Jingwei Yang

Yuxiao Liu, Ning Zhang, Yi Wang et al.

The linearization of a power flow (PF) model is an important approach for simplifying and accelerating the calculation of a power system's control, operation, and optimization. Traditional model-based methods derive linearized PF models by making approximations in the analytical PF model according to the physical characteristics of the power system. Today, more measurements of the power system are available and thus facilitate data-driven approaches beyond model-driven approaches. This work studies a linearized PF model through a data-driven approach. Both a forward regression model ((P, Q) as a function of (theta, V)) and an inverse regression model ((theta, V) as a function of (P, Q)) are proposed. Partial least square (PLS)- and Bayesian linear regression (BLR)-based algorithms are designed to address data collinearity and avoid overfitting. The proposed approach is tested on a series of IEEE standard cases, which include both meshed transmission grids and radial distribution grids, with both Monte Carlo simulated data and public testing data. The results show that the proposed approach can realize a higher calculation accuracy than model-based approaches can. The results also demonstrate that the obtained regression parameter matrices of data-driven models reflect power system physics by demonstrating similar patterns with some power system matrices (e.g., the admittance matrix).

Junran Peng, Yiheng Huang, Silei Shen et al.

In this paper, we introduce RoleMotion, a large-scale human motion dataset that encompasses a wealth of role-playing and functional motion data tailored to fit various specific scenes. Existing text datasets are mainly constructed decentrally as amalgamation of assorted subsets that their data are nonfunctional and isolated to work together to cover social activities in various scenes. Also, the quality of motion data is inconsistent, and textual annotation lacks fine-grained details in these datasets. In contrast, RoleMotion is meticulously designed and collected with a particular focus on scenes and roles. The dataset features 25 classic scenes, 110 functional roles, over 500 behaviors, and 10296 high-quality human motion sequences of body and hands, annotated with 27831 fine-grained text descriptions. We build an evaluator stronger than existing counterparts, prove its reliability, and evaluate various text-to-motion methods on our dataset. Finally, we explore the interplay of motion generation of body and hands. Experimental results demonstrate the high-quality and functionality of our dataset on text-driven whole-body generation.

Jingwei Yang, Ruoxi Wu, Wei Shen et al.

Style transfer must match a target style while preserving content semantics. DiT-based diffusion models often suffer from content-style entanglement, leading to reference-content leakage and unstable generation. We present UniCSG, a unified framework for content-constrained, style-driven generation in both text-guided and reference-guided settings. UniCSG employs staged training: (i) a latent-space semantic disentanglement stage that combines low-frequency preprocessing with conditioning corruption to encourage content-style separation, and (ii) a latent-space frequency-aware detail reconstruction stage that refines details via multi-scale frequency supervision. We further incorporate pixel-space reward learning to align latent objectives with perceptual quality after decoding. Experiments demonstrate improved content faithfulness, style alignment, and robustness in both settings.

Xiao Lin, Yun Peng, Liuyi Wang et al.

Category-level object pose estimation aims to recover the rotation, translation and size of unseen instances within predefined categories. In this task, deep neural network-based methods have demonstrated remarkable performance. However, previous studies show they suffer from spurious correlations raised by "unclean" confounders in models, hindering their performance on novel instances with significant variations. To address this issue, we propose CleanPose, a novel approach integrating causal learning and knowledge distillation to enhance category-level pose estimation. To mitigate the negative effect of unobserved confounders, we develop a causal inference module based on front-door adjustment, which promotes unbiased estimation by reducing potential spurious correlations. Additionally, to further improve generalization ability, we devise a residual-based knowledge distillation method that has proven effective in providing comprehensive category information guidance. Extensive experiments across multiple benchmarks (REAL275, CAMERA25 and HouseCat6D) hightlight the superiority of proposed CleanPose over state-of-the-art methods. Code will be available at https://github.com/chrislin0621/CleanPose.

Liuyi Wang, Zongtao He, Mengjiao Shen et al.

Despite the remarkable developments of recent large models in Embodied Artificial Intelligence (E-AI), their integration into robotics is hampered by their excessive parameter sizes and computational demands. Towards the Vision-and-Language Navigation (VLN) task, a core task in E-AI, this paper reveals the great potential of using knowledge distillation for obtaining lightweight student models by proposing a Meta-Ability Guided Interactive Chain-of-distillation (MAGIC) method. Specifically, a Meta-Ability Knowledge Distillation (MAKD) framework is proposed for decoupling and refining the necessary meta-abilities of VLN agents. A Meta-Knowledge Randomization Weighting (MKRW) and a Meta-Knowledge Transferable Determination (MKTD) module are incorporated to dynamically adjust aggregation weights at the meta-ability and sample levels, respectively. Move beyond the traditional one-step unidirectional distillation, an Interactive Chain-of-Distillation (ICoD) learning strategy is proposed to allow students to give feedback to teachers, forming a new multi-step teacher-student co-evolution pipeline. Remarkably, on the R2R test unseen public leaderboard, our smallest model, MAGIC-S, with only 5% (11M) of the teacher's size, outperforms all previous methods under the same training data. Additionally, our largest model, MAGIC-L, surpasses the previous state-of-the-art by 5.84% in SPL and 3.18% in SR. Furthermore, a new dataset was collected and annotated from our living environments, where MAGIC-S demonstrated superior performance and real-time efficiency. Our code is publicly available on https://github.com/CrystalSixone/VLN-MAGIC.

Jingwei Yang, Bohuan Xue, Yi Feng et al.

This article introduces three-filters-to-normal+ (3F2N+), an extension of our previous work three-filters-to-normal (3F2N), with a specific focus on incorporating discontinuity discrimination capability into surface normal estimators (SNEs). 3F2N+ achieves this capability by utilizing a novel discontinuity discrimination module (DDM), which combines depth curvature minimization and correlation coefficient maximization through conditional random fields (CRFs). To evaluate the robustness of SNEs on noisy data, we create a large-scale synthetic surface normal (SSN) dataset containing 20 scenarios (ten indoor scenarios and ten outdoor scenarios with and without random Gaussian noise added to depth images). Extensive experiments demonstrate that 3F2N+ achieves greater performance than all other geometry-based surface normal estimators, with average angular errors of 7.85$^\circ$, 8.95$^\circ$, 9.25$^\circ$, and 11.98$^\circ$ on the clean-indoor, clean-outdoor, noisy-indoor, and noisy-outdoor datasets, respectively. We conduct three additional experiments to demonstrate the effectiveness of incorporating our proposed 3F2N+ into downstream robot perception tasks, including freespace detection, 6D object pose estimation, and point cloud completion. Our source code and datasets are publicly available at https://mias.group/3F2Nplus.