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Hang Song

Hang Song contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
eess.SPMachine LearningRoboticsComputer VisionDistributed, Parallel, and Cluster ComputingNetworking and Internet Architecture

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Published work

7 published item(s)

preprint2026arXiv

Masked Generative Transformer Is What You Need for Image Editing

Diffusion models dominate image editing, yet their global denoising mechanism entangles edited regions with surrounding context, causing modifications to propagate into areas that should remain intact. We propose a fundamentally different approach by leveraging Masked Generative Transformers (MGTs), whose localized token-prediction paradigm naturally confines changes to intended regions. We present EditMGT, an MGT-based editing framework that is the first of its kind. Our approach employs multi-layer attention consolidation to aggregate cross-attention maps into precise edit localization signals, and region-hold sampling to explicitly prevent token flipping in non-target areas. To support training, we construct CrispEdit-2M, a 2M-sample high-resolution (>1024) editing dataset spanning seven categories. With only 960M parameters, EditMGT achieves state-of-the-art image similarity on multiple benchmarks while delivering 6x faster editing, demonstrating that MGTs offer a compelling alternative to diffusion-based editing.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

The RoboSense Challenge: Sense Anything, Navigate Anywhere, Adapt Across Platforms

Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts. However, even state-of-the-art methods often degrade under unseen conditions, highlighting the need for robust and generalizable robot sensing. The RoboSense 2025 Challenge is designed to advance robustness and adaptability in robot perception across diverse sensing scenarios. It unifies five complementary research tracks spanning language-grounded decision making, socially compliant navigation, sensor configuration generalization, cross-view and cross-modal correspondence, and cross-platform 3D perception. Together, these tasks form a comprehensive benchmark for evaluating real-world sensing reliability under domain shifts, sensor failures, and platform discrepancies. RoboSense 2025 provides standardized datasets, baseline models, and unified evaluation protocols, enabling large-scale and reproducible comparison of robust perception methods. The challenge attracted 143 teams from 85 institutions across 16 countries, reflecting broad community engagement. By consolidating insights from 23 winning solutions, this report highlights emerging methodological trends, shared design principles, and open challenges across all tracks, marking a step toward building robots that can sense reliably, act robustly, and adapt across platforms in real-world environments.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future

Autonomous driving has long relied on modular "Perception-Decision-Action" pipelines, where hand-crafted interfaces and rule-based components often break down in complex or long-tailed scenarios. Their cascaded design further propagates perception errors, degrading downstream planning and control. Vision-Action (VA) models address some limitations by learning direct mappings from visual inputs to actions, but they remain opaque, sensitive to distribution shifts, and lack structured reasoning or instruction-following capabilities. Recent progress in Large Language Models (LLMs) and multimodal learning has motivated the emergence of Vision-Language-Action (VLA) frameworks, which integrate perception with language-grounded decision making. By unifying visual understanding, linguistic reasoning, and actionable outputs, VLAs offer a pathway toward more interpretable, generalizable, and human-aligned driving policies. This work provides a structured characterization of the emerging VLA landscape for autonomous driving. We trace the evolution from early VA approaches to modern VLA frameworks and organize existing methods into two principal paradigms: End-to-End VLA, which integrates perception, reasoning, and planning within a single model, and Dual-System VLA, which separates slow deliberation (via VLMs) from fast, safety-critical execution (via planners). Within these paradigms, we further distinguish subclasses such as textual vs. numerical action generators and explicit vs. implicit guidance mechanisms. We also summarize representative datasets and benchmarks for evaluating VLA-based driving systems and highlight key challenges and open directions, including robustness, interpretability, and instruction fidelity. Overall, this work aims to establish a coherent foundation for advancing human-compatible autonomous driving systems.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Pensieve 5G: Implementation of RL-based ABR Algorithm for UHD 4K/8K Content Delivery on Commercial 5G SA/NR-DC Network

While the rollout of the fifth-generation mobile network (5G) is underway across the globe with the intention to deliver 4K/8K UHD videos, Augmented Reality (AR), and Virtual Reality (VR) content to the mass amounts of users, the coverage and throughput are still one of the most significant issues, especially in the rural areas, where only 5G in the low-frequency band are being deployed. This called for a high-performance adaptive bitrate (ABR) algorithm that can maximize the user quality of experience given 5G network characteristics and data rate of UHD contents. Recently, many of the newly proposed ABR techniques were machine-learning based. Among that, Pensieve is one of the state-of-the-art techniques, which utilized reinforcement-learning to generate an ABR algorithm based on observation of past decision performance. By incorporating the context of the 5G network and UHD content, Pensieve has been optimized into Pensieve 5G. New QoE metrics that more accurately represent the QoE of UHD video streaming on the different types of devices were proposed and used to evaluate Pensieve 5G against other ABR techniques including the original Pensieve. The results from the simulation based on the real 5G Standalone (SA) network throughput shows that Pensieve 5G outperforms both conventional algorithms and Pensieve with the average QoE improvement of 8.8% and 14.2%, respectively. Additionally, Pensieve 5G also performed well on the commercial 5G NR-NR Dual Connectivity (NR-DC) Network, despite the training being done solely using the data from the 5G Standalone (SA) network.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

RSSI-CSI Measurement and Variation Mitigation with Commodity WiFi Device

Owing to the plentiful information released by the commodity devices, WiFi signals have been widely studied for various wireless sensing applications. In many works, both received signal strength indicator (RSSI) and the channel state information (CSI) are utilized as the key factors for precise sensing. However, the calculation and relationship between RSSI and CSI is not explained in detail. Furthermore, there are few works focusing on the measurement variation of the WiFi signal which impacts the sensing results. In this paper, the relationship between RSSI and CSI is studied in detail and the measurement variation of amplitude and phase information is investigated by extensive experiments. In the experiments, transmitter and receiver are directly connected by power divider and RF cables and the signal transmission is quantitatively controlled by RF attenuators. By changing the intensity of attenuation, the measurement of RSSI and CSI is carried out under different conditions. From the results, it is found that in order to get a reliable measurement of the signal amplitude and phase by commodity WiFi, the attenuation of the channels should not exceed 60 dB. Meanwhile, the difference between two channels should be lower than 10 dB. An active control mechanism is suggested to ensure the measurement stability. The findings and criteria of this work is promising to facilitate more precise sensing technologies with WiFi signal.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Scalable Parallel Linear Solver for Compact Banded Systems on Heterogeneous Architectures

A scalable algorithm for solving compact banded linear systems on distributed memory architectures is presented. The proposed method factorizes the original system into two levels of memory hierarchies, and solves it using parallel cyclic reduction on both distributed and shared memory. This method has a lower communication footprint across distributed memory partitions compared to conventional algorithms involving data transpose or re-partitioning. The algorithm developed in this work is generalized to cyclic compact banded systems with flexible data decompositions. For cyclic compact banded systems, the method is a direct solver with a deterministic operation and communication counts depending on the matrix size, its bandwidth, and the partition strategy. The implementation and runtime configuration details are discussed for performance optimization. Scalability is demonstrated on the linear solver as well as on a representative fluid mechanics application problem, in which the dominant computational cost is solving the cyclic tridiagonal linear systems of compact numerical schemes on a 3D periodic domain. The algorithm is particularly useful for solving the linear systems arising from the application of compact finite difference operators to a wide range of partial differential equation problems, such as but not limited to the numerical simulations of compressible turbulent flows, aeroacoustics, elastic-plastic wave propagation, and electromagnetics. It alleviates obstacles to their use on modern high performance computing hardware, where memory and computational power are distributed across nodes with multi-threaded processing units.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

WiEps: Measurement of Dielectric Property with Commodity WiFi Device -- An application to Ethanol/Water Mixture

WiFi signal has become accessible everywhere, providing high-speed data transmission experience. Besides the communication service, channel state information (CSI) of the WiFi signals is widely employed for numerous Internet of Things (IoT) applications. Recently, most of these applications are based on analysis of the microwave reflections caused by physical movement of the objective. In this paper, a novel contactless wireless sensing technique named WiEps is developed to measure the dielectric properties of the material, exploiting the transmission characteristics of the WiFi signals. In WiEps, the material under test is placed between the transmitter antenna and receiver antenna. A theoretical model is proposed to quantitatively describe the relationship between CSI data and dielectric properties of the material. During the experiment, the phase and amplitude of the transmitted WiFi signals are extracted from the measured CSI data. The parameters of the theoretical model are calculated using measured data from the known materials. Then, WiEps is utilized to estimate the dielectric properties of unknown materials. The proposed technique is first applied to the ethanol/water mixtures. Then, additional liquids are measured for further verification. The estimated permittivities and conductivities show good agreement with the actual values, with the average error of 4.0% and 8.9%, respectively, indicating the efficacy of WiEps. By measuring the dielectric property, this technique is promising to be applied to new IoT applications using ubiquitous WiFi signals, such as food engineering, material manufacturing process monitoring, and security check.

0 citations0 reviewsNo code linkedOpen access