Yiduo Wang

Liang Li, Shufeng Gong, Yanan Yang et al.

Approximate nearest neighbor (ANN) search on SSD-backed indexes is increasingly I/O-bound (I/O accounts for 70--90\% of query latency). We present an I/O-first framework for disk-based ANN that organizes techniques along three dimensions: memory layout, disk layout, and search algorithm. We introduce a page-level complexity model that explains how page locality and path length jointly determine page reads, and we validate the model empirically. Using consistent implementations across four public datasets, we quantify both single-factor effects and cross-dimensional synergies. We find that (i) memory-resident navigation and dynamic width provide the strongest standalone gains; (ii) page shuffle and page search are weak alone but complementary together; and (iii) a principled composition, OctopusANN, substantially reduces I/O and achieves 4.1--37.9\% higher throughput than the state-of-the-art system Starling and 87.5--149.5\% higher throughput than DiskANN at matched Recall@10=90\%. Finally, we distill actionable guidelines for selecting storage-centric or hybrid designs across diverse concurrency levels and accuracy constraints, advocating systematic composition rather than isolated tweaks when pushing the performance frontier of disk-based ANN.

Mikolaj Kliniewski, Jesse Morris, Yiduo Wang et al.

DynoJEPP is a factor-graph-based framework that jointly formulates and simultaneously optimizes estimation, prediction, and planning in dynamic environments. In conventional factor-graph-based approaches that jointly formulate estimation, prediction, and planning, information from prediction and planning feeds back into state estimation, yielding corrupted estimates, undesired behaviors, and unsafe plans. To address this, DynoJEPP introduces a novel directed factor that enforces directional information flow within the factor graph, preventing prediction and planning from corrupting state estimation. We evaluate the impact of directed factors on inter-module interactions during navigation in both static and dynamic environments. Our results demonstrate that these factors are critical for safe operation, as without them, the robot collides in the majority of experiments. Building on this, we further introduce Cooperative DynoJEPP, which enables the ego robot to incorporate cooperative object behavior into its prediction and trajectory planning.

Junxiao Xue, Pavel Smirnov, Ziao Li et al.

We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate feedback and guidance to assist patients in executing rehabilitation exercises correctly. Firstly, we introduce a unified pipeline for end-to-end real-time human pose estimation and motion analysis using RGB video input from multiple cameras which can be applied to the field of rehabilitation training. The pipeline can help to monitor and correct patients'actions, thus aiding them in regaining muscle strength and motor functions. Secondly, we propose a fast tracking method for medical rehabilitation scenarios with multiple-person interference, which requires less than 1ms for tracking for a single frame. Additionally, we modify SmoothNet for real-time posture estimation, effectively reducing pose estimation errors and restoring the patient's true motion state, making it visually smoother. Finally, we use Unity platform for real-time monitoring and evaluation of patients' motion during rehabilitation, and to display the muscle stress conditions to assist patients with their rehabilitation training.

Chi Ding, Junxiao Xue, Xinyi Yin et al.

Long-Tailed distributions are pervasive in remote sensing due to the inherently imbalanced occurrence of grounded objects. However, a critical challenge remains largely overlooked, i.e., disentangling hard tail data samples from noisy ambiguous ones. Conventional methods often indiscriminately emphasize all low-confidence samples, leading to overfitting on noisy data. To bridge this gap, building upon Evidential Deep Learning, we propose a model-agnostic uncertainty-aware framework termed DUAL, which dynamically disentangles prediction uncertainty into Epistemic Uncertainty (EU) and Aleatoric Uncertainty (AU). Specifically, we introduce EU as an indicator of sample scarcity to guide a reweighting strategy for hard-to-learn tail samples, while leveraging AU to quantify data ambiguity, employing an adaptive label smoothing mechanism to suppress the impact of noise. Extensive experiments on multiple datasets across various backbones demonstrate the effectiveness and generalization of our framework, surpassing strong baselines such as TGN and SADE. Ablation studies provide further insights into the crucial choices of our design.

Xinyi Yin, Yiduo Wang, Tingqi Hu et al.

Affective image editing (AIE) aims to edit visual content to evoke target emotions. However, existing methods often overlook inference efficiency and predominantly depend on discrete emotion representations, which to some extent limits their practical applicability and makes it challenging to capture complex and subtle human emotions. To tackle these gaps, we propose MooD, the first framework that directly leverages continuous Valence-Arousal (VA) values for fine-grained and efficient AIE. Specifically, we first introduce a VA-Aware retrieval strategy to bridge vague affective values and concrete visual semantics. Building upon this, MooD integrates visual transfer and semantic guidance to achieve controllable AIE. Furthermore, we construct AffectSet, a VA-annotated dataset to support model optimization and evaluation. Extensive qualitative and quantitative experimental results demonstrate that our MooD achieves superior performance in both affective controllability and visual fidelity while maintaining high efficiency. A series of ablation studies further reveal the crucial factors of our design. Our code and data will be made publicly open soon.

Wei Zhang, Juan Chen, Yanbo J. Wang et al.

Multimodal emotion and intent recognition is essential for automated human-computer interaction, It aims to analyze users' speech, text, and visual information to predict their emotions or intent. One of the significant challenges is that missing modalities due to sensor malfunctions or incomplete data. Traditional methods that attempt to reconstruct missing information often suffer from over-coupling and imprecise generation processes, leading to suboptimal outcomes. To address these issues, we introduce an Attention-based Diffusion model for Missing Modalities feature Completion (ADMC). Our framework independently trains feature extraction networks for each modality, preserving their unique characteristics and avoiding over-coupling. The Attention-based Diffusion Network (ADN) generates missing modality features that closely align with authentic multimodal distribution, enhancing performance across all missing-modality scenarios. Moreover, ADN's cross-modal generation offers improved recognition even in full-modality contexts. Our approach achieves state-of-the-art results on the IEMOCAP and MIntRec benchmarks, demonstrating its effectiveness in both missing and complete modality scenarios.

Yiduo Wang, Milad Ramezani, Matias Mattamala et al.

This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing overlapping submaps in different ways. This allows the number of submaps and memory consumption to scale with the size of the environment rather than the duration of exploration. By analysing spatial overlap, our system segments distinct spaces, such as rooms and stairwells on the fly during exploration. Additionally, we present a new mathematical formulation of relative uncertainty between poses to improve the global consistency of the reconstruction. Performance is demonstrated using a multi-floor multi-room indoor experiment, a large-scale outdoor experiment and simulated datasets. Relative to our baseline, the presented approach demonstrates improved scalability and accuracy.

Yiduo Wang, Nils Funk, Milad Ramezani et al.

We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only requires a CPU. We focus on three main challenges of large-scale reconstruction: integration of long-range LiDAR scans at high frequency, the capacity to deform the reconstruction after loop closures are detected, and scalability for long-duration exploration. Our system extends upon a state-of-the-art efficient RGB-D volumetric reconstruction technique, called supereight, to support LiDAR scans and a newly developed submapping technique to allow for dynamic correction of the 3D reconstruction. We then introduce a novel pose graph clustering and submap fusion feature to make the proposed system more scalable for large environments. We evaluate the performance using two public datasets including outdoor exploration with a handheld device and a drone, and with a mobile robot exploring an underground room network. Experimental results demonstrate that our system can reconstruct at 3 Hz with 60 m sensor range and ~5 cm resolution, while state-of-the-art approaches can only reconstruct to 25 cm resolution or 20 m range at the same frequency.

Milad Ramezani, Yiduo Wang, Marco Camurri et al.

In this paper we present a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km through New College, Oxford. The dataset includes data from two commercially available devices - a stereoscopic-inertial camera and a multi-beam 3D LiDAR, which also provides inertial measurements. Additionally, we used a tripod-mounted survey grade LiDAR scanner to capture a detailed millimeter-accurate 3D map of the test location (containing $\sim$290 million points). Using the map we inferred centimeter-accurate 6 Degree of Freedom (DoF) ground truth for the position of the device for each LiDAR scan to enable better evaluation of LiDAR and vision localisation, mapping and reconstruction systems. This ground truth is the particular novel contribution of this dataset and we believe that it will enable systematic evaluation which many similar datasets have lacked. The dataset combines both built environments, open spaces and vegetated areas so as to test localization and mapping systems such as vision-based navigation, visual and LiDAR SLAM, 3D LIDAR reconstruction and appearance-based place recognition. The dataset is available at: ori.ox.ac.uk/datasets/newer-college-dataset

Yiduo Wang, Milad Ramezani, Maurice Fallon

In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of interest, without requiring a prior model. The system builds a voxel representation of the object, and iteratively determines the Next-Best-View (NBV) to extend the representation, according to both the reconstruction itself and to avoid collisions with the environment. By computing the expected information gain of a set of candidate scan locations sampled on the as-sensed terrain map, as well as the cost of reaching these candidates, the robot decides the NBV for further exploration. The robot plans an optimal path towards the NBV, avoiding obstacles and un-traversable terrain. Experimental results on both simulated and real-world environments show the capability and efficiency of our system. Finally we present a full system demonstration on the real robot, the ANYbotics ANYmal, autonomously reconstructing a building facade and an industrial structure.