Yao Zheng

Li Gao, Fuzhi Yang, Jianhui Chen et al.

Despite significant advances in quadrupedal robotics, a critical gap persists in foundational motion resources that holistically integrate diverse locomotion, emotionally expressive behaviors, and rich language semantics-essential for agile, intuitive human-robot interaction. Current quadruped motion datasets are limited to a few mocap primitives (e.g., walk, trot, sit) and lack diverse behaviors with rich language grounding. To bridge this gap, we introduce Quadruped Foundational Motion (QuadFM) , the first large-scale, ultra-high-fidelity dataset designed for text-to-motion generation and general motion control. QuadFM contains 11,784 curated motion clips spanning locomotion, interactive, and emotion-expressive behaviors (e.g., dancing, stretching, peeing), each with three-layer annotation-fine-grained action labels, interaction scenarios, and natural language commands-totaling 35,352 descriptions to support language-conditioned understanding and command execution. We further propose Gen2Control RL, a unified framework that jointly trains a general motion controller and a text-to-motion generator, enabling efficient end-to-end inference on edge hardware. On a real quadruped robot with an NVIDIA Orin, our system achieves real-time motion synthesis (<500 ms latency). Simulation and real-world results show realistic, diverse motions while maintaining robust physical interaction. The dataset will be released at https://github.com/GaoLii/QuadFM.

Wenzhao Zheng, Junjie Wu, Yao Zheng et al.

Vision-based autonomous driving shows great potential due to its satisfactory performance and low costs. Most existing methods adopt dense representations (e.g., bird's eye view) or sparse representations (e.g., instance boxes) for decision-making, which suffer from the trade-off between comprehensiveness and efficiency. This paper explores a Gaussian-centric end-to-end autonomous driving (GaussianAD) framework and exploits 3D semantic Gaussians to extensively yet sparsely describe the scene. We initialize the scene with uniform 3D Gaussians and use surrounding-view images to progressively refine them to obtain the 3D Gaussian scene representation. We then use sparse convolutions to efficiently perform 3D perception (e.g., 3D detection, semantic map construction). We predict 3D flows for the Gaussians with dynamic semantics and plan the ego trajectory accordingly with an objective of future scene forecasting. Our GaussianAD can be trained in an end-to-end manner with optional perception labels when available. Extensive experiments on the widely used nuScenes dataset verify the effectiveness of our end-to-end GaussianAD on various tasks including motion planning, 3D occupancy prediction, and 4D occupancy forecasting. Code: https://github.com/wzzheng/GaussianAD.

Quanqing Ma, Jiaen Chen, Peng Wang et al.

Remote sensing Water Body Change Detection (WBCD) aims to detect water body surface changes from bi-temporal images of the same geographic area. Recently, the scarcity of high spatial resolution datasets for WBCD restricts its application in urban and rural regions, which require more accurate positioning. Meanwhile, previous deep learning-based methods fail to comprehensively exploit the spatial semantic and structural information in deep features in the change detection networks. To resolve these concerns, we first propose a new dataset, HSRW-CD, with a spatial resolution higher than 3 meters for WBCD. Specifically, it contains a large number of image pairs, widely covering various water body types. Besides, a Spatial Semantics and Continuity Perception (SSCP) attention module is designed to fully leverage both the spatial semantics and structure of deep features in the WBCD networks, significantly improving the discrimination capability for water body. The proposed SSCP has three components: the Multi-Semantic spatial Attention (MSA), the Structural Relation-aware Global Attention (SRGA), and the Channel-wise Self-Attention (CSA). The MSA enhances the spatial semantics of water body features and provides precise spatial semantic priors for the CSA. Then, the SRGA further extracts spatial structure to learn the spatial continuity of the water body. Finally, the CSA utilizes the spatial semantic and structural priors from the MSA and SRGA to compute the similarity across channels. Specifically designed as a plug-and-play module for water body deep features, the proposed SSCP allows integration into existing WBCD models. Numerous experiments conducted on the proposed HSRW-CD and Water-CD datasets validate the effectiveness and generalization of the SSCP. The code of this work and the HSRW-CD dataset will be accessed at https://github.com/QingMa1/SSCP.

Shibo Li, Yao Zheng

This paper introduces the MPS (Model Prediction Set), a novel framework for online model selection for nonstationary time series. Classical model selection methods, such as information criteria and cross-validation, rely heavily on the stationarity assumption and often fail in dynamic environments which undergo gradual or abrupt changes over time. Yet real-world data are rarely stationary, and model selection under nonstationarity remains a largely open problem. To tackle this challenge, we combine conformal inference with model confidence sets to develop a procedure that adaptively selects models best suited to the evolving dynamics at any given time. Concretely, the MPS updates in real time a confidence set of candidate models that covers the best model for the next time period with a specified long-run probability, while adapting to nonstationarity of unknown forms. Through simulations and real-world data analysis, we demonstrate that MPS reliably and efficiently identifies optimal models under nonstationarity, an essential capability lacking in offline methods. Moreover, MPS frequently produces high-quality sets with small cardinality, whose evolution offers deeper insights into changing dynamics. As a generic framework, MPS accommodates any data-generating process, data structure, model class, training method, and evaluation metric, making it broadly applicable across diverse problem settings.

Feiqing Huang, Yuefeng Si, Yao Zheng et al.

While recently many designs have been proposed to improve the model efficiency of convolutional neural networks (CNNs) on a fixed resource budget, theoretical understanding of these designs is still conspicuously lacking. This paper aims to provide a new framework for answering the question: Is there still any remaining model redundancy in a compressed CNN? We begin by developing a general statistical formulation of CNNs and compressed CNNs via the tensor decomposition, such that the weights across layers can be summarized into a single tensor. Then, through a rigorous sample complexity analysis, we reveal an important discrepancy between the derived sample complexity and the naive parameter counting, which serves as a direct indicator of the model redundancy. Motivated by this finding, we introduce a new model redundancy measure for compressed CNNs, called the $K/R$ ratio, which further allows for nonlinear activations. The usefulness of this new measure is supported by ablation studies on popular block designs and datasets.

Yao Zheng, Shekh Md Mahmudul Islam, Yanjun Pan et al.

The increasingly sophisticated at-home screening systems for obstructive sleep apnea (OSA), integrated with both contactless and contact-based sensing modalities, bring convenience and reliability to remote chronic disease management. However, the device pairing processes between system components are vulnerable to wireless exploitation from a non-compliant user wishing to manipulate the test results. This work presents SIENNA, an insider-resistant context-based pairing protocol. SIENNA leverages JADE-ICA to uniquely identify a user's respiration pattern within a multi-person environment and fuzzy commitment for automatic device pairing, while using friendly jamming technique to prevents an insider with knowledge of respiration patterns from acquiring the pairing key. Our analysis and test results show that SIENNA can achieve reliable (> 90% success rate) device pairing under a noisy environment and is robust against the attacker with full knowledge of the context information.

Yanjun Pan, Yao Zheng, Ming Li

Orthogonal blinding based schemes for wireless physical layer security aim to achieve secure communication by injecting noise into channels orthogonal to the main channel and corrupting the eavesdropper's signal reception. These methods, albeit practical, have been proven vulnerable against multi-antenna eavesdroppers who can filter the message from the noise. The vulnerability is rooted in the fact that the main channel state remains static in spite of the noise injection, which allows an eavesdropper to estimate it promptly via known symbols and filter out the noise. Our proposed scheme leverages a reconfigurable antenna for Alice to rapidly change the channel state during transmission and a compressive sensing based algorithm for her to predict and cancel the changing effects for Bob. As a result, the communication between Alice and Bob remains clear, whereas randomized channel state prevents Eve from launching the known-plaintext attack. We formally analyze the security of the scheme against both single and multi-antenna eavesdroppers and identify its unique anti-eavesdropping properties due to the artificially created fast-changing channel. We conduct extensive simulations and real-world experiments to evaluate its performance. Empirical results show that our scheme can suppress Eve's attack success rate to the level of random guessing, even if she knows all the symbols transmitted through other antenna modes.

Boyang Hu, Qicheng Lin, Yao Zheng et al.

Mobile apps nowadays are often packaged with third-party ad libraries to monetize user data.