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Researcher profile

Haitong Tang

Haitong Tang contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Artificial IntelligenceComputer VisionMachine LearningRobotics

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Published work

3 published item(s)

preprint2026arXiv

PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations

Vision-Language-Action (VLA) models advance robotic control via strong visual-linguistic priors. However, existing VLAs predominantly frame pretraining as supervised behavior cloning, overlooking the fundamental nature of robot learning as a goal-reaching process that requires understanding temporal task progress. We present \textbf{PRTS} (\textbf{P}rimitive \textbf{R}easoning and \textbf{T}asking \textbf{S}ystem), a VLA foundation model that reformulates pretraining through Goal-Conditioned Reinforcement Learning. By treating language instructions as goals and employing contrastive reinforcement learning, PRTS learns a unified embedding space where the inner product of state-action and goal embeddings approximates the log-discounted goal occupancy, the probability of reaching the language-specified goal from the current state-action, quantitatively assessing physical feasibility beyond static semantic matching. PRTS draws this dense goal-reachability supervision directly from offline trajectories without reward annotations, and folds it into the VLM backbone via a role-aware causal mask, incurring negligible overhead over vanilla behavior cloning. This paradigm endows the high-level reasoning system with intrinsic goal reachability awareness, bridging semantic reasoning and temporal task progress, and further benefits goal-conditioned action prediction. Pretrained on 167B tokens of diverse manipulation and embodied-reasoning data, PRTS reaches state-of-the-art performance on LIBERO, LIBERO-Pro, LIBERO-Plus, SimplerEnv, and a real-world suite of 14 complex tasks, with particularly substantial gains on long-horizon, contact-rich, and zero-shot novel-instruction settings, confirming that injecting goal-reachability awareness significantly improves both execution success and long-horizon planning of general-purpose robotic foundation policies.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

RSI-Net: Two-Stream Deep Neural Network for Remote Sensing Imagesbased Semantic Segmentation

For semantic segmentation of remote sensing images (RSI), trade-off between representation power and location accuracy is quite important. How to get the trade-off effectively is an open question,where current approaches of utilizing very deep models result in complex models with large memory consumption. In contrast to previous work that utilizes dilated convolutions or deep models, we propose a novel two-stream deep neural network for semantic segmentation of RSI (RSI-Net) to obtain improved performance through modeling and propagating spatial contextual structure effectively and a decoding scheme with image-level and graph-level combination. The first component explicitly models correlations between adjacent land covers and conduct flexible convolution on arbitrarily irregular image regions by using graph convolutional network, while densely connected atrous convolution network (DenseAtrousCNet) with multi-scale atrous convolution can expand the receptive fields and obtain image global information. Extensive experiments are implemented on the Vaihingen, Potsdam and Gaofen RSI datasets, where the comparison results demonstrate the superior performance of RSI-Net in terms of overall accuracy (91.83%, 93.31% and 93.67% on three datasets, respectively), F1 score (90.3%, 91.49% and 89.35% on three datasets, respectively) and kappa coefficient (89.46%, 90.46% and 90.37% on three datasets, respectively) when compared with six state-of-the-art RSI semantic segmentation methods.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

WSEBP: A Novel Width-depth Synchronous Extension-based Basis Pursuit Algorithm for Multi-Layer Convolutional Sparse Coding

The pursuit algorithms integrated in multi-layer convolutional sparse coding (ML-CSC) can interpret the convolutional neural networks (CNNs). However, many current state-of-art (SOTA) pursuit algorithms require multiple iterations to optimize the solution of ML-CSC, which limits their applications to deeper CNNs due to high computational cost and large number of resources for getting very tiny gain of performance. In this study, we focus on the 0th iteration in pursuit algorithm by introducing an effective initialization strategy for each layer, by which the solution for ML-CSC can be improved. Specifically, we first propose a novel width-depth synchronous extension-based basis pursuit (WSEBP) algorithm which solves the ML-CSC problem without the limitation of the number of iterations compared to the SOTA algorithms and maximizes the performance by an effective initialization in each layer. Then, we propose a simple and unified ML-CSC-based classification network (ML-CSC-Net) which consists of an ML-CSC-based feature encoder and a fully-connected layer to validate the performance of WSEBP on image classification task. The experimental results show that our proposed WSEBP outperforms SOTA algorithms in terms of accuracy and consumption resources. In addition, the WSEBP integrated in CNNs can improve the performance of deeper CNNs and make them interpretable. Finally, taking VGG as an example, we propose WSEBP-VGG13 to enhance the performance of VGG13, which achieves competitive results on four public datasets, i.e., 87.79% vs. 86.83% on Cifar-10 dataset, 58.01% vs. 54.60% on Cifar-100 dataset, 91.52% vs. 89.58% on COVID-19 dataset, and 99.88% vs. 99.78% on Crack dataset, respectively. The results show the effectiveness of the proposed WSEBP, the improved performance of ML-CSC with WSEBP, and interpretation of the CNNs or deeper CNNs.

0 citations0 reviewsNo code linkedOpen access