Haoran Li

h-index11
2papers
516citations

2 Papers

13.0LGAug 29, 2025
PowerGrow: Feasible Co-Growth of Structures and Dynamics for Power Grid Synthesis

Xinyu He, Chenhan Xiao, Haoran Li et al.

Modern power systems are becoming increasingly dynamic, with changing topologies and time-varying loads driven by renewable energy variability, electric vehicle adoption, and active grid reconfiguration. Despite these changes, publicly available test cases remain scarce, due to security concerns and the significant effort required to anonymize real systems. Such limitations call for generative tools that can jointly synthesize grid structure and nodal dynamics. However, modeling the joint distribution of network topology, branch attributes, bus properties, and dynamic load profiles remains a major challenge, while preserving physical feasibility and avoiding prohibitive computational costs. We present PowerGrow, a co-generative framework that significantly reduces computational overhead while maintaining operational validity. The core idea is dependence decomposition: the complex joint distribution is factorized into a chain of conditional distributions over feasible grid topologies, time-series bus loads, and other system attributes, leveraging their mutual dependencies. By constraining the generation process at each stage, we implement a hierarchical graph beta-diffusion process for structural synthesis, paired with a temporal autoencoder that embeds time-series data into a compact latent space, improving both training stability and sample fidelity. Experiments across benchmark settings show that PowerGrow not only outperforms prior diffusion models in fidelity and diversity but also achieves a 98.9\% power flow convergence rate and improved N-1 contingency resilience. This demonstrates its ability to generate operationally valid and realistic power grid scenarios.

3.6CVMay 22, 2025
GMatch: A Lightweight, Geometry-Constrained Keypoint Matcher for Zero-Shot 6DoF Pose Estimation in Robotic Grasp Tasks

Ming Yang, Haoran Li

6DoF object pose estimation is fundamental to robotic grasp tasks. While recent learning-based methods achieve high accuracy, their computational demands hinder deployment on resource-constrained mobile platforms. In this work, we revisit the classical keypoint matching paradigm and propose GMatch, a lightweight, geometry-constrained keypoint matcher that can run efficiently on embedded CPU-only platforms. GMatch works with keypoint descriptors and it uses a set of geometric constraints to establishes inherent ambiguities between features extracted by descriptors, thus giving a globally consistent correspondences from which 6DoF pose can be easily solved. We benchmark GMatch on the HOPE and YCB-Video datasets, where our method beats existing keypoint matchers (both feature-based and geometry-based) among three commonly used descriptors and approaches the SOTA zero-shot method on texture-rich objects with much more humble devices. The method is further deployed on a LoCoBot mobile manipulator, enabling a one-shot grasp pipeline that demonstrates high task success rates in real-world experiments. In a word, by its lightweight and white-box nature, GMatch offers a practical solution for resource-limited robotic systems, and although currently bottlenecked by descriptor quality, the framework presents a promising direction towards robust yet efficient pose estimation. Code will be released soon under Mozilla Public License.