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Source author record

Minghao Fu

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

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Computer VisionArtificial IntelligenceMachine LearningRobotics

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Published work

3 published item(s)

preprint2026arXiv

Ada-Diffuser: Latent-Aware Adaptive Diffusion for Decision-Making

Recent work has framed decision-making as a sequence modeling problem using generative models such as diffusion models. Although promising, these approaches often overlook latent factors that exhibit evolving dynamics, elements that are fundamental to environment transitions, reward structures, and high-level agent behavior. Explicitly modeling these hidden processes is essential for both precise dynamics modeling and effective decision-making. In this paper, we propose a unified framework that explicitly incorporates latent dynamic inference into generative decision-making from minimal yet sufficient observations. We theoretically show that under mild conditions, the latent process can be identified from small temporal blocks of observations. Building on this insight, we introduce Ada-Diffuser, a causal diffusion model that learns the temporal structure of observed interactions and the underlying latent dynamics simultaneously, and furthermore, leverages them for planning and control. With a modular design, Ada-Diffuser supports both planning and policy learning tasks, enabling adaptation to latent variations in dynamics, rewards, and latent actions. Experiments on simulated control and robotic benchmarks demonstrate its effectiveness in accurate latent inference and adaptive policy learning.

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preprint2026arXiv

SCAR: Self-Supervised Continuous Action Representation Learning

Despite the central role of action in embodied intelligence, learning transferable action representations from visual transitions remains a fundamental challenge, particularly when world models must generalize across embodiments under limited data. We argue that action is not merely an auxiliary conditioning signal, but a distinct representational factor that decouples the controllable change from embodiment-specific actuation. In this work, we propose SCAR, a joint inverse-forward dynamics framework for learning unified action representations across embodiments from visual transitions. Built on a pretrained generative backbone, SCAR uses an inverse dynamics model (IDM) to infer latent actions from latent observation pairs and a forward dynamics model (FDM) to predict future dynamics conditioned on them. To make the latent space transferable rather than a generic visual bottleneck, we regularize the latent action posterior toward a standard Gaussian prior to limit arbitrary visual encoding, and introduce adversarial invariance to suppress embodiment- and environment-specific nuisance factors. Experiments on the Procgen and Robotwin dataset show that the learned unified latent action representation serves as a stronger conditioning interface for world modeling than embodiment-specific raw actions, yielding improved cross-embodiment low-data adaptation and cross-task transfer. Taken together, these results suggest that action can be learned as a shared representation of controllable change across embodiments, providing an interface for more transferable and generalizable world models.

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preprint2020arXiv

Deeply Aligned Adaptation for Cross-domain Object Detection

Cross-domain object detection has recently attracted more and more attention for real-world applications, since it helps build robust detectors adapting well to new environments. In this work, we propose an end-to-end solution based on Faster R-CNN, where ground-truth annotations are available for source images (e.g., cartoon) but not for target ones (e.g., watercolor) during training. Motivated by the observation that the transferabilities of different neural network layers differ from each other, we propose to apply a number of domain alignment strategies to different layers of Faster R-CNN, where the alignment strength is gradually reduced from low to higher layers. Moreover, after obtaining region proposals in our network, we develop a foreground-background aware alignment module to further reduce the domain mismatch by separately aligning features of the foreground and background regions from the source and target domains. Extensive experiments on benchmark datasets demonstrate the effectiveness of our proposed approach.

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