Haoyang Wang

Haoran Guo, Haoyang Wang, Zhengxiong Li et al.

Tactile sensing is critical for learning-based dexterous manipulation, yet principled guidelines for sensor placement remain largely absent. While dense sensor arrays provide rich contact feedback, they impose significant hardware costs and can even degrade policy performance by introducing redundant or conflicting inputs. This paper presents the first systematic framework for quantifying the contribution of individual tactile sensors to deep reinforcement learning (DRL) policy performance. We propose a two-stage approach: a coarse empirical pruning phase that reduces the sensor count on the Shadow Hand from 92 to 21 while retaining 93\% task performance, followed by a fine-grained active learning phase that combines Gaussian Process Regression (GPR) with Lasso regression to rank the functional importance of each remaining sensor. Our analysis reveals that sensors on the thumb, ring finger, and little finger dominate manipulation performance, while middle-finger sensors exhibit negative contributions -- actively degrading policy learning. Ablation studies across three manipulation tasks (block, egg, and pen) confirm that a 14-sensor configuration preserves over 90\% of the full-array performance. Zero-shot transfer experiments on two novel objects and cross-platform validation on the Allegro and Leap Hand further demonstrate that the identified importance rankings generalize across tasks and robot morphologies. These findings establish quantitative deployment guidelines that enable practitioners to select cost-effective sensor configurations with predictable performance trade-offs.

Pengtao Ma, Ziliang Zhou, Ciyu Ruan et al.

First-person dynamic spatial reasoning requires models to track continuous motion and precise geometric structure, but the quadratic attention cost of Transformer-based Video-LLMs makes dense visual tokens computationally expensive. Existing token pruning paradigms predominantly rely on discrete static snapshots, failing to preserve the motion and geometric cues essential for reasoning. We propose Event Cascade Pruning (ECP), to our knowledge the first training-free framework that leverages the high-frequency motion cues from event cameras as a continuous event-guided motion prior to guide token selection. ECP combines three stages: Event-Triggered Causal Sampling to anchor motion-informative keyframes, Event-guided Motion Saliency Filtering to suppress event-inactive visual tokens, and Event-Attention Ranking Fusion to calibrate spatial attention with motion-salient dynamics. With 80% visual token reduction, ECP outperforms the full-token baseline (37.62% vs. 36.31%) while achieving 1.89x inference speedup and 52% GFLOPs reduction. We further introduce ESR-Real, the first real-world RGB-event benchmark for first-person spatial reasoning, where ECP improves accuracy by 2.68 percentage points over full-token baselines.

Haoyang Wang, Ruishan Guo, Pengtao Ma et al.

With the increasing complexity of mobile device applications, these devices are evolving toward high agility. This shift imposes new demands on mobile sensing, particularly in achieving high-accuracy and low-latency. Event-based vision has emerged as a disruptive paradigm, offering high temporal resolution and low latency, making it well-suited for high-accuracy and low-latency sensing tasks on high-agility platforms. However, the presence of substantial noisy events, lack of stable, persistent semantic information, and large data volume pose challenges for event-based data processing on resource-constrained mobile devices. This paper surveys the literature from 2014 to 2025 and presents a comprehensive overview of event-based mobile sensing, encompassing its fundamental principles, event \textit{abstraction} methods, \textit{algorithm} advancements, and both hardware and software \textit{acceleration} strategies. We discuss key \textit{applications} of event cameras in mobile sensing, including visual odometry, object tracking, optical flow, and 3D reconstruction, while highlighting challenges associated with event data processing, sensor fusion, and real-time deployment. Furthermore, we outline future research directions, such as improving the event camera with advanced optics, leveraging neuromorphic computing for efficient processing, and integrating bio-inspired algorithms. To support ongoing research, we provide an open-source \textit{Online Sheet} with recent developments. We hope this survey serves as a reference, facilitating the adoption of event-based vision across diverse applications.

Ruishan Guo, Ciyu Ruan, Haoyang Wang et al.

Estimating dense 2D optical flow and 3D scene flow is essential for dynamic scene understanding. Recent work combines images, LiDAR, and event data to jointly predict 2D and 3D motion, yet most approaches operate in separate heterogeneous feature spaces. Without a shared latent space that all modalities can align to, these systems rely on multiple modality-specific blocks, leaving cross-sensor mismatches unresolved and making fusion unnecessarily complex.Event cameras naturally provide a spatiotemporal edge signal, which we can treat as an intrinsic edge field to anchor a unified latent representation, termed the Event Edge Space. Building on this idea, we introduce $x^2$-Fusion, which reframes multimodal fusion as representation unification: event-derived spatiotemporal edges define an edge-centric homogeneous space, and image and LiDAR features are explicitly aligned in this shared representation.Within this space, we perform reliability-aware adaptive fusion to estimate modality reliability and emphasize stable cues under degradation. We further employ cross-dimension contrast learning to tightly couple 2D optical flow with 3D scene flow. Extensive experiments on both synthetic and real benchmarks show that $x^2$-Fusion achieves state-of-the-art accuracy under standard conditions and delivers substantial improvements in challenging scenarios.

Baining Zhao, Jiacheng Xu, Weicheng Feng et al.

Aerial vision-language navigation (VLN) requires agents to follow natural-language instructions through closed-loop perception and action in 3D environments. We argue that aerial VLN can be formulated as a prediction-driven world-action problem: the agent should anticipate latent world evolution and act according to the predicted consequences. To this end, we propose WorldVLN, the first autoregressive world action model for aerial VLN. Unlike full-sequence video-generation world models that generate an entire visual clip, WorldVLN adapts a latent autoregressive video backbone to predict short-horizon world-state transitions and directly decodes them into executable waypoint actions. After each action segment is executed, newly received observations are encoded back into the autoregressive context, enabling closed-loop world-action prediction. We further introduce a two-stage training framework that first grounds the video prior in instruction-conditioned navigation dynamics and then develops Action-aware GRPO, the first reinforcement learning method tailored to autoregressive WAMs, to optimize waypoint decisions through their downstream rollout consequences. On public outdoor and indoor benchmarks, WorldVLN consistently outperforms existing Vision-Language-Action baselines with 12\%+ success-rate gains and larger advantages on challenging cases. It further transfers zero-shot to real drone deployment, suggesting that the proposed WorldVLN offers a promising route for spatial action tasks. Demos and code are available at https://embodiedcity.github.io/WorldVLN/.

Haoyang Wang, Liming Liu, Xinggong Zhang

Mesh reconstruction from Neural Radiance Fields (NeRF) is widely used in 3D reconstruction and has been applied across numerous domains. However, existing methods typically rely solely on the given training set images, which restricts supervision to limited observations and makes it difficult to fully constrain geometry and appearance. Moreover, the contribution of each viewpoint for training is not uniform and changes dynamically during the optimization process, which can result in suboptimal guidance for both geometric refinement and rendering quality. To address these limitations, we propose $R^2$-Mesh, a reinforcement learning framework that combines NeRF-rendered pseudo-supervision with online viewpoint selection. Our key insight is to exploit NeRF's rendering ability to synthesize additional high-quality images, enriching training with diverse viewpoint information. To ensure that supervision focuses on the most beneficial perspectives, we introduce a UCB-based strategy with a geometry-aware reward, which dynamically balances exploration and exploitation to identify informative viewpoints throughout training. Within this framework, we jointly optimize SDF geometry and view-dependent appearance under differentiable rendering, while periodically refining meshes to capture fine geometric details. Experiments demonstrate that our method achieves competitive results in both geometric accuracy and rendering quality.

Haoyang Wang, Mingze Zhang, Yi Bu et al.

The era of Big Science has long been defined by increasingly large and specialized research teams pushing the frontiers of knowledge. However, recent advances in artificial intelligence (AI), particularly large language models (LLMs), are beginning to reshape academic writing and scientific research, potentially disrupting the longstanding trend toward ever-larger teams and transforming other dimensions of research team structure. Drawing on 147,074 full-text publications from the PLoS family and the Nature portfolio since 2020, we examined whether and how AI-assisted writing influences team structure and team outcomes in science. Using multiple methods, including ordinary least square, quantile regression, Poisson regression, logistic regression and propensity score matching, we found that research teams using AI-assisted writing tend to be younger and smaller. Importantly, this shift toward more compact, junior-leaning teams does not come at the expense of scientific impact. On the contrary, we observed a higher probability of research teams that employed AI-assisted writing producing highly impactful publications. These results highlight the significant role of AI-assisted writing in reshaping not only how research is produced, but also how research teams are formed and assembled. Our findings call for policy improvements in research evaluation, funding, and training to address this emerging trend.

Haoyang Wang, Jingao Xu, Xinyu Luo et al.

For precise, efficient, and safe drone landings, ground platforms should real-time, accurately locate descending drones and guide them to designated spots. While mmWave sensing combined with cameras improves localization accuracy, the lower sampling frequency of traditional frame cameras compared to mmWave radar creates bottlenecks in system throughput. In this work, we replace the traditional frame camera with event camera, a novel sensor that harmonizes in sampling frequency with mmWave radar within the ground platform setup, and introduce mmE-Loc, a high-precision, low-latency ground localization system designed for drone landings. To fully leverage the \textit{temporal consistency} and \textit{spatial complementarity} between these modalities, we propose two innovative modules, \textit{consistency-instructed collaborative tracking} and \textit{graph-informed adaptive joint optimization}, for accurate drone measurement extraction and efficient sensor fusion. Extensive real-world experiments in landing scenarios from a leading drone delivery company demonstrate that mmE-Loc outperforms state-of-the-art methods in both localization accuracy and latency.

Hanzhong Zhang, Jibin Yin, Haoyang Wang et al.

Large Language Models (LLMs) still face challenges in tasks requiring understanding implicit instructions and applying common-sense knowledge. In such scenarios, LLMs may require multiple attempts to achieve human-level performance, potentially leading to inaccurate responses or inferences in practical environments, affecting their long-term consistency and behavior. This paper introduces the Internal Time-Consciousness Machine (ITCM), a computational consciousness structure to simulate the process of human consciousness. We further propose the ITCM-based Agent (ITCMA), which supports action generation and reasoning in open-world settings, and can independently complete tasks. ITCMA enhances LLMs' ability to understand implicit instructions and apply common-sense knowledge by considering agents' interaction and reasoning with the environment. Evaluations in the Alfworld environment show that trained ITCMA outperforms the state-of-the-art (SOTA) by 9% on the seen set. Even untrained ITCMA achieves a 96% task completion rate on the seen set, 5% higher than SOTA, indicating its superiority over traditional intelligent agents in utility and generalization. In real-world tasks with quadruped robots, the untrained ITCMA achieves an 85% task completion rate, which is close to its performance in the unseen set, demonstrating its comparable utility and universality in real-world settings.

Caozhe Li, Enxiang Shen, Haoyang Wang et al.

Three-dimensional (3D) ultrasound imaging can overcome the limitations of conventional two dimensional (2D) ultrasound imaging in structural observation and measurement. However, conducting volumetric ultrasound imaging for large-sized organs still faces difficulties including long acquisition time, inevitable patient movement, and 3D feature recognition. In this study, we proposed a real-time volumetric free-hand ultrasound imaging system optimized for the above issues and applied it to the clinical diagnosis of scoliosis. This study employed an incremental imaging method coupled with algorithmic acceleration to enable real-time processing and visualization of the large amounts of data generated when scanning large-sized organs. Furthermore, to deal with the difficulty of image feature recognition, we proposed two tissue segmentation algorithms to reconstruct and visualize the spinal anatomy in 3D space by approximating the depth at which the bone structures are located and segmenting the ultrasound images at different depths. We validated the adaptability of our system by deploying it to multiple models of ultra-sound equipment and conducting experiments using different types of ultrasound probes. We also conducted experiments on 6 scoliosis patients and 10 normal volunteers to evaluate the performance of our proposed method. Ultrasound imaging of a volunteer spine from shoulder to crotch (more than 500 mm) was performed in 2 minutes, and the 3D imaging results displayed in real-time were compared with the corresponding X-ray images with a correlation coefficient of 0.96 in spinal curvature. Our proposed volumetric ultrasound imaging system might hold the potential to be clinically applied to other large-sized organs.

Mingfei Lu, Mengjia Wu, Feng Liu et al.

Memory is critical for enabling large language model (LLM) based agents to maintain coherent behavior over long-horizon interactions. However, existing agent memory systems suffer from two key gaps: they rely on a one-size-fits-all memory structure and do not model memory structure selection as a context-adaptive decision, limiting their ability to handle heterogeneous interaction patterns and resulting in suboptimal performance. We propose a unified framework, FluxMem, that enables adaptive memory organization for LLM agents. Our framework equips agents with multiple complementary memory structures. It explicitly learns to select among these structures based on interaction-level features, using offline supervision derived from downstream response quality and memory utilization. To support robust long-horizon memory evolution, we further introduce a three-level memory hierarchy and a Beta Mixture Model-based probabilistic gate for distribution-aware memory fusion, replacing brittle similarity thresholds. Experiments on two long-horizon benchmarks, PERSONAMEM and LoCoMo, demonstrate that our method achieves average improvements of 9.18% and 6.14%.

Philip DiGiacomo, Haoyang Wang, Jinrui Fang et al.

As AI chatbots gain adoption in clinical medicine, developing effective frameworks for complex, emerging diseases presents significant challenges. We developed and evaluated six Retrieval-Augmented Generation (RAG) corpus configurations for Long COVID (LC) clinical question answering, ranging from expert-curated sources to large-scale literature databases. Our evaluation employed an LLM-as-a-judge framework across faithfulness, relevance, and comprehensiveness metrics using LongCOVID-CQ, a novel dataset of expert-generated clinical questions. Our RAG corpus configuration combining clinical guidelines with high-quality systematic reviews consistently outperformed both narrow single-guideline approaches and large-scale literature databases. Our findings suggest that for emerging diseases, retrieval grounded in curated secondary reviews provides an optimal balance between narrow consensus documents and unfiltered primary literature, supporting clinical decision-making while avoiding information overload and oversimplified guidance. We propose Guide-RAG, a chatbot system and accompanying evaluation framework that integrates both curated expert knowledge and comprehensive literature databases to effectively answer LC clinical questions.

Haoyang Wang, Liming Liu, Peiheng Wang et al.

Mesh reconstruction from multi-view images is a fundamental problem in computer vision, but its performance degrades significantly under sparse-view conditions, especially in unseen regions where no ground-truth observations are available. While recent advances in diffusion models have demonstrated strong capabilities in synthesizing novel views from limited inputs, their outputs often suffer from visual artifacts and lack 3D consistency, posing challenges for reliable mesh optimization. In this paper, we propose a novel framework that leverages diffusion models to enhance sparse-view mesh reconstruction in a principled and reliable manner. To address the instability of diffusion outputs, we propose a Consensus Diffusion Module that filters unreliable generations via interquartile range (IQR) analysis and performs variance-aware image fusion to produce robust pseudo-supervision. Building on this, we design an online reinforcement learning strategy based on the Upper Confidence Bound (UCB) to adaptively select the most informative viewpoints for enhancement, guided by diffusion loss. Finally, the fused images are used to jointly supervise a NeRF-based model alongside sparse-view ground truth, ensuring consistency across both geometry and appearance. Extensive experiments demonstrate that our method achieves significant improvements in both geometric quality and rendering quality.

Junlin Hao, Peiheng Wang, Haoyang Wang et al.

Single-image 3D scene reconstruction presents significant challenges due to its inherently ill-posed nature and limited input constraints. Recent advances have explored two promising directions: multiview generative models that train on 3D consistent datasets but struggle with out-of-distribution generalization, and 3D scene inpainting and completion frameworks that suffer from cross-view inconsistency and suboptimal error handling, as they depend exclusively on depth data or 3D smoothness, which ultimately degrades output quality and computational performance. Building upon these approaches, we present GaussVideoDreamer, which advances generative multimedia approaches by bridging the gap between image, video, and 3D generation, integrating their strengths through two key innovations: (1) A progressive video inpainting strategy that harnesses temporal coherence for improved multiview consistency and faster convergence. (2) A 3D Gaussian Splatting consistency mask to guide the video diffusion with 3D consistent multiview evidence. Our pipeline combines three core components: a geometry-aware initialization protocol, Inconsistency-Aware Gaussian Splatting, and a progressive video inpainting strategy. Experimental results demonstrate that our approach achieves 32% higher LLaVA-IQA scores and at least 2x speedup compared to existing methods while maintaining robust performance across diverse scenes.

Liming Liu, Jiangkai Wu, Haoyang Wang et al.

Traditional video compression algorithms exhibit significant quality degradation at extremely low bitrates. Promptus emerges as a new paradigm for video streaming, substantially cutting down the bandwidth essential for video streaming. However, Promptus is computationally intensive and can not run in real-time on mobile devices. This paper presents PromptMobile, an efficient acceleration framework tailored for on-device Promptus. Specifically, we propose (1) a two-stage efficient generation framework to reduce computational cost by 8.1x, (2) a fine-grained inter-frame caching to reduce redundant computations by 16.6%, (3) system-level optimizations to further enhance efficiency. The evaluations demonstrate that compared with the original Promptus, PromptMobile achieves a 13.6x increase in image generation speed. Compared with other streaming methods, PromptMobile achives an average LPIPS improvement of 0.016 (compared with H.265), reducing 60% of severely distorted frames (compared to VQGAN).

Haoyang Wang, Haoran Guo, Lingfeng Tao et al.

Dexterous telemanipulation critically relies on the continuous and stable tracking of the human operator's commands to ensure robust operation. Vison-based tracking methods are widely used but have low stability due to anomalies such as occlusions, inadequate lighting, and loss of sight. Traditional filtering, regression, and interpolation methods are commonly used to compensate for explicit information such as angles and positions. These approaches are restricted to low-dimensional data and often result in information loss compared to the original high-dimensional image and video data. Recent advances in diffusion-based approaches, which can operate on high-dimensional data, have achieved remarkable success in video reconstruction and generation. However, these methods have not been fully explored in continuous control tasks in robotics. This work introduces the Diffusion-Enhanced Telemanipulation (DET) framework, which incorporates the Frame-Difference Detection (FDD) technique to identify and segment anomalies in video streams. These anomalous clips are replaced after reconstruction using diffusion models, ensuring robust telemanipulation performance under challenging visual conditions. We validated this approach in various anomaly scenarios and compared it with the baseline methods. Experiments show that DET achieves an average RMSE reduction of 17.2% compared to the cubic spline and 51.1% compared to FFT-based interpolation for different occlusion durations.

Stylianos Ploumpis, Evangelos Ververas, Eimear O' Sullivan et al.

Three-dimensional Morphable Models (3DMMs) are powerful statistical tools for representing the 3D shapes and textures of an object class. Here we present the most complete 3DMM of the human head to date that includes face, cranium, ears, eyes, teeth and tongue. To achieve this, we propose two methods for combining existing 3DMMs of different overlapping head parts: i. use a regressor to complete missing parts of one model using the other, ii. use the Gaussian Process framework to blend covariance matrices from multiple models. Thus we build a new combined face-and-head shape model that blends the variability and facial detail of an existing face model (the LSFM) with the full head modelling capability of an existing head model (the LYHM). Then we construct and fuse a highly-detailed ear model to extend the variation of the ear shape. Eye and eye region models are incorporated into the head model, along with basic models of the teeth, tongue and inner mouth cavity. The new model achieves state-of-the-art performance. We use our model to reconstruct full head representations from single, unconstrained images allowing us to parameterize craniofacial shape and texture, along with the ear shape, eye gaze and eye color.

Dominik Kulon, Haoyang Wang, Riza Alp Güler et al.

Monocular 3D reconstruction of deformable objects, such as human body parts, has been typically approached by predicting parameters of heavyweight linear models. In this paper, we demonstrate an alternative solution that is based on the idea of encoding images into a latent non-linear representation of meshes. The prior on 3D hand shapes is learned by training an autoencoder with intrinsic graph convolutions performed in the spectral domain. The pre-trained decoder acts as a non-linear statistical deformable model. The latent parameters that reconstruct the shape and articulated pose of hands in the image are predicted using an image encoder. We show that our system reconstructs plausible meshes and operates in real-time. We evaluate the quality of the mesh reconstructions produced by the decoder on a new dataset and show latent space interpolation results. Our code, data, and models will be made publicly available.

Stylianos Ploumpis, Haoyang Wang, Nick Pears et al.

Three-dimensional Morphable Models (3DMMs) are powerful statistical tools for representing the 3D surfaces of an object class. In this context, we identify an interesting question that has previously not received research attention: is it possible to combine two or more 3DMMs that (a) are built using different templates that perhaps only partly overlap, (b) have different representation capabilities and (c) are built from different datasets that may not be publicly-available? In answering this question, we make two contributions. First, we propose two methods for solving this problem: i. use a regressor to complete missing parts of one model using the other, ii. use the Gaussian Process framework to blend covariance matrices from multiple models. Second, as an example application of our approach, we build a new face-and-head shape model that combines the variability and facial detail of the LSFM with the full head modelling of the LYHM. The resulting combined shape model achieves state-of-the-art performance and outperforms existing head models by a large margin. Finally, as an application experiment, we reconstruct full head representations from single, unconstrained images by utilizing our proposed large-scale model in conjunction with the FaceWarehouse blendshapes for handling expressions.