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arxiv-cs-cv.bsky.social
Aiping Wang, Zhaolong Yang, Shuwen Chen, Hai Zhang
POPL-KF: A Pose-Only Geometric Representation-Based Kalman Filter for Point-Line-Based Visual-Inertial Odometry
https://arxiv.org/abs/2602.06425
February 9, 2026 at 6:17 PM
ericzzj.bsky.social
POPL-KF: A Pose-Only Geometric Representation-Based Kalman Filter for Point-Line-Based Visual-Inertial Odometry

Aiping Wang, Zhaolong Yang, Shuwen Chen, Hai Zhang

tl;dr: pose-only point and line VIO

arxiv.org/abs/2602.06425
February 9, 2026 at 1:11 PM
cscv-bot.bsky.social
Aiping Wang, Zhaolong Yang, Shuwen Chen, Hai Zhang: POPL-KF: A Pose-Only Geometric Representation-Based Kalman Filter for Point-Line-Based Visual-Inertial Odometry https://arxiv.org/abs/2602.06425 https://arxiv.org/pdf/2602.06425 https://arxiv.org/html/2602.06425
February 9, 2026 at 6:30 AM
zhaolong.bsky.social
For the 𝐅𝐈𝐑𝐒𝐓 𝐓𝐈𝐌𝐄 it is the audience who will determine the outcome of this TF Request. Whether or not Donna Terpo receives mercy is not up to me, but 𝘺𝘰𝘶.

www.deviantart.com/zhaolong/art...
Donna Terpo and the Orb of Reversion by Zhaolong on DeviantArt
www.deviantart.com
February 7, 2026 at 4:00 PM
paper.bsky.social
[19/30] 60 Likes, 3 Comments, 1 Posts
2601.14133, cs․RO | cs․CV, 30 Jan 2026

🆕TwinBrainVLA: Unleashing the Potential of Generalist VLMs for Embodied Tasks via Asymmetric Mixture-of-Transformers

Bin Yu, Shijie Lian, Xiaopeng Lin, Yuliang Wei, Zhaolong Shen, Changti Wu, Yuzhuo Miao, Xinming Wa...
The fundamental premise of Vision-Language-Action (VLA) models is to harness the extensive general capabilities of pre-trained Vision-Language Models (VLMs) for generalized embodied intelligence. However, standard robotic fine-tuning inevitably disrupts the pre-trained feature space, leading to "catastrophic forgetting" that compromises the general visual understanding we aim to leverage. To effectively utilize the uncorrupted general capabilities of VLMs for robotic tasks, we propose TwinBrainVLA, which coordinates two isomorphic VLM pathways: a frozen generalist (also called "Left Brain") and a trainable specialist (also called "Right Brain"). Our architecture utilizes a Asymmetric Mixture-of-Transformers (AsyMoT) mechanism, enabling the Right Brain to dynamically query and fuse intact semantic knowledge from the Left Brain with proprioceptive states. This fused representation conditions a flow-matching action expert for precise continuous control. Empirical results on SimplerEnv and RoboCasa benchmarks demonstrate that by explicitly retaining general capabilities, TwinBrainVLA achieves substantial performance gains over baseline models in complex manipulation tasks.
February 7, 2026 at 12:20 AM
zhaolong.bsky.social
A Wood Snake gets reverted back into a Fire Horse before celebrations begin for Chinese New Year. However, as Zhaolong is ready to shut down the orb, Zhaolong is surprised by an unexpected guest wielding a familiar talk bubble.

#TF #Snake #Nightmare #Horse #Species_TF #SpeciesTF #Orb #Reversion
The image is composed of a TF sequence across four panels, with an extra split panel for plot and narration. The TF sequence shows a green snake with a tail ornament in the shape of the Chinese character for wood. After using the orb of reversion, the snake smoothly transforms into a flaming horse ( a mythical creature called a nightmare ). The horse is satisfied by the transformation. The scene takes place at night, but is well-lit by off-screen lighting. In the final split panel of narration, Zhaolong the demi-Dragon is satisfied by the Orb of Reversion's performance over the past two months and is ready to shut down the site. However, Zhaolong is surprised by an unexpected guest. This guest is off-screen, but her talk bubbles are unique and out-of-place, suggesting she may be someone from another universe. Dialogue and narration: Panel 5: Zhaolong: "This has been a good year of reversions. Time to close this place down." Panel 6: Unexpected Guest: "Squawk!" Unexpected Guest: "Wait!"
February 1, 2026 at 5:59 AM
zhaolong.bsky.social
A Dragonboat is thankful to get a reversion TF back into a gnoll, but his relief is deflated when Zhaolong delivers the news. Details in Alt text!

#TF #inanimate_TF #inanimatetf #Reversion #Orb #Zhaolong
The image is a 3-panel TF sequence of a Dragonboat turning into a gnoll (an anthro hyena.) Since the Dragonboat is inanimate, a demi-Dragon named Zhaolong and an anthropomorphic synthetic seaserpent have to push the boat to the Orb of Reversion for the magic to work. The scene is at night, but is well lit by off-screen lighting. Once the gnoll is reverted, Zhaolong gives him some bad news in the third panel-- someone parked him illegally when he was TF'd into a boat and so he'll have to be turned into a boat again and used to pay the fines. The Dragonboat, gnoll, and synthetic seaserpent are from a previous TF sequence, "Year of the Wood Dragon (Inanimate TF) 1/10" Dialogue and narration: Panel 1: Synthetic Seaserpent: "This one is gonna like being reverted." Zhaolong: "He's not gonna like hearing about the parking tickets." Panel 2: >SCCCCHK-ZAM< (This is the sound effect of the orb for this TF.) Panel 3: Gnoll: "That was the worst experience of my life!" Zhaolong: "Sorry that happened to you! I have to let you know though, someone parked you illegally, and to pay the fines you've been signed up for an extra year as a Dragonboat." Gnoll: "WHAT?!"
February 1, 2026 at 5:49 AM
bio-protocol.bsky.social
A Highly Efficient siRNA Transfection Method in Primary Cultured Cortical Neurons

Work by Xiaorong Wang, Yuxin Li, Xiaona Sun and Zhaolong Zhang at The Affiliated Hospital of Qingdao University and Yu Cui at Qingdao University.

#LifeSciences #Reproducibility #Neuroscience
January 28, 2026 at 2:48 AM
zhaolong.bsky.social
Donna Terpo's Last Hope Latte; Description and narration in Alt Text. She's having a rough time adjusting to the TF; can't wait to reverse it, but she also can't understand it.

Fun fact: A real-life paper was crumpled in the making of this Post-TF image!

#Pteranodon #Human_TF #TGTF #Post-TF #TF
Donna Terpo's Last Hope Latte by Zhaolong. Image depicts Donna Terpo, a blonde woman with amber eyes, wearing a light steel blue wingsuit while at a café, reading a crumpled science paper. She is crying. Her reflection is unlike any other café patron and appears as a male pteranodon; her true self, before the transformation. Narration: Donna Terpo lost track of how many suns have passed since the tragedy; the transformation that left her shocked, confused, and desperate. There was nothing she loved of the human world, where she could only fly with the permission of other humans, and only then for a few minutes at a time. She worried about her flock, but the seeds of doubt had begun to sprout. Did they miss her? Did Peep even remember her, or did he move on after the first few suns of her absence? How long would it take before Matron called off the search? Donna returned to the Roast Roost Café; the only one that lets her in with the wingsuit. She tries to read a scientific document on time anomalies that she "borrowed" after flying into a restricted laboratory. Unfortunately, she's only been human long enough to learn words for basics like "fish", "cloud", and "pteranodon", but not so much "Chronon", "quantum gravity", or "Anisotropic enthropy". It looks like she'll be stuck in this scary world, and this scary alien body, for many more suns. She missed her flock, her old self, her old world, and the solutions seemed further out of reach the more she tried to understand it. Donna cursed her strange new life, never letting go of her past as a male pteranodon. Never letting go of her love for the flock. Yet, the museums had proven to her that her kind was extinct. Was there even anything to glean from this world of man? She had to get back to her old self, no matter what the cost...
January 26, 2026 at 7:41 AM
zhaolong.bsky.social
Mr. Pteranodon is missing...

#Pteranodon #comic #DonnaTerpo #Donna_Terpo #Pterosaur #Pterodactyl
Comic by Zhaolong depicts a scene in the Cretaceous with sentient cartoon pteranodons. A lone pteranodon fledgling sits with a ball, waiting for someone named "Mr. Pteranodon." Dialogue and Narration: Cell 1: Narration: Somewhere in the Cretaceous over 65 million years ago... Cell 2: Matron: "Peep, you're out here every day; it's starting to worry me." Peep: "Matron, how come Mr. Pteranodon doesn't come around to play? Does he not like me anymore?" Cell 3: Matron: "Mr. Pteranodon has been missing for many suns, we've told you." Peep: "But now that mom and dad are gone, Mr. Pteranodon is the only one who knows how to play!!!" Matron: "Sweetie, there are other games to play." Cell 4: Peep: "But I miss him!" Matron: "We all do, Peep." Peep: "I'm staying here. I know that Mr. Pteranodon will come back if he loves me!" Cell 5: Matron: "No luck from the raptors, and they are thorough." Suzi: "I'll tell you why! He's gone down the gullet of Ms. Mosa!" Aeris: "Suzi, Ms. Mosa would never do that to us" Suzi: "Her eyesight is poor! It could've been an accident, Aeris!" Aeris: "We should wait to hear from Princess Plessiana. The whole sea is searching for his corpse." Matron: "He's not in the sky, the ground, the waters..." Cell 6: Peep: *Sniffle* Peep: "Chirp..." Cell 7: Peep: *Sniffle* Peep: "Chirp... chirp... chirp..." Peep: *Sob* Cell 8: Peep: "SCRAAAAAAAAW!"
January 26, 2026 at 5:41 AM
cslg-bot.bsky.social
Zhaolong Su, Leheng Zhao, Xiaoying Wu, Ziyue Xu, Jindong Wang: FedUMM: A General Framework for Federated Learning with Unified Multimodal Models https://arxiv.org/abs/2601.15390 https://arxiv.org/pdf/2601.15390 https://arxiv.org/html/2601.15390
January 23, 2026 at 6:32 AM
zhaolong.bsky.social
A bit late to the New Year horse TF craze. I was waiting until Lunar New Year, but the zeitgeist has shifted to celebrate on Western New Year. As such, my TFee got TF'd a bit too early, leading to this awkward situation. #TF #NewYear #Fire #Horse #Transformation
Image depicts a woman on a subway transforming into a nightmare (A mythical fiery equine). Two men are alarmed by her fiery transformation while she smiles awkwardly, embarrassed by the transformation overtaking her. Her transformation develops by burning away her former species, making her a fire hazard in a confined space. Further comments by the artist Zhaolong: Who else has a fear of transforming into their other form while in public? As it turns out, TFers and TFees are supposed to submit their Year of the Fire Horse TFs at the turn of the Western New Year, before Lunar New Year. She wasn't informed, and so was a bit late and out of place when the transformative energy hit. Humans sure don't like it when others transform while on the subway, or in any confined space, really. Sure hope she doesn't get sprayed with a fire extinguisher! However, the lesson has been learned. If you are late to the New Year Fire Horse craze, this could happen to you!
January 19, 2026 at 5:13 AM
zhaolong.bsky.social
Behold, **Donna Terpo**, continuation of the transformed pteranodon from Pteranodon to Wingsuiter, rendered by @mkiiiconvertible.bsky.social , on commission. I acquired the art in trade w/ them and will develop further~

www.deviantart.com/zhaolong/art...

#TF #DonnaTerpo #pteranodon #human #tgtf
Donna Terpo Concept Sheet by Zhaolong on DeviantArt
www.deviantart.com
December 31, 2025 at 6:24 PM
zhaolong.bsky.social
Tear-o-Dactyl is my latest TF sequence; a werepterodactyl TF I have been wanting to paint for a long time. I think this is one of my best TF sequences yet. Check the link for her backstory.
#TF #Pterodactyl #Pterosaur #Werepterodactyl #Transformation

www.deviantart.com/zhaolong/art...
Tear-o-Dactyl. Keelee Robinson, a werepterodactyl who retains her pterodactyl coloration while in human form, is harassed by youtubers until she cries and transforms on camera for them. This is a regular occurrence for her.
December 29, 2025 at 2:22 AM
zhaolong.bsky.social
Orb of Reversion

From December 1st to January 31st, those who have been cursed, forcefully TF'd, or balefully polymorphed may use the Orb of Reversion to TF back into their normal selves.

#TF #Transformation #Sequence #Species_TF #Species_Swap #Reversion_TF #Reversion #Mantis #Raptor
Mantis uses Orb of Reversion to transform back into a feral raptor; TF sequence of 3 images by Zhaolong. The Orb of Reversion allows those who have been balefully TF'd to turn back to their original selves for a day or more, powered by the goodwill of people during the season and grace from above.
December 26, 2025 at 6:18 PM
zhaolong.bsky.social
Here is my latest sequence, a very unique transformation for Colonel Rockrits! In this TF, a truck transforms into a T-Rex across 5 panels.

#TF #Transformation #Inanimate #T-Rex #Dinosaur #Dino #Vehicle #Truck #Tyrannosaurus #Rex #Zhaolong #Colonel #Rockrits #Commission
Truck to T-Rex; A truck transforms into a Tyrannosaurus rex in a 5-stage sequence. By Zhaolong. Inanimate to feral animal. Simple background. Commission for Colonel Rockrits.
December 21, 2025 at 3:08 AM
eessas-bot.bsky.social
Nan Xu, Zhaolong Huang, Xiao Zeng: A Universal Harmonic Discriminator for High-quality GAN-based Vocoder https://arxiv.org/abs/2512.03486 https://arxiv.org/pdf/2512.03486 https://arxiv.org/html/2512.03486
December 4, 2025 at 6:35 AM
zhaolong.bsky.social
I wrote up a critique on a creative cruel TF, executed perfectly by the talented @mkiiiconvertible.bsky.social . Check this out to see how to do a forced TF:

#Critique #Pteranodon #Wingsuiter #TF #Forced #TGTF #TFTG #Pterosaur #Wingsuit #Humanization

www.deviantart.com/zhaolong/art...
Pteranodon to Wingsuiter Critique Mk3convertible by Zhaolong on DeviantArt
www.deviantart.com
November 30, 2025 at 3:06 PM
zhaolong.bsky.social
I also draw bird TF. This was fun and I hope to do more in the future. I believe that avians are underutilized in TF media.

www.deviantart.com/zhaolong/art...

#TF #Transformation #Crow #Corvid #Bird
Daze of Change (Crow TF) by Zhaolong on DeviantArt
www.deviantart.com
November 29, 2025 at 1:24 AM
zhaolong.bsky.social
In case some missed the Mass Dragon TF
#TF #Dragon

www.deviantart.com/zhaolong/art...
117th Street (Mass Dargon TF) by Zhaolong on DeviantArt
www.deviantart.com
November 26, 2025 at 7:06 PM
cslg-bot.bsky.social
Zhaolong Su, Wang Lu, Hao Chen, Sharon Li, Jindong Wang: UniGame: Turning a Unified Multimodal Model Into Its Own Adversary https://arxiv.org/abs/2511.19413 https://arxiv.org/pdf/2511.19413 https://arxiv.org/html/2511.19413
November 25, 2025 at 6:36 AM
mathap-bot.bsky.social
Qiang Du, Zhaolong Han, Tadele Mengesha, James M. Scott, Xiaochuan Tian: On parameterized nonlocal-fractional transmission problems and associated function spaces https://arxiv.org/abs/2509.22987 https://arxiv.org/pdf/2509.22987 https://arxiv.org/html/2509.22987
September 30, 2025 at 6:36 AM
csai-bot.bsky.social
Zhaolong Wu, Pu Luo, Jason Pui Yin Cheung, Teng Zhang: Adapting and Evaluating Multimodal Large Language Models for Adolescent Idiopathic Scoliosis Self-Management: A Divide and Conquer Frame... https://arxiv.org/abs/2509.11645 https://arxiv.org/pdf/2509.11645 https://arxiv.org/html/2509.11645
September 16, 2025 at 6:29 AM
cssd-bot.bsky.social
Chaoqun Cui, Liangbin Huang, Shijing Wang, Zhe Tong, Zhaolong Huang, Xiao Zeng, Xiaofeng Liu: Fine-grained Video Dubbing Duration Alignment with Segment Supervised Preference Optimization https://arxiv.org/abs/2508.08550 https://arxiv.org/pdf/2508.08550 https://arxiv.org/html/2508.08550
August 13, 2025 at 6:34 AM
linux.activitypub.awakari.com.ap.brid.gy
[PATCH V2] smb: client: Fix mount deadlock by avoiding super block ... Wang Zhaolong writes: (Summary) + list_for_each_entry(cifs_sb, &tcon->cifs_sb_list, tcon_sb_link) { -static struct supe...

Origin | Interest | Match
Awakari App
awakari.com
August 12, 2025 at 2:37 PM