Zhou Jianbo

Wang Jian, Zhou Jianbo, Xiong Yuhao et al.

Geometric Algebra (GA) presents challenges to learners due to its highly abstract mathematical structure and complex operational rules, as translating algebraic manipulations into concrete geometric interpretations is a non-intuitive process when developing related code. Currently, some existing GA software packages rely on manually written scripts for code generation and visualization, but their high learning curve hinders widespread adoption. Meanwhile, methods based on Large Language Models (LLMs) often produce logical errors when generating specific GA scripts, such as GAALOPScript, resulting in generally low accuracy. To address these issues, this study proposes GA-VisAgent -- a multi-agent interactive learning application for GA code generation and visualization -- building upon a Geometric algebra large language model (GAGPT). Integrating task planning mechanisms with ReAct reasoning strategies, GA-VisAgent can decompose complex operations into five standardized subtasks, including core operations like geometric products, rotations, and reflections. It supports natural language and mathematical formulas as input to automatically generate executable code, accompanied by interactive visualizations to aid user comprehension. Experimental results show that GA-VisAgent achieved a 90% code generation success rate across 40 typical Conformal GA tasks, representing a 70% improvement over GPT-4o. This application introduces an extensible new paradigm for teaching GA and developing visualization tools for related mathematical concepts. The online service for this project will be available at http://gagis.cn/gacrac.

Kangye Ji, Yuan Meng, Zhou Jianbo et al.

Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it impractical for real-time visuomotor control. Existing caching-based acceleration methods typically rely on $\textit{static}$ schedules that fail to adapt to the $\textit{dynamics}$ of robot-environment interactions, thereby leading to suboptimal performance. In this paper, we propose $\underline{\textbf{S}}$parse $\underline{\textbf{A}}$ction$\underline{\textbf{G}}$en ($\textbf{SAG}$) for extremely sparse action generation. To accommodate the iterative interactions, SAG customizes a rollout-adaptive prune-then-reuse mechanism that first identifies prunable computations globally and then reuses cached activations to substitute them during action diffusion. To capture the rollout dynamics, SAG parameterizes an observation-conditioned diffusion pruner for environment-aware adaptation and instantiates it with a highly parameter- and inference-efficient design for real-time prediction. Furthermore, SAG introduces a one-for-all reusing strategy that reuses activations across both timesteps and blocks in a zig-zag manner, minimizing the global redundancy. Extensive experiments on multiple robotic benchmarks demonstrate that SAG achieves up to 4$\times$ generation speedup without sacrificing performance. Project Page: https://sparse-actiongen.github.io/.