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Researcher profile

Tianhao Wu

Tianhao Wu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionRoboticsArtificial IntelligenceMachine Learningeess.SPeess.SYGraphicsNetworking and Internet ArchitectureSystems and Control

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Published work

8 published item(s)

preprint2026arXiv

WOW-Seg: A Word-free Open World Segmentation Model

Open world image segmentation aims to achieve precise segmentation and semantic understanding of targets within images by addressing the infinitely open set of object categories encountered in the real world. However, traditional closed-set segmentation approaches struggle to adapt to complex open world scenarios, while foundation segmentation models such as SAM exhibit notable discrepancies between their strong segmentation capabilities and relatively weaker semantic understanding. To bridge these discrepancies, we propose WOW-Seg, a Word-free Open World Segmentation model for segmenting and recognizing objects from open-set categories. Specifically, WOW-Seg introduces a novel visual prompt module, Mask2Token, which transforms image masks into visual tokens and ensures their alignment with the VLLM feature space. Moreover, we introduce the Cascade Attention Mask to decouple information across different instances. This approach mitigates inter-instance interference, leading to a significant improvement in model performance. We further construct an open world region recognition test benchmark: the Region Recognition Dataset (RR-7K). With 7,662 classes, it represents the most extensive category-rich region recognition dataset to date. WOW-Seg attains strong results on the LVIS dataset, achieving a semantic similarity of 89.7 and a semantic IoU of 82.4. This performance surpasses the previous SOTA while using only one-eighth the parameter count. These results underscore the strong open world generalization capabilities of WOW-Seg. The code and related resources are available at https://github.com/AAwcAA/WOW-Seg-Meta.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Enhancing the Performance of DeepReach on High-Dimensional Systems through Optimizing Activation Functions

With the continuous advancement in autonomous systems, it becomes crucial to provide robust safety guarantees for safety-critical systems. Hamilton-Jacobi Reachability Analysis is a formal verification method that guarantees performance and safety for dynamical systems and is widely applicable to various tasks and challenges. Traditionally, reachability problems are solved by using grid-based methods, whose computational and memory cost scales exponentially with the dimensionality of the system. To overcome this challenge, DeepReach, a deep learning-based approach that approximately solves high-dimensional reachability problems, is proposed and has shown lots of promise. In this paper, we aim to improve the performance of DeepReach on high-dimensional systems by exploring different choices of activation functions. We first run experiments on a 3D system as a proof of concept. Then we demonstrate the effectiveness of our approach on a 9D multi-vehicle collision problem.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

$ \text{T}^3 $OMVP: A Transformer-based Time and Team Reinforcement Learning Scheme for Observation-constrained Multi-Vehicle Pursuit in Urban Area

Smart Internet of Vehicles (IoVs) combined with Artificial Intelligence (AI) will contribute to vehicle decision-making in the Intelligent Transportation System (ITS). Multi-Vehicle Pursuit games (MVP), a multi-vehicle cooperative ability to capture mobile targets, is becoming a hot research topic gradually. Although there are some achievements in the field of MVP in the open space environment, the urban area brings complicated road structures and restricted moving spaces as challenges to the resolution of MVP games. We define an Observation-constrained MVP (OMVP) problem in this paper and propose a Transformer-based Time and Team Reinforcement Learning scheme ($ \text{T}^3 $OMVP) to address the problem. First, a new multi-vehicle pursuit model is constructed based on decentralized partially observed Markov decision processes (Dec-POMDP) to instantiate this problem. Second, by introducing and modifying the transformer-based observation sequence, QMIX is redefined to adapt to the complicated road structure, restricted moving spaces and constrained observations, so as to control vehicles to pursue the target combining the vehicle's observations. Third, a multi-intersection urban environment is built to verify the proposed scheme. Extensive experimental results demonstrate that the proposed $ \text{T}^3 $OMVP scheme achieves significant improvements relative to state-of-the-art QMIX approaches by 9.66%~106.25%. Code is available at https://github.com/pipihaiziguai/T3OMVP.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

A Reduction-Based Framework for Conservative Bandits and Reinforcement Learning

In this paper, we present a reduction-based framework for conservative bandits and RL, in which our core technique is to calculate the necessary and sufficient budget obtained from running the baseline policy. For lower bounds, we improve the existing lower bound for conservative multi-armed bandits and obtain new lower bounds for conservative linear bandits, tabular RL and low-rank MDP, through a black-box reduction that turns a certain lower bound in the nonconservative setting into a new lower bound in the conservative setting. For upper bounds, in multi-armed bandits, linear bandits and tabular RL, our new upper bounds tighten or match existing ones with significantly simpler analyses. We also obtain a new upper bound for conservative low-rank MDP.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

GraspARL: Dynamic Grasping via Adversarial Reinforcement Learning

Grasping moving objects, such as goods on a belt or living animals, is an important but challenging task in robotics. Conventional approaches rely on a set of manually defined object motion patterns for training, resulting in poor generalization to unseen object trajectories. In this work, we introduce an adversarial reinforcement learning framework for dynamic grasping, namely GraspARL. To be specific. we formulate the dynamic grasping problem as a 'move-and-grasp' game, where the robot is to pick up the object on the mover and the adversarial mover is to find a path to escape it. Hence, the two agents play a min-max game and are trained by reinforcement learning. In this way, the mover can auto-generate diverse moving trajectories while training. And the robot trained with the adversarial trajectories can generalize to various motion patterns. Empirical results on the simulator and real-world scenario demonstrate the effectiveness of each and good generalization of our method.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Kubric: A scalable dataset generator

Data is the driving force of machine learning, with the amount and quality of training data often being more important for the performance of a system than architecture and training details. But collecting, processing and annotating real data at scale is difficult, expensive, and frequently raises additional privacy, fairness and legal concerns. Synthetic data is a powerful tool with the potential to address these shortcomings: 1) it is cheap 2) supports rich ground-truth annotations 3) offers full control over data and 4) can circumvent or mitigate problems regarding bias, privacy and licensing. Unfortunately, software tools for effective data generation are less mature than those for architecture design and training, which leads to fragmented generation efforts. To address these problems we introduce Kubric, an open-source Python framework that interfaces with PyBullet and Blender to generate photo-realistic scenes, with rich annotations, and seamlessly scales to large jobs distributed over thousands of machines, and generating TBs of data. We demonstrate the effectiveness of Kubric by presenting a series of 13 different generated datasets for tasks ranging from studying 3D NeRF models to optical flow estimation. We release Kubric, the used assets, all of the generation code, as well as the rendered datasets for reuse and modification.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects

Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their myriad semantic categories, diverse shape geometry, and complicated part functionality. Previous works mostly abstract kinematic structure with estimated joint parameters and part poses as the visual representations for manipulating 3D articulated objects. In this paper, we propose object-centric actionable visual priors as a novel perception-interaction handshaking point that the perception system outputs more actionable guidance than kinematic structure estimation, by predicting dense geometry-aware, interaction-aware, and task-aware visual action affordance and trajectory proposals. We design an interaction-for-perception framework VAT-Mart to learn such actionable visual representations by simultaneously training a curiosity-driven reinforcement learning policy exploring diverse interaction trajectories and a perception module summarizing and generalizing the explored knowledge for pointwise predictions among diverse shapes. Experiments prove the effectiveness of the proposed approach using the large-scale PartNet-Mobility dataset in SAPIEN environment and show promising generalization capabilities to novel test shapes, unseen object categories, and real-world data. Project page: https://hyperplane-lab.github.io/vat-mart

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Value-Decomposition Networks based Distributed Interference Control in Multi-platoon Groupcast

Platooning is considered one of the most representative 5G use cases. Due to the small spacing within the platoon, the platoon needs more reliable transmission to guarantee driving safety while improving fuel and driving efficiency. However, efficient resource allocation between platoons has been a challenge, especially considering that the channel and power selected by each platoon will affect other platoons. Therefore, platoons need to coordinate with each other to ensure the groupcast quality of each platoon. To solve these challenges, we model the multi-platoon resource selection problem as Markov games and then propose a distributed resource allocation algorithm based on Value-Decomposition Networks. Our scheme utilizes the historical data of each platoon for centralized training. In distributed execution, agents only need their local observations to make decisions. At the same time, we decrease the training burden by sharing the neural network parameters. Simulation results show that the proposed algorithm has excellent convergence. Compared with another multi-agent algorithm (MARL) and random algorithm, our proposed solution can dramatically reduce the probability of platoon groupcast failure and improve the quality of platoon groupcast.

0 citations0 reviewsNo code linkedOpen access