Xinyu Ning

Zhen Liu, Xinyu Ning, Zhe Hu et al.

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle in long-horizon, memory-dependent tasks with partial observability, occlusions, and multi-stage dependencies. Such tasks require not only precise visuomotor control, but also persistent memory, adaptive task decomposition, and explicit recovery from execution failures. To address these limitations, we propose a dual-system framework for long-horizon embodied manipulation. Our framework explicitly separates high-level semantic reasoning from low-level motor execution. A high-level planner, implemented as a VLM-based agentic module, maintains structured task memory and performs goal decomposition, outcome verification, and error-driven correction. A low-level executor, instantiated as a VLA-based visuomotor controller, carries out each sub-task through diffusion-based action generation conditioned on geometry-preserving filtered observations. Together, the two systems form a closed loop between planning and execution, enabling memory-aware reasoning, adaptive replanning, and robust online recovery. Experiments on representative RMBench tasks show that the proposed framework substantially outperforms representative baselines, achieving a 32.4% average success rate compared with 9.8% for the strongest baseline. Ablation studies further confirm the importance of structured memory and closed-loop recovery for long-horizon manipulation.

Yupeng Li, Xinyu Ning, Shijian Gao et al.

This work aims to tackle the labor-intensive and resource-consuming task of indoor positioning by proposing an efficient approach. The proposed approach involves the introduction of a semi-supervised learning (SSL) with a biased teacher (SSLB) algorithm, which effectively utilizes both labeled and unlabeled channel data. To reduce measurement expenses, unlabeled data is generated using an updated channel simulator (UCHS), and then weighted by adaptive confidence values to simplify the tuning of hyperparameters. Simulation results demonstrate that the proposed strategy achieves superior performance while minimizing measurement overhead and training expense compared to existing benchmarks, offering a valuable and practical solution for indoor positioning.

Xinyu Ning, Yutong Zhao, Yitong Liu et al.

The method of training language models based on domain datasets has obtained significant achievements in the task of generating scientific paper abstracts. However, such models face problems of generalization and expensive training costs. The use of large language models (LLMs) to solve the task of generating paper abstracts saves the cost of model training. However, due to the hallucination problem of LLM, it is often necessary to improve the reliability of the results through multi-round query prompt approach such as Graph of Thoughts (GoT), which also brings additional reasoning costs. In this paper, we propose a Dynamic Graph of Thought (DGoT). It not only inherits the advantages of the existing GoT prompt approach, but also dynamically adjust the graph structure according to data characteristics while reducing model reasoning cost. Experimental results show that our method's cost-effectiveness in abstract generation tasks is only 43.7% to 56.4% of other multi-round query prompt approaches. Our code is available at https://github.com/JayceNing/DGoT.

Xinyu Ning

As the most representative scenario of spatial-temporal forecasting tasks, the traffic forecasting task attracted numerous attention from machine learning community due to its intricate correlation both in space and time dimension. Existing methods often treat road networks over time as spatial-temporal graphs, addressing spatial and temporal representations independently. However, these approaches struggle to capture the dynamic topology of road networks, encounter issues with message passing mechanisms and over-smoothing, and face challenges in learning spatial and temporal relationships separately. To address these limitations, we propose treating nodes in road networks at different time steps as independent spatial-temporal tokens and feeding them into a vanilla Transformer to learn complex spatial-temporal patterns, design \textbf{STformer} achieving SOTA. Given its quadratic complexity, we introduce a variant \textbf{NSTformer} based on Nystr$\ddot{o}$m method to approximate self-attention with linear complexity but even slightly better than former in a few cases astonishingly. Extensive experimental results on traffic datasets demonstrate that the proposed method achieves state-of-the-art performance at an affordable computational cost. Our code is available at \href{https://github.com/XinyuNing/STformer-and-NSTformer}{https://github.com/XinyuNing/STformer-and-NSTformer}.

Xinyu Ning, Yan Zhuo, Xian Wang et al.

With the continuous advancement of technology, the application of generative artificial intelligence (AI) in various fields is gradually demonstrating great potential, particularly when combined with Extended Reality (XR), creating unprecedented possibilities. This survey article systematically reviews the applications of generative AI in XR, covering as much relevant literature as possible from 2023 to 2025. The application areas of generative AI in XR and its key technology implementations are summarised through PRISMA screening and analysis of the final 26 articles. The survey highlights existing articles from the last three years related to how XR utilises generative AI, providing insights into current trends and research gaps. We also explore potential opportunities for future research to further empower XR through generative AI, providing guidance and information for future generative XR research.

Chongyu Wang, Ting Huang, Chunyu Sun et al.

Multimodal Large Language Models (MLLMs) have achieved remarkable progress in 2D visual tasks but still exhibit limited physical spatial awareness when processing real-world visual streams. Recently, feed-forward geometric foundation models, which implicitly extract geometric priors, have provided a new pathway to address this issue. However, existing geometry-aware MLLMs are predominantly constrained by the paradigm of single deep-layer extraction and input-level fusion. This flattened fusion leads to the loss of local geometric details and causes semantic mismatches in the early layers. To break this bottleneck, we propose GUIDE (Geometric Unrolling Inside MLLM Early-layers), a progressive geometric priors injection framework. GUIDE performs multi-level sampling within the geometric encoder, comprehensively capturing multi-granularity features ranging from local edges to global topologies. Subsequently, we rigorously align and fuse these multi-level geometric priors step-by-step with the early layers of the MLLM. Building upon the injection of multi-granularity geometric information, this design guides the model to progressively learn the 2D-to-3D transitional process. Furthermore, we introduce a context-aware gating that enables the model to fetch requisite spatial cues based on current semantics, thereby maximizing the utilization efficiency of spatial priors and effectively suppressing redundant geometric noise. Extensive experiments demonstrate that GUIDE significantly outperforms existing baselines on multiple complex spatial reasoning and perception tasks, establishing a novel paradigm for integrating 3D geometric priors into large models.

Zhen Liu, Xinyu Ning, Zhe Hu et al.

Modern Vision--Language--Action models often suffer from critical instruction-following failures in high-density manipulation environments, where task-irrelevant visual clutter dilutes attention, corrupts grounding, and substantially degrades performance in complex long-horizon scenarios. To overcome the representation bottleneck of monolithic end-to-end architectures, we propose HSC-VLA, a hierarchical framework that decouples high-level visual-semantic reasoning from low-level, high-frequency sensorimotor execution through an explicit scene-clearing abstraction. HSC-VLA employs a high-level Brain to decompose long-horizon tasks and to generate task-specific scene masks that preserve task-relevant geometry while suppressing distractors. The filtered observations are then passed to a low-level Cerebellum, a diffusion-based policy that performs bimanual manipulation using only mask-filtered vision and proprioception. Extensive experiments in densely cluttered supermarket shelves demonstrate that HSC-VLA achieves 86.7\% aggregate success under high-density clutter, surpassing the best monolithic baseline ($π_0$-Full FT at 34.3\%) by 52.4\%. HSC-VLA also exhibits strong long-horizon performance, reaching 72\% on clutter sorting and 66\% on restocking, demonstrating strong robustness and effective failure recovery in complex cluttered manipulation.