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Researcher profile

Xiu Li

Xiu Li contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionArtificial IntelligenceMachine Learningeess.IVInformation RetrievalComputation and LanguageMultiagent SystemsRobotics

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Published work

20 published item(s)

preprint2026arXiv

PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations

Vision-Language-Action (VLA) models advance robotic control via strong visual-linguistic priors. However, existing VLAs predominantly frame pretraining as supervised behavior cloning, overlooking the fundamental nature of robot learning as a goal-reaching process that requires understanding temporal task progress. We present \textbf{PRTS} (\textbf{P}rimitive \textbf{R}easoning and \textbf{T}asking \textbf{S}ystem), a VLA foundation model that reformulates pretraining through Goal-Conditioned Reinforcement Learning. By treating language instructions as goals and employing contrastive reinforcement learning, PRTS learns a unified embedding space where the inner product of state-action and goal embeddings approximates the log-discounted goal occupancy, the probability of reaching the language-specified goal from the current state-action, quantitatively assessing physical feasibility beyond static semantic matching. PRTS draws this dense goal-reachability supervision directly from offline trajectories without reward annotations, and folds it into the VLM backbone via a role-aware causal mask, incurring negligible overhead over vanilla behavior cloning. This paradigm endows the high-level reasoning system with intrinsic goal reachability awareness, bridging semantic reasoning and temporal task progress, and further benefits goal-conditioned action prediction. Pretrained on 167B tokens of diverse manipulation and embodied-reasoning data, PRTS reaches state-of-the-art performance on LIBERO, LIBERO-Pro, LIBERO-Plus, SimplerEnv, and a real-world suite of 14 complex tasks, with particularly substantial gains on long-horizon, contact-rich, and zero-shot novel-instruction settings, confirming that injecting goal-reachability awareness significantly improves both execution success and long-horizon planning of general-purpose robotic foundation policies.

0 citations0 reviewsNo code linkedOpen access
preprint2025arXiv

Visual Language Hypothesis

We study visual representation learning from a structural and topological perspective. We begin from a single hypothesis: that visual understanding presupposes a semantic language for vision, in which many perceptual observations correspond to a small number of discrete semantic states. Together with widely assumed premises on transferability and abstraction in representation learning, this hypothesis implies that the visual observation space must be organized in a fiber bundle like structure, where nuisance variation populates fibers and semantics correspond to a quotient base space. From this structure we derive two theoretical consequences. First, the semantic quotient X/G is not a submanifold of X and cannot be obtained through smooth deformation alone, semantic invariance requires a non homeomorphic, discriminative target for example, supervision via labels, cross-instance identification, or multimodal alignment that supplies explicit semantic equivalence. Second, we show that approximating the quotient also places structural demands on the model architecture. Semantic abstraction requires not only an external semantic target, but a representation mechanism capable of supporting topology change: an expand and snap process in which the manifold is first geometrically expanded to separate structure and then collapsed to form discrete semantic regions. We emphasize that these results are interpretive rather than prescriptive: the framework provides a topological lens that aligns with empirical regularities observed in large-scale discriminative and multimodal models, and with classical principles in statistical learning theory.

0 citations0 reviewsNo code linkedOpen access
preprint2024arXiv

1st Place Solution for 5th LSVOS Challenge: Referring Video Object Segmentation

The recent transformer-based models have dominated the Referring Video Object Segmentation (RVOS) task due to the superior performance. Most prior works adopt unified DETR framework to generate segmentation masks in query-to-instance manner. In this work, we integrate strengths of that leading RVOS models to build up an effective paradigm. We first obtain binary mask sequences from the RVOS models. To improve the consistency and quality of masks, we propose Two-Stage Multi-Model Fusion strategy. Each stage rationally ensembles RVOS models based on framework design as well as training strategy, and leverages different video object segmentation (VOS) models to enhance mask coherence by object propagation mechanism. Our method achieves 75.7% J&F on Ref-Youtube-VOS validation set and 70% J&F on test set, which ranks 1st place on 5th Large-scale Video Object Segmentation Challenge (ICCV 2023) track 3. Code is available at https://github.com/RobertLuo1/iccv2023_RVOS_Challenge.

0 citations0 reviewsNo code linkedOpen access
preprint2024arXiv

Follow Your Pose: Pose-Guided Text-to-Video Generation using Pose-Free Videos

Generating text-editable and pose-controllable character videos have an imperious demand in creating various digital human. Nevertheless, this task has been restricted by the absence of a comprehensive dataset featuring paired video-pose captions and the generative prior models for videos. In this work, we design a novel two-stage training scheme that can utilize easily obtained datasets (i.e.,image pose pair and pose-free video) and the pre-trained text-to-image (T2I) model to obtain the pose-controllable character videos. Specifically, in the first stage, only the keypoint-image pairs are used only for a controllable text-to-image generation. We learn a zero-initialized convolutional encoder to encode the pose information. In the second stage, we finetune the motion of the above network via a pose-free video dataset by adding the learnable temporal self-attention and reformed cross-frame self-attention blocks. Powered by our new designs, our method successfully generates continuously pose-controllable character videos while keeps the editing and concept composition ability of the pre-trained T2I model. The code and models will be made publicly available.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Adversarial Alignment for Source Free Object Detection

Source-free object detection (SFOD) aims to transfer a detector pre-trained on a label-rich source domain to an unlabeled target domain without seeing source data. While most existing SFOD methods generate pseudo labels via a source-pretrained model to guide training, these pseudo labels usually contain high noises due to heavy domain discrepancy. In order to obtain better pseudo supervisions, we divide the target domain into source-similar and source-dissimilar parts and align them in the feature space by adversarial learning. Specifically, we design a detection variance-based criterion to divide the target domain. This criterion is motivated by a finding that larger detection variances denote higher recall and larger similarity to the source domain. Then we incorporate an adversarial module into a mean teacher framework to drive the feature spaces of these two subsets indistinguishable. Extensive experiments on multiple cross-domain object detection datasets demonstrate that our proposed method consistently outperforms the compared SFOD methods.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Disentangling Past-Future Modeling in Sequential Recommendation via Dual Networks

Sequential recommendation (SR) plays an important role in personalized recommender systems because it captures dynamic and diverse preferences from users' real-time increasing behaviors. Unlike the standard autoregressive training strategy, future data (also available during training) has been used to facilitate model training as it provides richer signals about user's current interests and can be used to improve the recommendation quality. However, these methods suffer from a severe training-inference gap, i.e., both past and future contexts are modeled by the same encoder when training, while only historical behaviors are available during inference. This discrepancy leads to potential performance degradation. To alleviate the training-inference gap, we propose a new framework DualRec, which achieves past-future disentanglement and past-future mutual enhancement by a novel dual network. Specifically, a dual network structure is exploited to model the past and future context separately. And a bi-directional knowledge transferring mechanism enhances the knowledge learnt by the dual network. Extensive experiments on four real-world datasets demonstrate the superiority of our approach over baseline methods. Besides, we demonstrate the compatibility of DualRec by instantiating using RNN, Transformer, and filter-MLP as backbones. Further empirical analysis verifies the high utility of modeling future contexts under our DualRec framework. The code of DualRec is publicly available at https://github.com/zhy99426/DualRec.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Emergent collective intelligence from massive-agent cooperation and competition

Inspired by organisms evolving through cooperation and competition between different populations on Earth, we study the emergence of artificial collective intelligence through massive-agent reinforcement learning. To this end, We propose a new massive-agent reinforcement learning environment, Lux, where dynamic and massive agents in two teams scramble for limited resources and fight off the darkness. In Lux, we build our agents through the standard reinforcement learning algorithm in curriculum learning phases and leverage centralized control via a pixel-to-pixel policy network. As agents co-evolve through self-play, we observe several stages of intelligence, from the acquisition of atomic skills to the development of group strategies. Since these learned group strategies arise from individual decisions without an explicit coordination mechanism, we claim that artificial collective intelligence emerges from massive-agent cooperation and competition. We further analyze the emergence of various learned strategies through metrics and ablation studies, aiming to provide insights for reinforcement learning implementations in massive-agent environments.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Model-based Transfer Learning for Automatic Optical Inspection based on domain discrepancy

Transfer learning is a promising method for AOI applications since it can significantly shorten sample collection time and improve efficiency in today's smart manufacturing. However, related research enhanced the network models by applying TL without considering the domain similarity among datasets, the data long-tailedness of a source dataset, and mainly used linear transformations to mitigate the lack of samples. This research applies model-based TL via domain similarity to improve the overall performance and data augmentation in both target and source domains to enrich the data quality and reduce the imbalance. Given a group of source datasets from similar industrial processes, we define which group is the most related to the target through the domain discrepancy score and the number of samples each has. Then, we transfer the chosen pre-trained backbone weights to train and fine-tune the target network. Our research suggests increases in the F1 score and the PR curve up to 20% compared with TL using benchmark datasets.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

A Medical Semantic-Assisted Transformer for Radiographic Report Generation

Automated radiographic report generation is a challenging cross-domain task that aims to automatically generate accurate and semantic-coherence reports to describe medical images. Despite the recent progress in this field, there are still many challenges at least in the following aspects. First, radiographic images are very similar to each other, and thus it is difficult to capture the fine-grained visual differences using CNN as the visual feature extractor like many existing methods. Further, semantic information has been widely applied to boost the performance of generation tasks (e.g. image captioning), but existing methods often fail to provide effective medical semantic features. Toward solving those problems, in this paper, we propose a memory-augmented sparse attention block utilizing bilinear pooling to capture the higher-order interactions between the input fine-grained image features while producing sparse attention. Moreover, we introduce a novel Medical Concepts Generation Network (MCGN) to predict fine-grained semantic concepts and incorporate them into the report generation process as guidance. Our proposed method shows promising performance on the recently released largest benchmark MIMIC-CXR. It outperforms multiple state-of-the-art methods in image captioning and medical report generation.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Coarse-to-Fine Knowledge-Enhanced Multi-Interest Learning Framework for Multi-Behavior Recommendation

Multi-types of behaviors (e.g., clicking, adding to cart, purchasing, etc.) widely exist in most real-world recommendation scenarios, which are beneficial to learn users' multi-faceted preferences. As dependencies are explicitly exhibited by the multiple types of behaviors, effectively modeling complex behavior dependencies is crucial for multi-behavior prediction. The state-of-the-art multi-behavior models learn behavior dependencies indistinguishably with all historical interactions as input. However, different behaviors may reflect different aspects of user preference, which means that some irrelevant interactions may play as noises to the target behavior to be predicted. To address the aforementioned limitations, we introduce multi-interest learning to the multi-behavior recommendation. More specifically, we propose a novel Coarse-to-fine Knowledge-enhanced Multi-interest Learning (CKML) framework to learn shared and behavior-specific interests for different behaviors. CKML introduces two advanced modules, namely Coarse-grained Interest Extracting (CIE) and Fine-grained Behavioral Correlation (FBC), which work jointly to capture fine-grained behavioral dependencies. CIE uses knowledge-aware information to extract initial representations of each interest. FBC incorporates a dynamic routing scheme to further assign each behavior among interests. Additionally, we use the self-attention mechanism to correlate different behavioral information at the interest level. Empirical results on three real-world datasets verify the effectiveness and efficiency of our model in exploiting multi-behavior data. Further experiments demonstrate the effectiveness of each module and the robustness and superiority of the shared and specific modelling paradigm for multi-behavior data.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Double-Uncertainty Guided Spatial and Temporal Consistency Regularization Weighting for Learning-based Abdominal Registration

In order to tackle the difficulty associated with the ill-posed nature of the image registration problem, regularization is often used to constrain the solution space. For most learning-based registration approaches, the regularization usually has a fixed weight and only constrains the spatial transformation. Such convention has two limitations: (i) Besides the laborious grid search for the optimal fixed weight, the regularization strength of a specific image pair should be associated with the content of the images, thus the "one value fits all" training scheme is not ideal; (ii) Only spatially regularizing the transformation may neglect some informative clues related to the ill-posedness. In this study, we propose a mean-teacher based registration framework, which incorporates an additional temporal consistency regularization term by encouraging the teacher model's prediction to be consistent with that of the student model. More importantly, instead of searching for a fixed weight, the teacher enables automatically adjusting the weights of the spatial regularization and the temporal consistency regularization by taking advantage of the transformation uncertainty and appearance uncertainty. Extensive experiments on the challenging abdominal CT-MRI registration show that our training strategy can promisingly advance the original learning-based method in terms of efficient hyperparameter tuning and a better tradeoff between accuracy and smoothness.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Hybrid intelligence for dynamic job-shop scheduling with deep reinforcement learning and attention mechanism

The dynamic job-shop scheduling problem (DJSP) is a class of scheduling tasks that specifically consider the inherent uncertainties such as changing order requirements and possible machine breakdown in realistic smart manufacturing settings. Since traditional methods cannot dynamically generate effective scheduling strategies in face of the disturbance of environments, we formulate the DJSP as a Markov decision process (MDP) to be tackled by reinforcement learning (RL). For this purpose, we propose a flexible hybrid framework that takes disjunctive graphs as states and a set of general dispatching rules as the action space with minimum prior domain knowledge. The attention mechanism is used as the graph representation learning (GRL) module for the feature extraction of states, and the double dueling deep Q-network with prioritized replay and noisy networks (D3QPN) is employed to map each state to the most appropriate dispatching rule. Furthermore, we present Gymjsp, a public benchmark based on the well-known OR-Library, to provide a standardized off-the-shelf facility for RL and DJSP research communities. Comprehensive experiments on various DJSP instances confirm that our proposed framework is superior to baseline algorithms with smaller makespan across all instances and provide empirical justification for the validity of the various components in the hybrid framework.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Neural Capture of Animatable 3D Human from Monocular Video

We present a novel paradigm of building an animatable 3D human representation from a monocular video input, such that it can be rendered in any unseen poses and views. Our method is based on a dynamic Neural Radiance Field (NeRF) rigged by a mesh-based parametric 3D human model serving as a geometry proxy. Previous methods usually rely on multi-view videos or accurate 3D geometry information as additional inputs; besides, most methods suffer from degraded quality when generalized to unseen poses. We identify that the key to generalization is a good input embedding for querying dynamic NeRF: A good input embedding should define an injective mapping in the full volumetric space, guided by surface mesh deformation under pose variation. Based on this observation, we propose to embed the input query with its relationship to local surface regions spanned by a set of geodesic nearest neighbors on mesh vertices. By including both position and relative distance information, our embedding defines a distance-preserved deformation mapping and generalizes well to unseen poses. To reduce the dependency on additional inputs, we first initialize per-frame 3D meshes using off-the-shelf tools and then propose a pipeline to jointly optimize NeRF and refine the initial mesh. Extensive experiments show our method can synthesize plausible human rendering results under unseen poses and views.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Rethinking Goal-conditioned Supervised Learning and Its Connection to Offline RL

Solving goal-conditioned tasks with sparse rewards using self-supervised learning is promising because of its simplicity and stability over current reinforcement learning (RL) algorithms. A recent work, called Goal-Conditioned Supervised Learning (GCSL), provides a new learning framework by iteratively relabeling and imitating self-generated experiences. In this paper, we revisit the theoretical property of GCSL -- optimizing a lower bound of the goal reaching objective, and extend GCSL as a novel offline goal-conditioned RL algorithm. The proposed method is named Weighted GCSL (WGCSL), in which we introduce an advanced compound weight consisting of three parts (1) discounted weight for goal relabeling, (2) goal-conditioned exponential advantage weight, and (3) best-advantage weight. Theoretically, WGCSL is proved to optimize an equivalent lower bound of the goal-conditioned RL objective and generates monotonically improved policies via an iterated scheme. The monotonic property holds for any behavior policies, and therefore WGCSL can be applied to both online and offline settings. To evaluate algorithms in the offline goal-conditioned RL setting, we provide a benchmark including a range of point and simulated robot domains. Experiments in the introduced benchmark demonstrate that WGCSL can consistently outperform GCSL and existing state-of-the-art offline methods in the fully offline goal-conditioned setting.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

ScalableViT: Rethinking the Context-oriented Generalization of Vision Transformer

The vanilla self-attention mechanism inherently relies on pre-defined and steadfast computational dimensions. Such inflexibility restricts it from possessing context-oriented generalization that can bring more contextual cues and global representations. To mitigate this issue, we propose a Scalable Self-Attention (SSA) mechanism that leverages two scaling factors to release dimensions of query, key, and value matrices while unbinding them with the input. This scalability fetches context-oriented generalization and enhances object sensitivity, which pushes the whole network into a more effective trade-off state between accuracy and cost. Furthermore, we propose an Interactive Window-based Self-Attention (IWSA), which establishes interaction between non-overlapping regions by re-merging independent value tokens and aggregating spatial information from adjacent windows. By stacking the SSA and IWSA alternately, the Scalable Vision Transformer (ScalableViT) achieves state-of-the-art performance in general-purpose vision tasks. For example, ScalableViT-S outperforms Twins-SVT-S by 1.4% and Swin-T by 1.8% on ImageNet-1K classification.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Seeking Common Ground While Reserving Differences: Multiple Anatomy Collaborative Framework for Undersampled MRI Reconstruction

Recently, deep neural networks have greatly advanced undersampled Magnetic Resonance Image (MRI) reconstruction, wherein most studies follow the one-anatomy-one-network fashion, i.e., each expert network is trained and evaluated for a specific anatomy. Apart from inefficiency in training multiple independent models, such convention ignores the shared de-aliasing knowledge across various anatomies which can benefit each other. To explore the shared knowledge, one naive way is to combine all the data from various anatomies to train an all-round network. Unfortunately, despite the existence of the shared de-aliasing knowledge, we reveal that the exclusive knowledge across different anatomies can deteriorate specific reconstruction targets, yielding overall performance degradation. Observing this, in this study, we present a novel deep MRI reconstruction framework with both anatomy-shared and anatomy-specific parameterized learners, aiming to "seek common ground while reserving differences" across different anatomies.Particularly, the primary anatomy-shared learners are exposed to different anatomies to model flourishing shared knowledge, while the efficient anatomy-specific learners are trained with their target anatomy for exclusive knowledge. Four different implementations of anatomy-specific learners are presented and explored on the top of our framework in two MRI reconstruction networks. Comprehensive experiments on brain, knee and cardiac MRI datasets demonstrate that three of these learners are able to enhance reconstruction performance via multiple anatomy collaborative learning.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Towards Better Dermoscopic Image Feature Representation Learning for Melanoma Classification

Deep learning-based melanoma classification with dermoscopic images has recently shown great potential in automatic early-stage melanoma diagnosis. However, limited by the significant data imbalance and obvious extraneous artifacts, i.e., the hair and ruler markings, discriminative feature extraction from dermoscopic images is very challenging. In this study, we seek to resolve these problems respectively towards better representation learning for lesion features. Specifically, a GAN-based data augmentation (GDA) strategy is adapted to generate synthetic melanoma-positive images, in conjunction with the proposed implicit hair denoising (IHD) strategy. Wherein the hair-related representations are implicitly disentangled via an auxiliary classifier network and reversely sent to the melanoma-feature extraction backbone for better melanoma-specific representation learning. Furthermore, to train the IHD module, the hair noises are additionally labeled on the ISIC2020 dataset, making it the first large-scale dermoscopic dataset with annotation of hair-like artifacts. Extensive experiments demonstrate the superiority of the proposed framework as well as the effectiveness of each component. The improved dataset publicly avaliable at https://github.com/kirtsy/DermoscopicDataset.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

4D Association Graph for Realtime Multi-person Motion Capture Using Multiple Video Cameras

This paper contributes a novel realtime multi-person motion capture algorithm using multiview video inputs. Due to the heavy occlusions in each view, joint optimization on the multiview images and multiple temporal frames is indispensable, which brings up the essential challenge of realtime efficiency. To this end, for the first time, we unify per-view parsing, cross-view matching, and temporal tracking into a single optimization framework, i.e., a 4D association graph that each dimension (image space, viewpoint and time) can be treated equally and simultaneously. To solve the 4D association graph efficiently, we further contribute the idea of 4D limb bundle parsing based on heuristic searching, followed with limb bundle assembling by proposing a bundle Kruskal's algorithm. Our method enables a realtime online motion capture system running at 30fps using 5 cameras on a 5-person scene. Benefiting from the unified parsing, matching and tracking constraints, our method is robust to noisy detection, and achieves high-quality online pose reconstruction quality. The proposed method outperforms the state-of-the-art method quantitatively without using high-level appearance information. We also contribute a multiview video dataset synchronized with a marker-based motion capture system for scientific evaluation.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Adversarial Uni- and Multi-modal Stream Networks for Multimodal Image Registration

Deformable image registration between Computed Tomography (CT) images and Magnetic Resonance (MR) imaging is essential for many image-guided therapies. In this paper, we propose a novel translation-based unsupervised deformable image registration method. Distinct from other translation-based methods that attempt to convert the multimodal problem (e.g., CT-to-MR) into a unimodal problem (e.g., MR-to-MR) via image-to-image translation, our method leverages the deformation fields estimated from both: (i) the translated MR image and (ii) the original CT image in a dual-stream fashion, and automatically learns how to fuse them to achieve better registration performance. The multimodal registration network can be effectively trained by computationally efficient similarity metrics without any ground-truth deformation. Our method has been evaluated on two clinical datasets and demonstrates promising results compared to state-of-the-art traditional and learning-based methods.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Disentangled Non-Local Neural Networks

The non-local block is a popular module for strengthening the context modeling ability of a regular convolutional neural network. This paper first studies the non-local block in depth, where we find that its attention computation can be split into two terms, a whitened pairwise term accounting for the relationship between two pixels and a unary term representing the saliency of every pixel. We also observe that the two terms trained alone tend to model different visual clues, e.g. the whitened pairwise term learns within-region relationships while the unary term learns salient boundaries. However, the two terms are tightly coupled in the non-local block, which hinders the learning of each. Based on these findings, we present the disentangled non-local block, where the two terms are decoupled to facilitate learning for both terms. We demonstrate the effectiveness of the decoupled design on various tasks, such as semantic segmentation on Cityscapes, ADE20K and PASCAL Context, object detection on COCO, and action recognition on Kinetics.

0 citations0 reviewsNo code linkedOpen access