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Qidi Wang

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TMLR Journal 2026 Journal Article

Weakly-Supervised Disentangled Representation Learning via Filter-Based Adaptive Swapping

Zhenyu Zong
Qidi Wang
Simon Yu
Hongpeng Cao
Yanbing Mao
Han Zhao
Lui Sha
Huajie Shao

Disentangled representation learning (DRL) aims to uncover semantically meaningful latent factors from observed data, thereby improving both interpretability and generalization of machine learning (ML) models. Despite remarkable progress, unsupervised DRL cannot achieve complete disentanglement without inductive biases or supervision. To address this challenge, existing approaches either rely on full supervision, which demands extensive manual labeling, or weak supervision, which involves complex training strategies that often result in unstable training. To address these limitations, we propose Filter-VAE, a weakly supervised variational autoencoder (VAE) that introduces a filter-based adaptive swapping strategy to learn stable and meaningful disentangled representations. Specifically, a relevance filter removes semantically meaningless latent factors, while an adaptive swapping filter exchanges those latent factors that have reached stability. With these two filters, Filter-VAE adaptively swaps only stable and semantically aligned latent factors, leading to robust and meaningful representations. We evaluate Filter-VAE on three standard benchmarks and our created traffic sign dataset in two downstream tasks: disentanglement and adversarial robustness. Experimental results demonstrate that Filter-VAE achieves strong disentanglement performance with reduced supervision and delivers remarkable robustness against diverse adversarial attacks and corruptions. The code is released at https://github.com/ZY-Zong/Filter-VAE.git.

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NeurIPS Conference 2023 Conference Paper

Enhancing Robot Program Synthesis Through Environmental Context

Tianyi Chen
Qidi Wang
Zhen Dong
Liwei Shen
Xin Peng

Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly proficient in capturing program semantics. For robot programming, prior works have facilitated program synthesis by incorporating global environments. However, the assumption of acquiring a comprehensive understanding of the entire environment is often excessively challenging to achieve. In this work, we present a framework that learns to synthesize a program by rectifying potentially erroneous code segments, with the aid of partially observed environments. To tackle the issue of inadequate attention to partial observations, we propose to first learn an environment embedding space that can implicitly evaluate the impacts of each program token based on the precondition. Furthermore, by employing a graph structure, the model can aggregate both environmental and syntactic information flow and furnish smooth program rectification guidance. Extensive experimental evaluations and ablation studies on the partially observed VizDoom domain authenticate that our method offers superior generalization capability across various tasks and greater robustness when encountering noises.

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