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Hao Lu

Hao Lu contributes to research discovery and scholarly infrastructure.

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Computer Vision Artificial Intelligence Robotics

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preprint2026arXiv

Crowded Video Individual Counting Informed by Social Grouping and Spatial-Temporal Displacement Priors

Video Individual Counting (VIC) is a recently introduced task aiming to estimate pedestrian flux from a video. It extends Video Crowd Counting (VCC) beyond the per-frame pedestrian count. In contrast to VCC that learns to count pedestrians across frames, VIC must identify co-existent pedestrians between frames, which turns out to be a correspondence problem. Existing VIC approaches, however, can underperform in congested scenes such as metro commuting. To address this, we build WuhanMetroCrowd, one of the first VIC datasets that characterize crowded, dynamic pedestrian flows. It features sparse-to-dense density levels, short-to-long video clips, slow-to-fast flow variations, front-to-back appearance changes, and light-to-heavy occlusions. To better adapt VIC approaches to crowds, we rethink the nature of VIC and recognize two informative priors: i) the social grouping prior that indicates pedestrians tend to gather in groups and ii) the spatial-temporal displacement prior that informs an individual cannot teleport physically. The former inspires us to relax the standard one-to-one (O2O) matching used by VIC to one-to-many (O2M) matching, implemented by an implicit context generator and a O2M matcher; the latter facilitates the design of a displacement prior injector, which strengthens not only O2M matching but also feature extraction and model training. These designs jointly form a novel and strong VIC baseline OMAN++. Extensive experiments show that OMAN++ not only outperforms state-of-the-art VIC baselines on the standard SenseCrowd, CroHD, and MovingDroneCrowd benchmarks, but also indicates a clear advantage in crowded scenes, with a 38.12% error reduction on our WuhanMetroCrowd dataset. Code, data, and pretrained models are available at https://github.com/tiny-smart/OMAN.

preprint2026arXiv

CTIS-QA: Clinical Template-Informed Slide-level Question Answering for Pathology

In this paper, we introduce a clinical diagnosis template-based pipeline to systematically collect and structure pathological information. In collaboration with pathologists and guided by the the College of American Pathologists (CAP) Cancer Protocols, we design a Clinical Pathology Report Template (CPRT) that ensures comprehensive and standardized extraction of diagnostic elements from pathology reports. We validate the effectiveness of our pipeline on TCGA-BRCA. First, we extract pathological features from reports using CPRT. These features are then used to build CTIS-Align, a dataset of 80k slide-description pairs from 804 WSIs for vision-language alignment training, and CTIS-Bench, a rigorously curated VQA benchmark comprising 977 WSIs and 14,879 question-answer pairs. CTIS-Bench emphasizes clinically grounded, closed-ended questions (e.g., tumor grade, receptor status) that reflect real diagnostic workflows, minimize non-visual reasoning, and require genuine slide understanding. We further propose CTIS-QA, a Slide-level Question Answering model, featuring a dual-stream architecture that mimics pathologists' diagnostic approach. One stream captures global slide-level context via clustering-based feature aggregation, while the other focuses on salient local regions through attention-guided patch perception module. Extensive experiments on WSI-VQA, CTIS-Bench, and slide-level diagnostic tasks show that CTIS-QA consistently outperforms existing state-of-the-art models across multiple metrics. Code and data are available at https://github.com/HLSvois/CTIS-QA.

preprint2026arXiv

DepthCropSeg++: Scaling a Crop Segmentation Foundation Model With Depth-Labeled Data

DepthCropSeg++: a foundation model for crop segmentation, capable of segmenting different crop species under open in-field environment. Crop segmentation is a fundamental task for modern agriculture, which closely relates to many downstream tasks such as plant phenotyping, density estimation, and weed control. In the era of foundation models, a number of generic large language and vision models have been developed. These models have demonstrated remarkable real world generalization due to significant model capacity and largescale datasets. However, current crop segmentation models mostly learn from limited data due to expensive pixel-level labelling cost, often performing well only under specific crop types or controlled environment. In this work, we follow the vein of our previous work DepthCropSeg, an almost unsupervised approach to crop segmentation, to scale up a cross-species and crossscene crop segmentation dataset, with 28,406 images across 30+ species and 15 environmental conditions. We also build upon a state-of-the-art semantic segmentation architecture ViT-Adapter architecture, enhance it with dynamic upsampling for improved detail awareness, and train the model with a two-stage selftraining pipeline. To systematically validate model performance, we conduct comprehensive experiments to justify the effectiveness and generalization capabilities across multiple crop datasets. Results demonstrate that DepthCropSeg++ achieves 93.11% mIoU on a comprehensive testing set, outperforming both supervised baselines and general-purpose vision foundation models like Segmentation Anything Model (SAM) by significant margins (+0.36% and +48.57% respectively). The model particularly excels in challenging scenarios including night-time environment (86.90% mIoU), high-density canopies (90.09% mIoU), and unseen crop varieties (90.09% mIoU), indicating a new state of the art for crop segmentation.

preprint2026arXiv

Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers

Rearranging densely packed tabletop objects is challenging when parallel-gripper picks are infeasible without sufficient clearance around an object. This work studies the problem characteristics for practically motivated settings with uniformly sized blocks placed at planar tabletop grid locations. Since purely prehensile removal can become infeasible, a directional knock primitive is therefore introduced and the optimal knock-pick variant of the problem is formulated. The work proposes a series of abstractions wherein minimal constraining gadgets are covered to identify the necessary knocks. Utilizing a maximum-weight perfect matching on a graphical abstraction yields efficient polynomial-time computation of the optimal plan that minimizes the number of actions. Experiments are reported for increasing grid sizes in synthetic settings as well as in IsaacSim. The theoretical observations provide a promising stepping stone towards rigorously building efficient manipulation strategies that interleave prehensile and non-prehensile actions.

preprint2026arXiv

Virtues of Ordered Chaos: Planning with Topple Actions in Tabletop Stack Rearrangement

Efficient object manipulation strategies have significant impact in automation applications. In this work, the stack rearrangement in tabletop settings is studied, with a focus on augmenting the task planning domain with richer nonprehensile aggregating actions, in particular the toppling of objects from a stack to the table. Toppling can compress long sequences of intermediate relocations. Computed plans need to interleave pick-and-place actions with topple throughout its plan based on the problem. In order to generate the task plan and model an abstraction to compute solutions that include both pick-and-place and topple actions, a novel aggregating gadget for topple is introduced. Using this directed graphical abstraction, candidate task plan computation becomes a variant of the pebble motion problem, treating objects as pebbles. Benchmarks are then reported in a IsaacSim-based physics simulation. Results highlight clear benefits of achieving faster execution than solely using pick-and-place actions. Though this work primarily investigates the topple action, we demonstrate that similar abstractions can model other aggregating actions of interest, like scoop. The current work provides a preliminary, strong indication of the promising benefits of abstractions for rich object interactions in manipulation applications.

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