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arXiv 最近完成扫描：2026-11-15 09:49 · 全站最近入库：2026-11-14 15:09各信源进度 →

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版本更新 · v5arXiv:2602.23872

Altitude-Adaptive UAV-to-Map Image Matching for Aerial Geo-Localization

Xingyu Shao, Mengfan He, Liangzheng Sun, Chunyu Li, Ziyang Meng

原文摘要

Matching downward-looking unmanned aerial vehicle (UAV) images to georeferenced satellite or aerial map tiles supports map-based geo-localization when direct positioning signals are degraded or unavailable. Variations in UAV altitude change the observed ground footprint and create a scale mismatch between query images and fixed-scale map references. We address this problem with an altitude-adaptive aerial geo-localization framework. The framework estimates relative altitude from a single image using a frequency-domain representation and regression-as-classification. The predicted altitude-class center defines a scale prior that guides query normalization toward the canonical map scale before full-gallery visual place recognition. A footprint-adaptive margin classifier (FAMC) adjusts training margins according to footprint overlap. Experiments on two synthetic and two real-flight datasets show that, at the 100 m localization threshold, altitude adaptation improves average R@1 and R@5 by 50.68 and 47.20 percentage points, respectively, for our visual place recognition module compared with the same retrieval pipeline without altitude normalization. These results show that a relative-altitude-derived scale prior improves cross-altitude UAV-to-map image matching in the evaluated regions and camera settings.

cs.CV · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.34427

LLMs as Adaptive Meta-Solvers: Strategy-Diverse RL for Industrial-Scale Optimization

Shihao Zhang, Weiting Liu, Siyu Shao, Yitian Chen, Jianfeng Feng, Dongdong Ge, Yinyu Ye

原文摘要

Scaling LLM-based optimization from textbook-scale instances to real-world, industrial tasks remains a critical open challenge. Existing approaches are predominantly evaluated on small, self-contained textual problems and often commit to a solver-integrated paradigm, limiting their ability to handle the scale and structural diversity of practical optimization workloads. In this work, we propose a practical framework for training open-source LLMs to tackle real-world, industrial-scale optimization. We first show empirically that solver-integrated reasoning, exact combinatorial algorithm, and heuristic search exhibit complementary strengths across different problem structures and scales. Motivated by this, we introduce Strategy-Diverse Reinforcement Learning (SDRL), which trains LLMs as adaptive optimization meta-solvers. SDRL leverages this complementarity through a correctness-gated hierarchical diversity reward that promotes robust exploration across varying strategies and within each strategy, effectively preventing premature strategy collapse. We further introduce a mixed-format training scheme that jointly supports both self-contained textual problems and file-grounded instances. Across comprehensive evaluations, our framework outperforms existing fine-tuned methods and frontier models including DeepSeek-V4-Pro and GPT-5.5, both on average across benchmarks and on industrial-scale optimization tasks. We release our code and training data to facilitate future research https://github.com/tokentideAI/LLMMetaSolver.

cs.LG · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07754

Uncovering Systematic Blind Spots in Graph Database Testing through Integration and Process-Level Analysis

Tinghan Li, Aoyang Fang, Longbin Lai, Zifan Xie, Hongbo Zhao, Yu Shao, Ying Zhang, Pinjia He

原文摘要

Graph databases are becoming foundational infrastructure for connected data, and a growing body of automated testing techniques has uncovered many bugs across mature graph database systems. Each technique checks a different aspect of correctness and exposes a different class of defect. Combining them is the natural next step, but each technique is judged by the real bugs it finds, not by useless reports or tests that can never fail, and that is what decides whether a developer can afford to fix the problems. To identify the remaining gaps, we integrated test capabilities from 8 testing methods and conducted an empirical study of their behavior, during which we found two blind spots. First, 12 hours of testing produce thousands of bug reports, far more than the number of genuine defects a mature database is likely to contain. Most reports are false positives caused by dialect or pattern-matching differences, and many of the remaining reports are duplicates. Second, analysis of process-level data reveals that many equivalence-based metamorphic test cases lose their ability to detect defects because of the optimization mechanism. Based on these findings, we summarize and realize these guidelines in GraphWeave, an integrated testing platform for graph databases. This includes a multi-agent system that analyzes the flood of bug reports to produce gating rules for issue filtering and adapter rules for dialect adaptation, and a plan-aware triage routes metamorphic pairs by plan, skipping those that share a plan on the same graph state and therefore cannot detect defects. We apply GraphWeave to NeuG, a recently open-sourced industrial graph database that has not been covered by prior graph database testing work. With modest manual effort, GraphWeave uncovers 19 previously unknown bugs, all of which have since been confirmed.

cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06564

Playing Soccer Like Humans Do: Learning Versatile and Agile Humanoid Soccer via Latent Motion Priors

Haoyu Shao, Yunshen Wang, Jingze Zhang, Shaohang Zhu, Yong-Lu Li, Tianzhu Zhang, Baoxiong Jia, Siyuan Huang

原文摘要

Humanoid soccer requires a robot to seamlessly combine agile locomotion, ball manipulation, and impact-rich contact dynamics across a continuous, dynamic behavioral spectrum. Yet existing approaches either cover only a limited set of skills, or forego motion priors entirely and produce unnatural behaviors, leaving the combination of a unified skill set and human-like motion quality unaddressed. We present soccerbot, a hierarchical reinforcement learning framework that resolves both limitations through a structured latent motion prior distilled from large-scale human soccer motion capture data. By constraining policy learning within this dynamically plausible motion manifold, a single skill-conditioned policy naturally learns to perform moving, dribbling, trapping, and kicking in a unified formulation, while inherently producing human-like motion and fluid transitions during commanded skill switching. Augmented by robustness-oriented simulation design, soccerbot transfers zero-shot to the Unitree G1 humanoid robot, demonstrating agile, natural, and robust execution of the full soccer skill repertoire under real-world conditions.

cs.RO

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arXiv ↗PDF ↗