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Jianhui Zhang

Jianhui Zhang appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

ResearcherUnclaimed source record
Networking and Internet ArchitectureComputer VisionArtificial Intelligencecond-mat.softRobotics

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Published work

7 published item(s)

preprint2026arXiv

LongDPM: Overlap-Aware 4D Reconstruction from Long Monocular Videos

Recovering a dynamic 3D scene from a long monocular video is crucial for dense geometry, camera motion, and temporal correspondence to remain consistent in a shared coordinate system. Existing methods face two key challenges: (1) feed-forward reconstruction models provide accurate local predictions but are limited to short clips, and (2) long-range trackers preserve correspondences without producing dense sequence-level reconstruction. This paper presents LongDPM, a novel overlap-aware framework for scalable long-range monocular dynamic reconstruction. First, LongDPM processes long videos in overlapping chunks, keeping inference memory bounded by the chunk length. Second, it connects chunk-local coordinate systems through confidence-weighted registration with static-aware overlap abstraction. Third, it associates dynamic identities across chunk boundaries and fuses matched trajectories to recover coherent long-range 3D motion. Experimental results demonstrate that LongDPM achieves superior long-range reconstruction and tracking performance, reducing dense tracking EPE over V-DPM on PointOdyssey, Kubric-F, and Kubric-G, while obtaining the best TUM-dynamics ATE for camera pose estimation.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks

World models are widely explored in embodied intelligence, yet they typically predict distinct evolutions of the world and the ego within a single stream, where the world captures persistent instruction-agnostic scene regularities and the ego captures robot-centric instruction-conditioned dynamics. This world-ego entanglement leads to a degradation in long-horizon embodied scenarios, particularly in hybrid tasks with interleaved navigation and manipulation behaviors. In this paper, we introduce \emph{World-Ego Modeling}, a new conceptual paradigm that decomposes future evolution into world and ego components. We define the world-ego boundary from three perspectives, i.e., motion-, semantic-, and intention-based views, and analyze three disentanglement strategies with post-, pre-, and full disentanglement. Further, we instantiate this paradigm as the World-Ego Model (WEM), a unified embodied world model that couples an implicit separate world-ego planner with a cascade-parallel mixture-of-experts (CP-MoE) diffusion generator. To enable rigorous evaluation, we further construct HTEWorld, the first benchmark for long-horizon world modeling with hybrid navigation-manipulation tasks, providing 125K video clips (over 4.5M frames) with fine-grained action annotations and 300 multi-turn evaluation trajectories (over 2K instructions). Extensive experiments show that WEM achieves state-of-the-art performance on HTEWorld while remaining competitive on existing manipulation-only benchmarks.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

How should the contact angle of a noncircular wetting boundary be described?

For over 200 years, wettability has made significant contributions to understanding the properties of objects, advancing technological progress. Theoretical model of the contact angle (CA) for evaluating wettability has constantly been modified to address relevant emerging issues. However, these existing models disregard the difference in the CA along the contact line and use a single-point CA to evaluate the entire contact line. From this perspective, there is no reasonable explanation for noncircular wetting. Here, we reveal that noncircular wetting boundaries result from property differences in the surfaces along the boundary, and utilize friction as a comprehensive factor reflecting local wettability. Average CA is proposed to evaluate the contact line instead of the single-point CA, making the Cassie method and Wenzel method obsolete, which will take an average property of the whole surface as a weight coefficient of the single-point CA, ignoring the subordination between physical properties and roughness in systematics.

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preprint2020arXiv

BeeCup: A Bio-Inspired Energy-Efficient Clustering Protocol for Mobile Learning

Mobile devices have become a popular tool for ubiquitous learning in recent years. Multiple mobile users can be connected via ad hoc networks for the purpose of learning. In this context, due to limited battery capacity, energy efficiency of mobile devices becomes a very important factor that remarkably affects the user experience of mobile learning. Based on the artificial bee colony (ABC) algorithm, we propose a new clustering protocol, namely BeeCup, to save the energy of mobile devices while guaranteeing the quality of learning. The BeeCup protocol takes advantage of biologically-inspired computation, with focus on improving the energy efficiency of mobile devices. It first estimates the number of cluster heads (CHs) adaptively according to the network scale, and then selects the CHs by employing the ABC algorithm. In case some CHs consume energy excessively, clusters will be dynamically updated to keep energy consumption balanced within the whole network. Simulation results demonstrate the effectiveness and superiority of the proposed protocol.

0 citations0 reviewsNo code linkedOpen access
preprint2015arXiv

Quorum-based Localized Scheme for Duty Cycling in Asynchronous Sensor Networks

Many TDMA- and CSMA-based protocols try to obtain fair channel access and to increase channel utilization. It is still challenging and crucial in Wireless Sensor Networks (WSNs), especially when the time synchronization cannot be well guaranteed and consumes much extra energy. This paper presents a localized and ondemand scheme ADC to adaptively adjust duty cycle based on quorum systems. ADC takes advantages of TDMA and CSMA and guarantees that (1) each node can fairly access channel based on its demand, (2) channel utilization can be increased by reducing competition for channel access among neighboring nodes, (3) every node has at least one rendezvous active time slot with each of its neighboring nodes even under asynchronization. The latency bound of data aggregation is analyzed under ADC to show that ADC can bound the latency under both synchronization and asynchronization. We conduct extensive experiments in TinyOS on a real test-bed with TelosB nodes to evaluate the performance of ADC. Comparing with B-MAC, ADC substantially reduces the contention for channel access and energy consumption, and improves network throughput.

0 citations0 reviewsNo code linkedOpen access
preprint2015arXiv

Stochastic Duty Cycling for Heterogenous Energy Harvesting Networks

In recent years, there have been several kinds of energy harvesting networks containing some tiny devices, such as ambient backscatter, ring and renewable sensor networks. During energy harvesting, such networks suffer from the energy heterogeneity, dynamics and prediction hardness because the access to natural resources is often spatiotemporal different and timely changing among the devices. Meanwhile, the charging efficiency is quite low especially when the power of the harvested energy is weak. It results in the energy waste to store the harvested energy indirectly. These features bring challenging and interesting issues on efficient allocation of the harvested energy. This paper studies the \emph{stochastic duty cycling} by considering these features with the objective characterized by maximizing the common active time. We consider two cases: offline and online stochastic duty cycling. For the offline case, we design an optimal solution: offline duty cycling algorithm. For the online case, we design an online duty cycling algorithm, which achieves the approximation ratio with at least $1-e^{-γ^2}$, where $γ$ is the probability able to harvest energy. We also evaluate our algorithms with the experiment on a real energy harvesting network. The experiment results show that the performance of the online algorithm can be very close to the offline algorithm.

0 citations0 reviewsNo code linkedOpen access
preprint2015arXiv

Value of Information Aware Opportunistic Duty Cycling in Solar Harvesting Sensor Networks

The energy-harvested Wireless Sensor Networks (WSNs) may operate perpetually with the extra energy supply from ambient natural energy, such as solar energy. Nevertheless, the harvested energy is still limited so it's not able to support the perpetual network operation with full duty cycle. To achieve the perpetual network operation and process the data with high importance, measured by Value of Information (VoI), the network has to operate under partial duty cycle and to improve the efficiency to consume the harvested energy. The challenging problem is how to deal with the stochastic feature of the natural energy and the variable data VoI. We consider the energy consumption during storing and the diversity of the data process including sampling, transmitting and receiving, which consume different power levels. The problem is then mapped as the budget-dynamic Multi-Arm Bandit (MAB) problem by treating the energy as the budget and the data process as arm pulling. This paper proposes an Opportunistic Duty Cycling (ODC) scheme to improve the energy efficiency while satisfying the perpetual network operation. ODC chooses the proper opportunities to store the harvested energy or to spend it on the data process based on the historical information of the energy harvesting and the VoI of the processed data. With this scheme, each sensor node need only estimate the ambient natural energy in short term so as to reduce the computation and the storage for the historical information. It also can distributively adjust its own duty cycle according to its local historical information. This paper also conducts the extensive analysis on the performance of our scheme ODC, and the theoretical results validate the regret, which is the difference between the optimal scheme and ours. Our experimental results also manifest the promising performance of ODC.

0 citations0 reviewsNo code linkedOpen access