Zeyuan Zhao

Qingqing Ge, Zeyuan Zhao, Yiding Liu et al.

Graph Neural Networks (GNNs) are powerful in learning semantics of graph data. Recently, a new paradigm "pre-train and prompt" has shown promising results in adapting GNNs to various tasks with less supervised data. The success of such paradigm can be attributed to the more consistent objectives of pre-training and task-oriented prompt tuning, where the pre-trained knowledge can be effectively transferred to downstream tasks. Most existing methods are based on the class prototype vector framework. However, in the few-shot scenarios, given few labeled data, class prototype vectors are difficult to be accurately constructed or learned. Meanwhile, the structure information of graph is usually exploited during pre-training for learning node representations, while neglected in the prompt tuning stage for learning more accurate prototype vectors. In addition, they generally ignore the impact of heterophilous neighborhoods on node representation and are not suitable for heterophilous graphs. To bridge these gaps, we propose a novel pre-training and structure prompt tuning framework for GNNs, namely PSP, which consistently exploits structure information in both pre-training and prompt tuning stages. In particular, PSP 1) employs a dual-view contrastive learning to align the latent semantic spaces of node attributes and graph structure, and 2) incorporates structure information in prompted graph to construct more accurate prototype vectors and elicit more pre-trained knowledge in prompt tuning. We conduct extensive experiments on node classification and graph classification tasks to evaluate the effectiveness of PSP. We show that PSP can lead to superior performance in few-shot scenarios on both homophilous and heterophilous graphs. The implemented code is available at https://github.com/gqq1210/PSP.

Jiayi Liu, Qianyu Zhang, Xue Wan et al.

With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development and verification of algorithms require highly reliable data support. Most of the existing lunar datasets are targeted at a single task, lacking diverse scenes and high-precision ground truth labels. To address this issue, we propose a multi-task, multi-scene, and multi-label lunar benchmark dataset LuSNAR. This dataset can be used for comprehensive evaluation of autonomous perception and navigation systems, including high-resolution stereo image pairs, panoramic semantic labels, dense depth maps, LiDAR point clouds, and the position of rover. In order to provide richer scene data, we built 9 lunar simulation scenes based on Unreal Engine. Each scene is divided according to topographic relief and the density of objects. To verify the usability of the dataset, we evaluated and analyzed the algorithms of semantic segmentation, 3D reconstruction, and autonomous navigation. The experiment results prove that the dataset proposed in this paper can be used for ground verification of tasks such as autonomous environment perception and navigation, and provides a lunar benchmark dataset for testing the accessibility of algorithm metrics. We make LuSNAR publicly available at: https://github.com/zqyu9/LuSNAR-dataset.

Aodi Wu, Jianhong Zuo, Zeyuan Zhao et al.

Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains impractical due to cost and access constraints. Existing synthetic datasets, moreover, suffer from limited target diversity, single-modality sensing, and incomplete ground-truth annotations. We present \textbf{SpaceSense-Bench}, a large-scale multi-modal benchmark for spacecraft perception encompassing 136~satellite models with approximately 70~GB of data. Each frame provides time-synchronized 1024$\times$1024 RGB images, millimeter-precision depth maps, and 256-beam LiDAR point clouds, together with dense 7-class part-level semantic labels at both the pixel and point level as well as accurate 6-DoF pose ground truth. The dataset is generated through a high-fidelity space simulation built in Unreal Engine~5 and a fully automated pipeline covering data acquisition, multi-stage quality control, and conversion to mainstream formats. We benchmark five representative tasks (object detection, 2D semantic segmentation, RGB--LiDAR fusion-based 3D point cloud segmentation, monocular depth estimation, and orientation estimation) and identify two key findings: (i)~perceiving small-scale components (\emph{e.g.}, thrusters and omni-antennas) and generalizing to entirely unseen spacecraft in a zero-shot setting remain critical bottlenecks for current methods, and (ii)~scaling up the number of training satellites yields substantial performance gains on novel targets, underscoring the value of large-scale, diverse datasets for space perception research. The dataset, code, and toolkit are publicly available at https://github.com/wuaodi/SpaceSense-Bench.

Zeyuan Zhao, Qingqing Ge, Anfeng Cheng et al.

Heterogeneous graph neural networks(HGNNs) have recently shown impressive capability in modeling heterogeneous graphs that are ubiquitous in real-world applications. Most existing methods for heterogeneous graphs mainly learn node embeddings by stacking multiple convolutional or attentional layers, which can be considered as capturing the high-order information from node-level aspect. However, different types of nodes in heterogeneous graphs have diverse features, it is also necessary to capture interactions among node features, namely the high-order information from feature-level aspect. In addition, most methods first align node features by mapping them into one same low-dimensional space, while they may lose some type information of nodes in this way. To address these problems, in this paper, we propose a novel Heterogeneous graph Cascade Attention Network (HetCAN) composed of multiple cascade blocks. Each cascade block includes two components, the type-aware encoder and the dimension-aware encoder. Specifically, the type-aware encoder compensates for the loss of node type information and aims to make full use of graph heterogeneity. The dimension-aware encoder is able to learn the feature-level high-order information by capturing the interactions among node features. With the assistance of these components, HetCAN can comprehensively encode information of node features, graph heterogeneity and graph structure in node embeddings. Extensive experiments demonstrate the superiority of HetCAN over advanced competitors and also exhibit its efficiency and robustness.

Qingqing Ge, Jianxiang Yu, Zeyuan Zhao et al.

While robust graph neural networks (GNNs) have been widely studied for graph perturbation and attack, those for label noise have received significantly less attention. Most existing methods heavily rely on the label smoothness assumption to correct noisy labels, which adversely affects their performance on heterophilous graphs. Further, they generally perform poorly in high noise-rate scenarios. To address these problems, in this paper, we propose a novel probabilistic graphical model (PGM) based framework LNP. Given a noisy label set and a clean label set, our goal is to maximize the likelihood of labels in the clean set. We first present LNP-v1, which generates clean labels based on graphs only in the Bayesian network. To further leverage the information of clean labels in the noisy label set, we put forward LNP-v2, which incorporates the noisy label set into the Bayesian network to generate clean labels. The generative process can then be used to predict labels for unlabeled nodes. We conduct extensive experiments to show the robustness of LNP on varying noise types and rates, and also on graphs with different heterophilies. In particular, we show that LNP can lead to inspiring performance in high noise-rate situations.

Zeyuan Zhao, Chaoran Li, Shao Zhang et al.

Multi-Agent Pickup and Delivery (MAPD) is a challenging extension of Multi-Agent Path Finding (MAPF), where agents are required to sequentially complete tasks with fixed-location pickup and delivery demands. Although learning-based methods have made progress in MAPD, they often perform poorly in warehouse-like environments with narrow pathways and long corridors when relying only on local observations for distributed decision-making. Communication learning can alleviate the lack of global information but introduce high computational complexity due to point-to-point communication. To address this challenge, we formulate MAPF as a sequence modeling problem and prove that path-finding policies under sequence modeling possess order-invariant optimality, ensuring its effectiveness in MAPD. Building on this, we propose the Sequential Pathfinder (SePar), which leverages the Transformer paradigm to achieve implicit information exchange, reducing decision-making complexity from exponential to linear while maintaining efficiency and global awareness. Experiments demonstrate that SePar consistently outperforms existing learning-based methods across various MAPF tasks and their variants, and generalizes well to unseen environments. Furthermore, we highlight the necessity of integrating imitation learning in complex maps like warehouses.

Peng Yu, Zeyuan Zhao, Shao Zhang et al.

Large language models (LLMs) have achieved significant advancements in reasoning capabilities through reinforcement learning (RL) via environmental exploration. As the intrinsic properties of the environment determine the abilities that LLMs can learn, the environment plays a important role in the RL finetuning process. An ideal LLM reasoning environment should possess three core characteristics: scalability, generalizable reasoning, and verifiability. However, existing mathematical and coding environments are difficult to scale due to heavy reliance on expert annotation, while the skills learned in game-based environments are too specialized to generalize. To bridge this gap, we introduce the \textbf{S}tructured \textbf{I}n-context \textbf{E}nvironment (SIE) framework. SIE achieves scalability by automatically constructing reasoning environments from large-scale structured data, where the rich compositional patterns naturally support generalizable reasoning. Moreover, the explicit schemas and reasoning chains in structured data provide a foundation for rule-based verifiability. Experimental results show that SIE framework not only achieves substantial improvements in in-domain structured reasoning, but also enables the learned compositional reasoning skills to generalize effectively to out-of-domain mathematical and logical reasoning tasks. We further explored learning in information-limited partial SIEs and found that LLMs can infer the missing information through exploring the environment, leading to robust reasoning improvements and generalization performance.