Researcher profile

Yihong Gong

Yihong Gong contributes to research discovery and scholarly infrastructure.

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Computer Vision Artificial Intelligence Machine Learning Robotics

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preprint2026arXiv

Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models

Vision-Language-Action (VLA) models have advanced rapidly with stronger backbones, broader pre-training, and larger demonstration datasets, yet their action heads remain largely homogeneous: most directly predict action commands in a fixed world coordinate frame. We propose \textbf{MCF-Proto}, a lightweight action head that equips VLA policies with a Motion-Centric Action Frame (MCF) and a prototype-based action parameterization. At each step, the policy predicts a rotation $R_t \in SO(3)$, composes actions in the transformed local frame from a set of prototypes, and maps them back to the world frame for end-to-end training, using only standard demonstrations without auxiliary supervision. This simple design induces stable emergent structure. Without explicit directional labels, the learned local frames develop a stable geometric structure whose axes are strongly compatible with demonstrated end-effector motion. Meanwhile, actions in the learned representation become substantially more compact, with variation captured by fewer dominant directions and more regularly organized by shared prototypes. These structural properties translate into improved robustness, especially under geometric perturbations. Our results suggest that adding lightweight geometric and compositional structure to the action head can materially improve how VLA policies organize and generalize robotic manipulation behavior. An anonymized code repository is provided in the supplementary material.

preprint2026arXiv

Continuous Expert Assembly: Instance-Conditioned Low-Rank Residuals for All-in-One Image Restoration

Real-world image degradation is often unknown, spatially non-uniform, and compositional, requiring all-in-one restoration models to adapt a single set of weights to diverse local corruption patterns without test-time degradation labels. Existing methods typically modulate a shared backbone with global prompts or degradation descriptors, or route features through predefined expert pools. However, compact global conditioning can bottleneck localized degradation evidence, while static expert routing may produce homogeneous updates or rely on unstable sparse assignments. We propose \textbf{Continuous Expert Assembly} (CEA), a token-wise dynamic parameterization framework for all-in-one image restoration. CEA employs a lightweight \textbf{Cross-Attention Hyper-Adapter} to probe intermediate spatial features and synthesize instance-conditioned low-rank routing bases and residual directions. Each spatial token then assembles its own residual update via dense signed dot-product affinities over the generated rank-wise components, avoiding external prompts, static expert banks, and discrete Top- selection. The resulting assembly rule also admits a linear-attention perspective, making its dense token-wise routing behavior transparent. Experiments on AIO-3, AIO-5, and CDD-11 show that CEA improves average restoration quality over strong prompt-, descriptor-, and expert-based baselines, with the clearest gains on spatially varying and compositional degradations, while maintaining favorable parameter, FLOP, and runtime efficiency.

preprint2026arXiv

Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs

Vision-Language-Action (VLA) models show strong potential for general-purpose robotic manipulation, yet their closed-loop reliability often degrades under local deployment conditions. Existing evaluations typically treat test episodes as independent zero-shot trials. However, real robots often operate repeatedly in the same or slowly changing environments, where successful executions provide environment-verified evidence of reliable behavior patterns. We study this persistent-deployment setting, asking whether a partially competent frozen VLA can improve its reliability by reusing its successful test-time experience. We propose an online success-memory guided test-time adaptation framework for generative VLAs. During deployment, the robot stores progress-calibrated successful observation-action segments in a long-term memory. At inference, it retrieves state-relevant action chunks, filters inconsistent candidates via trajectory-level consistency, and aggregates them into an elite action prior. To incorporate this prior into action generation, we introduce confidence-adaptive prior guidance, which injects the elite prior into an intermediate state of the flow-matching action sampler and adjusts the guidance strength based on retrieval confidence. This design allows the frozen VLA to exploit environment-specific successful experience while preserving observation-conditioned generative refinement. This retrieve-then-steer mechanism enables lightweight, non-parametric test-time adaptation without requiring parameter updates. Simulation and real-world experiments show improved task success and closed-loop stability, especially in long-horizon and multi-stage tasks.

preprint2022arXiv

Deep Class Incremental Learning from Decentralized Data

In this paper, we focus on a new and challenging decentralized machine learning paradigm in which there are continuous inflows of data to be addressed and the data are stored in multiple repositories. We initiate the study of data decentralized class-incremental learning (DCIL) by making the following contributions. Firstly, we formulate the DCIL problem and develop the experimental protocol. Secondly, we introduce a paradigm to create a basic decentralized counterpart of typical (centralized) class-incremental learning approaches, and as a result, establish a benchmark for the DCIL study. Thirdly, we further propose a Decentralized Composite knowledge Incremental Distillation framework (DCID) to transfer knowledge from historical models and multiple local sites to the general model continually. DCID consists of three main components namely local class-incremental learning, collaborated knowledge distillation among local models, and aggregated knowledge distillation from local models to the general one. We comprehensively investigate our DCID framework by using different implementations of the three components. Extensive experimental results demonstrate the effectiveness of our DCID framework. The codes of the baseline methods and the proposed DCIL will be released at https://github.com/zxxxxh/DCIL.

preprint2021arXiv

Scene-Adaptive Attention Network for Crowd Counting

In recent years, significant progress has been made on the research of crowd counting. However, as the challenging scale variations and complex scenes existed in crowds, neither traditional convolution networks nor recent Transformer architectures with fixed-size attention could handle the task well. To address this problem, this paper proposes a scene-adaptive attention network, termed SAANet. First of all, we design a deformable attention in-built Transformer backbone, which learns adaptive feature representations with deformable sampling locations and dynamic attention weights. Then we propose the multi-level feature fusion and count-attentive feature enhancement modules further, to strengthen feature representation under the global image context. The learned representations could attend to the foreground and are adaptive to different scales of crowds. We conduct extensive experiments on four challenging crowd counting benchmarks, demonstrating that our method achieves state-of-the-art performance. Especially, our method currently ranks No.1 on the public leaderboard of the NWPU-Crowd benchmark. We hope our method could be a strong baseline to support future research in crowd counting. The source code will be released to the community.

preprint2020arXiv

Few-Shot Class-Incremental Learning

The ability to incrementally learn new classes is crucial to the development of real-world artificial intelligence systems. In this paper, we focus on a challenging but practical few-shot class-incremental learning (FSCIL) problem. FSCIL requires CNN models to incrementally learn new classes from very few labelled samples, without forgetting the previously learned ones. To address this problem, we represent the knowledge using a neural gas (NG) network, which can learn and preserve the topology of the feature manifold formed by different classes. On this basis, we propose the TOpology-Preserving knowledge InCrementer (TOPIC) framework. TOPIC mitigates the forgetting of the old classes by stabilizing NG's topology and improves the representation learning for few-shot new classes by growing and adapting NG to new training samples. Comprehensive experimental results demonstrate that our proposed method significantly outperforms other state-of-the-art class-incremental learning methods on CIFAR100, miniImageNet, and CUB200 datasets.

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