Haowen Liu

Mingi Jeong, Arihant Chadda, Ziang Ren et al.

This paper introduces the first publicly accessible labeled multi-modal perception dataset for autonomous maritime navigation, focusing on in-water obstacles within the aquatic environment to enhance situational awareness for Autonomous Surface Vehicles (ASVs). This dataset, collected over 4 years and consisting of diverse objects encountered under varying environmental conditions, aims to bridge the research gap in autonomous surface vehicles by providing a multi-modal, annotated, and ego-centric perception dataset, for object detection and classification. We also show the applicability of the proposed dataset by training deep learning-based open-source perception algorithms that have shown success. We expect that our dataset will contribute to development of the marine autonomy pipelines and marine (field) robotics. This dataset is opensource and can be found at https://seepersea.github.io/.

Zhi-Ping Liu, Xiao-Yu Cao, Hao-Wen Liu et al.

Federated learning is essential for decentralized, privacy-preserving model training in the data-driven era. Quantum-enhanced federated learning leverages quantum resources to address privacy and scalability challenges, offering security and efficiency advantages beyond classical methods. However, practical and scalable frameworks addressing privacy concerns in the quantum computing era remain undeveloped. Here, we propose a practical quantum federated learning framework on quantum networks, utilizing distributed quantum secret keys to protect local model updates and enable secure aggregation with information-theoretic security. We experimentally validate our framework on a 4-client quantum network with a scalable structure. Extensive numerical experiments on both quantum and classical datasets show that adding a quantum client significantly enhances the trained global model's ability to classify multipartite entangled and non-stabilizer quantum datasets. Simulations further demonstrate scalability to 200 clients with classical models trained on the MNIST dataset, reducing communication costs by $75\%$ through advanced model compression techniques and achieving rapid training convergence. Our work provides critical insights for building scalable, efficient, and quantum-secure machine learning systems for the coming quantum internet era.

Haowen Liu, Shaoxiong Yao, Haonan Chen et al.

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale visual-language data that contain no causal interactions or action-conditioned changes. Consequently, it remains challenging to leverage VLMs for fine-grained robotic manipulation tasks that require physical understanding, reasoning, and corresponding action planning. To overcome this, we present SIMPACT, a test-time, SIMulation-enabled ACTion Planning framework that equips VLMs with physical reasoning through simulation-in-the-loop world modeling, without requiring any additional training. From a single RGB-D observation, SIMPACT efficiently constructs physics simulations, enabling the VLM to propose informed actions, observe simulated rollouts, and iteratively refine its reasoning. By integrating language reasoning with physics prediction, our simulation-enabled VLM can understand contact dynamics and action outcomes in a physically grounded way. Our method demonstrates state-of-the-art performance on five challenging, real-world rigid-body and deformable manipulation tasks that require fine-grained physical reasoning, outperforming existing general-purpose robotic manipulation models. Our results demonstrate that embedding physics understanding via efficient simulation into VLM reasoning at test time offers a promising path towards generalizable embodied intelligence. Project webpage can be found at https://simpact-bot.github.io

Ting-Hsuan Liao, Haowen Liu, Yiran Xu et al.

We present PAD3R, a method for reconstructing deformable 3D objects from casually captured, unposed monocular videos. Unlike existing approaches, PAD3R handles long video sequences featuring substantial object deformation, large-scale camera movement, and limited view coverage that typically challenge conventional systems. At its core, our approach trains a personalized, object-centric pose estimator, supervised by a pre-trained image-to-3D model. This guides the optimization of deformable 3D Gaussian representation. The optimization is further regularized by long-term 2D point tracking over the entire input video. By combining generative priors and differentiable rendering, PAD3R reconstructs high-fidelity, articulated 3D representations of objects in a category-agnostic way. Extensive qualitative and quantitative results show that PAD3R is robust and generalizes well across challenging scenarios, highlighting its potential for dynamic scene understanding and 3D content creation.

Seungjae Lee, Daniel Ekpo, Haowen Liu et al.

Exploration is essential for general-purpose robotic learning, especially in open-ended environments where dense rewards, explicit goals, or task-specific supervision are scarce. Vision-language models (VLMs), with their semantic reasoning over objects, spatial relations, and potential outcomes, present a compelling foundation for generating high-level exploratory behaviors. However, their outputs are often ungrounded, making it difficult to determine whether imagined transitions are physically feasible or informative. To bridge the gap between imagination and execution, we present IVE (Imagine, Verify, Execute), an agentic exploration framework inspired by human curiosity. Human exploration is often driven by the desire to discover novel scene configurations and to deepen understanding of the environment. Similarly, IVE leverages VLMs to abstract RGB-D observations into semantic scene graphs, imagine novel scenes, predict their physical plausibility, and generate executable skill sequences through action tools. We evaluate IVE in both simulated and real-world tabletop environments. The results show that IVE enables more diverse and meaningful exploration than RL baselines, as evidenced by a 4.1 to 7.8x increase in the entropy of visited states. Moreover, the collected experience supports downstream learning, producing policies that closely match or exceed the performance of those trained on human-collected demonstrations.

Haowen Liu, Ping Yi, Hsiao-Ying Lin et al.

Deep learning has shown impressive performance on challenging perceptual tasks and has been widely used in software to provide intelligent services. However, researchers found deep neural networks vulnerable to adversarial examples. Since then, many methods are proposed to defend against adversaries in inputs, but they are either attack-dependent or shown to be ineffective with new attacks. And most of existing techniques have complicated structures or mechanisms that cause prohibitively high overhead or latency, impractical to apply on real software. We propose DAFAR, a feedback framework that allows deep learning models to detect/purify adversarial examples in high effectiveness and universality, with low area and time overhead. DAFAR has a simple structure, containing a victim model, a plug-in feedback network, and a detector. The key idea is to import the high-level features from the victim model's feature extraction layers into the feedback network to reconstruct the input. This data stream forms a feedback autoencoder. For strong attacks, it transforms the imperceptible attack on the victim model into the obvious reconstruction-error attack on the feedback autoencoder directly, which is much easier to detect; for weak attacks, the reformation process destroys the structure of adversarial examples. Experiments are conducted on MNIST and CIFAR-10 data-sets, showing that DAFAR is effective against popular and arguably most advanced attacks without losing performance on legitimate samples, with high effectiveness and universality across attack methods and parameters.