inspired by the biological brain navigation mechanism (such as grid cells, place cells, and head direction cells), we propose a novel neurobiological camera location method, namely NeuroLoc. Firstly, we designed a Hebbian learning module driven by place cells to save and replay historical information, aiming to restore the details of historical representations and solve the issue of scene fuzziness. Secondly, we utilized the head direction cell-inspired internal direction learning as multi-head attention embedding to help restore the true orientation in similar scenes. Finally, we added a 3D grid center prediction in the pose regression module to reduce the final wrong prediction. We evaluate the proposed NeuroLoc on commonly used benchmark indoor and outdoor datasets. The experimental results show that our NeuroLoc can enhance the robustness in complex environments and improve the performance of pose regression by using only a single image. △ Less

Submitted 2 May, 2025; originally announced May 2025.

KiteRunner: Language-Driven Cooperative Local-Global Navigation Policy with UAV Mapping in Outdoor Environments

Authors: Shibo Huang, Chenfan Shi, Jian Yang, Hanlin Dong, Jinpeng Mi, Ke Li, Jianfeng Zhang, Miao Ding, Peidong Liang, Xiong You, Xian Wei

Abstract: Autonomous navigation in open-world outdoor environments faces challenges in integrating dynamic conditions, long-distance spatial reasoning, and semantic understanding. Traditional methods struggle to balance local planning, global planning, and semantic task execution, while existing large language models (LLMs) enhance semantic comprehension but lack spatial reasoning capabilities. Although dif… ▽ More Autonomous navigation in open-world outdoor environments faces challenges in integrating dynamic conditions, long-distance spatial reasoning, and semantic understanding. Traditional methods struggle to balance local planning, global planning, and semantic task execution, while existing large language models (LLMs) enhance semantic comprehension but lack spatial reasoning capabilities. Although diffusion models excel in local optimization, they fall short in large-scale long-distance navigation. To address these gaps, this paper proposes KiteRunner, a language-driven cooperative local-global navigation strategy that combines UAV orthophoto-based global planning with diffusion model-driven local path generation for long-distance navigation in open-world scenarios. Our method innovatively leverages real-time UAV orthophotography to construct a global probability map, providing traversability guidance for the local planner, while integrating large models like CLIP and GPT to interpret natural language instructions. Experiments demonstrate that KiteRunner achieves 5.6% and 12.8% improvements in path efficiency over state-of-the-art methods in structured and unstructured environments, respectively, with significant reductions in human interventions and execution time. △ Less

Submitted 11 March, 2025; originally announced March 2025.

Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints

Authors: Wenzhe Tong, Tzu-Yuan Lin, Jonathan Mi, Yicheng Jiang, Maani Ghaffari, Xiaonan Huang

Abstract: Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control and state estimation. This work presents a novel proprioceptive state estimator for tensegrity robots. The estimator initially uses the geometric constraints o… ▽ More Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control and state estimation. This work presents a novel proprioceptive state estimator for tensegrity robots. The estimator initially uses the geometric constraints of 3-bar prism tensegrity structures, combined with IMU and motor encoder measurements, to reconstruct the robot's shape and orientation. It then employs a contact-aided invariant extended Kalman filter with forward kinematics to estimate the global position and orientation of the tensegrity robot. The state estimator's accuracy is assessed against ground truth data in both simulated environments and real-world tensegrity robot applications. It achieves an average drift percentage of 4.2%, comparable to the state estimation performance of traditional rigid robots. This state estimator advances the state of the art in tensegrity robot state estimation and has the potential to run in real-time using onboard sensors, paving the way for full autonomy of tensegrity robots in unstructured environments. △ Less

Submitted 6 March, 2025; v1 submitted 31 October, 2024; originally announced October 2024.

Comments: Preprint; 8 pages, 12 figures, 2 tables; Code at https://github.com/Jonathan-Twz/tensegrity-robot-state-estimator

Improved Architecture for High-resolution Piano Transcription to Efficiently Capture Acoustic Characteristics of Music Signals

Authors: Jinyi Mi, Sehun Kim, Tomoki Toda

Abstract: Automatic music transcription (AMT), aiming to convert musical signals into musical notation, is one of the important tasks in music information retrieval. Recently, previous works have applied high-resolution labels, i.e., the continuous onset and offset times of piano notes, as training targets, achieving substantial improvements in transcription performance. However, there still remain some iss… ▽ More Automatic music transcription (AMT), aiming to convert musical signals into musical notation, is one of the important tasks in music information retrieval. Recently, previous works have applied high-resolution labels, i.e., the continuous onset and offset times of piano notes, as training targets, achieving substantial improvements in transcription performance. However, there still remain some issues to be addressed, e.g., the harmonics of notes are sometimes recognized as false positive notes, and the size of AMT model tends to be larger to improve the transcription performance. To address these issues, we propose an improved high-resolution piano transcription model to well capture specific acoustic characteristics of music signals. First, we employ the Constant-Q Transform as the input representation to better adapt to musical signals. Moreover, we have designed two architectures: the first is based on a convolutional recurrent neural network (CRNN) with dilated convolution, and the second is an encoder-decoder architecture that combines CRNN with a non-autoregressive Transformer decoder. We conduct systematic experiments for our models. Compared to the high-resolution AMT system used as a baseline, our models effectively achieve 1) consistent improvement in note-level metrics, and 2) the significant smaller model size, which shed lights on future work. △ Less

Submitted 29 September, 2024; originally announced September 2024.

Comments: Accepted to APSIPA ASC 2024

Two-stage Framework for Robust Speech Emotion Recognition Using Target Speaker Extraction in Human Speech Noise Conditions

Authors: Jinyi Mi, Xiaohan Shi, Ding Ma, Jiajun He, Takuya Fujimura, Tomoki Toda

Abstract: Developing a robust speech emotion recognition (SER) system in noisy conditions faces challenges posed by different noise properties. Most previous studies have not considered the impact of human speech noise, thus limiting the application scope of SER. In this paper, we propose a novel two-stage framework for the problem by cascading target speaker extraction (TSE) method and SER. We first train… ▽ More Developing a robust speech emotion recognition (SER) system in noisy conditions faces challenges posed by different noise properties. Most previous studies have not considered the impact of human speech noise, thus limiting the application scope of SER. In this paper, we propose a novel two-stage framework for the problem by cascading target speaker extraction (TSE) method and SER. We first train a TSE model to extract the speech of target speaker from a mixture. Then, in the second stage, we utilize the extracted speech for SER training. Additionally, we explore a joint training of TSE and SER models in the second stage. Our developed system achieves a 14.33% improvement in unweighted accuracy (UA) compared to a baseline without using TSE method, demonstrating the effectiveness of our framework in mitigating the impact of human speech noise. Moreover, we conduct experiments considering speaker gender, showing that our framework performs particularly well in different-gender mixture. △ Less

Submitted 17 December, 2024; v1 submitted 29 September, 2024; originally announced September 2024.

Comments: This is the preprint version of the paper accepted at APSIPA ASC 2024

Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot

Authors: Jonathan Mi, Wenzhe Tong, Yilin Ma, Xiaonan Huang

Abstract: Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape. This paper introduces a modular three-bar tensegrity robot featuring a customizable payload design. Our tensegrity robot employs a novel Quasi-Direct Drive (QDD)… ▽ More Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape. This paper introduces a modular three-bar tensegrity robot featuring a customizable payload design. Our tensegrity robot employs a novel Quasi-Direct Drive (QDD) cable actuator paired with low-stretch polymer cables to achieve accurate proprioception without the need for external force or torque sensors. The design allows for on-the-fly stiffness tuning for better environment and payload adaptability. In this paper, we present the design, fabrication, assembly, and experimental results of the robot. Experimental data demonstrates the high accuracy cable length estimation (<1% error relative to bar length) and variable stiffness control of the cable actuator up to 7 times the minimum stiffness for self support. The presented tensegrity robot serves as a platform for future advancements in autonomous operation and open-source module design. △ Less

Submitted 9 September, 2024; originally announced September 2024.

Comments: 8 pages, 13 figures

Relaxed Rotational Equivariance via $G$-Biases in Vision

Authors: Zhiqiang Wu, Yingjie Liu, Licheng Sun, Jian Yang, Hanlin Dong, Shing-Ho J. Lin, Xuan Tang, Jinpeng Mi, Bo Jin, Xian Wei

Abstract: Group Equivariant Convolution (GConv) can capture rotational equivariance from original data. It assumes uniform and strict rotational equivariance across all features as the transformations under the specific group. However, the presentation or distribution of real-world data rarely conforms to strict rotational equivariance, commonly referred to as Rotational Symmetry-Breaking (RSB) in the syste… ▽ More Group Equivariant Convolution (GConv) can capture rotational equivariance from original data. It assumes uniform and strict rotational equivariance across all features as the transformations under the specific group. However, the presentation or distribution of real-world data rarely conforms to strict rotational equivariance, commonly referred to as Rotational Symmetry-Breaking (RSB) in the system or dataset, making GConv unable to adapt effectively to this phenomenon. Motivated by this, we propose a simple but highly effective method to address this problem, which utilizes a set of learnable biases called $G$-Biases under the group order to break strict group constraints and then achieve a Relaxed Rotational Equivariant Convolution (RREConv). To validate the efficiency of RREConv, we conduct extensive ablation experiments on the discrete rotational group $\mathcal{C}_n$. Experiments demonstrate that the proposed RREConv-based methods achieve excellent performance compared to existing GConv-based methods in both classification and 2D object detection tasks on the natural image datasets. △ Less

Submitted 14 January, 2025; v1 submitted 22 August, 2024; originally announced August 2024.

RoKEPG: RoBERTa and Knowledge Enhancement for Prescription Generation of Traditional Chinese Medicine

Authors: Hua Pu, Jiacong Mi, Shan Lu, Jieyue He

Abstract: Traditional Chinese medicine (TCM) prescription is the most critical form of TCM treatment, and uncovering the complex nonlinear relationship between symptoms and TCM is of great significance for clinical practice and assisting physicians in diagnosis and treatment. Although there have been some studies on TCM prescription generation, these studies consider a single factor and directly model the s… ▽ More Traditional Chinese medicine (TCM) prescription is the most critical form of TCM treatment, and uncovering the complex nonlinear relationship between symptoms and TCM is of great significance for clinical practice and assisting physicians in diagnosis and treatment. Although there have been some studies on TCM prescription generation, these studies consider a single factor and directly model the symptom-prescription generation problem mainly based on symptom descriptions, lacking guidance from TCM knowledge. To this end, we propose a RoBERTa and Knowledge Enhancement model for Prescription Generation of Traditional Chinese Medicine (RoKEPG). RoKEPG is firstly pre-trained by our constructed TCM corpus, followed by fine-tuning the pre-trained model, and the model is guided to generate TCM prescriptions by introducing four classes of knowledge of TCM through the attention mask matrix. Experimental results on the publicly available TCM prescription dataset show that RoKEPG improves the F1 metric by about 2% over the baseline model with the best results. △ Less

Submitted 28 November, 2023; originally announced November 2023.

Comments: 8 pages

MultiModal-Learning for Predicting Molecular Properties: A Framework Based on Image and Graph Structures

Authors: Zhuoyuan Wang, Jiacong Mi, Shan Lu, Jieyue He

Abstract: The quest for accurate prediction of drug molecule properties poses a fundamental challenge in the realm of Artificial Intelligence Drug Discovery (AIDD). An effective representation of drug molecules emerges as a pivotal component in this pursuit. Contemporary leading-edge research predominantly resorts to self-supervised learning (SSL) techniques to extract meaningful structural representations… ▽ More The quest for accurate prediction of drug molecule properties poses a fundamental challenge in the realm of Artificial Intelligence Drug Discovery (AIDD). An effective representation of drug molecules emerges as a pivotal component in this pursuit. Contemporary leading-edge research predominantly resorts to self-supervised learning (SSL) techniques to extract meaningful structural representations from large-scale, unlabeled molecular data, subsequently fine-tuning these representations for an array of downstream tasks. However, an inherent shortcoming of these studies lies in their singular reliance on one modality of molecular information, such as molecule image or SMILES representations, thus neglecting the potential complementarity of various molecular modalities. In response to this limitation, we propose MolIG, a novel MultiModaL molecular pre-training framework for predicting molecular properties based on Image and Graph structures. MolIG model innovatively leverages the coherence and correlation between molecule graph and molecule image to execute self-supervised tasks, effectively amalgamating the strengths of both molecular representation forms. This holistic approach allows for the capture of pivotal molecular structural characteristics and high-level semantic information. Upon completion of pre-training, Graph Neural Network (GNN) Encoder is used for the prediction of downstream tasks. In comparison to advanced baseline models, MolIG exhibits enhanced performance in downstream tasks pertaining to molecular property prediction within benchmark groups such as MoleculeNet Benchmark Group and ADMET Benchmark Group. △ Less

Submitted 19 April, 2024; v1 submitted 28 November, 2023; originally announced November 2023.

Comments: 8 pages

ACDNet: Attention-guided Collaborative Decision Network for Effective Medication Recommendation

Authors: Jiacong Mi, Yi Zu, Zhuoyuan Wang, Jieyue He

Abstract: Medication recommendation using Electronic Health Records (EHR) is challenging due to complex medical data. Current approaches extract longitudinal information from patient EHR to personalize recommendations. However, existing models often lack sufficient patient representation and overlook the importance of considering the similarity between a patient's medication records and specific medicines.… ▽ More Medication recommendation using Electronic Health Records (EHR) is challenging due to complex medical data. Current approaches extract longitudinal information from patient EHR to personalize recommendations. However, existing models often lack sufficient patient representation and overlook the importance of considering the similarity between a patient's medication records and specific medicines. Therefore, an Attention-guided Collaborative Decision Network (ACDNet) for medication recommendation is proposed in this paper. Specifically, ACDNet utilizes attention mechanism and Transformer to effectively capture patient health conditions and medication records by modeling their historical visits at both global and local levels. ACDNet also employs a collaborative decision framework, utilizing the similarity between medication records and medicine representation to facilitate the recommendation process. The experimental results on two extensive medical datasets, MIMIC-III and MIMIC-IV, clearly demonstrate that ACDNet outperforms state-of-the-art models in terms of Jaccard, PR-AUC, and F1 score, reaffirming its superiority. Moreover, the ablation experiments provide solid evidence of the effectiveness of each module in ACDNet, validating their contribution to the overall performance. Furthermore, a detailed case study reinforces the effectiveness of ACDNet in medication recommendation based on EHR data, showcasing its practical value in real-world healthcare scenarios. △ Less

Submitted 26 September, 2023; v1 submitted 6 July, 2023; originally announced July 2023.

An Incomplete Tensor Tucker decomposition based Traffic Speed Prediction Method

Authors: Jiajia Mi

Abstract: In intelligent transport systems, it is common and inevitable with missing data. While complete and valid traffic speed data is of great importance to intelligent transportation systems. A latent factorization-of-tensors (LFT) model is one of the most attractive approaches to solve missing traffic data recovery due to its well-scalability. A LFT model achieves optimization usually via a stochastic… ▽ More In intelligent transport systems, it is common and inevitable with missing data. While complete and valid traffic speed data is of great importance to intelligent transportation systems. A latent factorization-of-tensors (LFT) model is one of the most attractive approaches to solve missing traffic data recovery due to its well-scalability. A LFT model achieves optimization usually via a stochastic gradient descent (SGD) solver, however, the SGD-based LFT suffers from slow convergence. To deal with this issue, this work integrates the unique advantages of the proportional-integral-derivative (PID) controller into a Tucker decomposition based LFT model. It adopts two-fold ideas: a) adopting tucker decomposition to build a LFT model for achieving a better recovery accuracy. b) taking the adjusted instance error based on the PID control theory into the SGD solver to effectively improve convergence rate. Our experimental studies on two major city traffic road speed datasets show that the proposed model achieves significant efficiency gain and highly competitive prediction accuracy. △ Less

Submitted 21 April, 2023; originally announced April 2023.

An ADMM-Incorporated Latent Factorization of Tensors Method for QoS Prediction

Authors: Jiajia Mi, Hao Wu

Abstract: As the Internet developed rapidly, it is important to choose suitable web services from a wide range of candidates. Quality of service (QoS) describes the performance of a web service dynamically with respect to the service requested by the service consumer. Moreover, the latent factorization of tenors (LFT) is very effective for discovering temporal patterns in high dimensional and sparse (HiDS)… ▽ More As the Internet developed rapidly, it is important to choose suitable web services from a wide range of candidates. Quality of service (QoS) describes the performance of a web service dynamically with respect to the service requested by the service consumer. Moreover, the latent factorization of tenors (LFT) is very effective for discovering temporal patterns in high dimensional and sparse (HiDS) tensors. However, current LFT models suffer from a low convergence rate and rarely account for the effects of outliers. To address the above problems, this paper proposes an Alternating direction method of multipliers (ADMM)-based Outlier-Resilient Nonnegative Latent-factorization of Tensors model. We maintain the non-negativity of the model by constructing an augmented Lagrangian function with the ADMM optimization framework. In addition, the Cauchy function is taken as the metric function to reduce the impact on the model training. The empirical work on two dynamic QoS datasets shows that the proposed method has faster convergence and better performance on prediction accuracy. △ Less

Submitted 3 December, 2022; originally announced December 2022.

Omni-Roach: A legged robot capable of traversing multiple types of large obstacles and self-righting

Authors: Jonathan Mi, Yaqing Wang, Chen Li

Abstract: Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge from locomotor-environment interaction for diverse locomotor challenges abstracted from complex 3-D terrain and the strategies to overcome them. Here we built o… ▽ More Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge from locomotor-environment interaction for diverse locomotor challenges abstracted from complex 3-D terrain and the strategies to overcome them. Here we built on these fundamental insights to develop a cockroach-inspired legged robot, Omni-Roach, that integrated these strategies to achieve multi-modal locomotion and provide a robophysical model to study the trade-off between multi-functionality and performance. The robot was based on the RHex design with six compliant legs and featured a rounded body with two wings that can open and a tail with pitch and yaw degrees of freedom. After two development and testing iterations, our robot was capable of overcoming all locomotor challenges with a high performance and success rate. It traversed cluttered rigid pillars only 1.1x robot body width apart, a 2.5x hip height bump, a 0.75x body length gap, densely cluttered flexible beams only 65% body width apart, and self-righted within 4 seconds. Systematic beam traversal experiments further revealed that a downward-pointing tail oscillating laterally helps roll the body into beam gaps and break frictional and interlocking contact to traverse. Our work highlights the usefulness of multi-functional appendages and exaptation for large obstacle traversal. △ Less

Submitted 24 September, 2025; v1 submitted 15 December, 2021; originally announced December 2021.

Journal ref: IEEE International Conference on Robotics and Automation (ICRA), 235-242 (2022)

An Optimal Trade-off between Content Freshness and Refresh Cost

Authors: Yibei Ling, Jie Mi

Abstract: Caching is an effective mechanism for reducing bandwidth usage and alleviating server load. However, the use of caching entails a compromise between content freshness and refresh cost. An excessive refresh allows a high degree of content freshness at a greater cost of system resource. Conversely, a deficient refresh inhibits content freshness but saves the cost of resource usages. To address the f… ▽ More Caching is an effective mechanism for reducing bandwidth usage and alleviating server load. However, the use of caching entails a compromise between content freshness and refresh cost. An excessive refresh allows a high degree of content freshness at a greater cost of system resource. Conversely, a deficient refresh inhibits content freshness but saves the cost of resource usages. To address the freshness-cost problem, we formulate the refresh scheduling problem with a generic cost model and use this cost model to determine an optimal refresh frequency that gives the best tradeoff between refresh cost and content freshness. We prove the existence and uniqueness of an optimal refresh frequency under the assumptions that the arrival of content update is Poisson and the age-related cost monotonically increases with decreasing freshness. In addition, we provide an analytic comparison of system performance under fixed refresh scheduling and random refresh scheduling, showing that with the same average refresh frequency two refresh schedulings are mathematically equivalent in terms of the long-run average cost. △ Less

Submitted 2 August, 2010; originally announced August 2010.

Journal ref: J. Appl. Probab. 41 (2004) 721-734