arXiv subjects

Changyu Wang

Publications and source records attributed to Changyu Wang.

4 recordsLinked to original sources

arXiv2026

RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation

Humanoid robots have the potential to perform dexterous manipulation in human environments, yet acquiring diverse and generalizable skills remains costly due to expensive hardware data collection and labor-intensive annotation. Recent advances in video generative models provide a promising opportunity to synthesize rich manipulation experiences from visual observations, but transferring such imagined behaviors into executable whole-body humanoid skills remains largely unexplored. In this work, we present RoboReact, a framework that automatically synthesizes whole-body humanoid manipulation skills from a single egocentric RGB-D observation. RoboReact generates human manipulation videos, extracts geometry-preserving interaction keyframes through depth-aware 3D reconstruction, and retargets them to high-DoF humanoid platforms while preserving hand-object interaction geometry. To bridge the gap between imagined plans and physical execution, RoboReact performs online object-centric re-grounding and leverages a vision-language model-guided refinement loop to adapt skills under geometric mismatch and execution deviations. The refined skills are executed through a whole-body controller, enabling coordinated whole-body manipulation and dexterous interaction. Experiments on real humanoid robots demonstrate that RoboReact generalizes across diverse object configurations and robustly recovers from execution disturbances without requiring teleoperation or human demonstrations. These results highlight the potential of combining generative models, vision-language reasoning, and closed-loop control for scalable humanoid skill acquisition.

cs.RO↗

arXiv2024

Lightweight holographic near-eye display system with self-charging capability using solar energy

Near-eye display plays an important role in emerging spatial computing systems, providing a distinctive visual effect of virtual-real fusion. However, its application for all-day wear is greatly limited by the bulky structure, energy expenditure, and continuous battery heating. Here, we propose a lightweight holographic near-eye display system that takes advantage of solar energy for self-charging. To achieve the collection of solar energy and near-eye display without crosstalk, holographic optical elements (HOE) are used to diffract sunlight and signal light into a common waveguide. Then, small-area solar cells convert the collected solar energy and power the system. Compact power supply components replace heavy batteries, contributing to the lightweight design. The simple acquisition of solar energy provides the system with sustainable self-charging capability. We believe that the lightweight design and continuous energy input solution will significantly promote the popularity of near-eye display in our daily lives.

physics.optics↗

arXiv2019

Mining Hidden Populations through Attributed Search

Researchers often query online social platforms through their application programming interfaces (API) to find target populations such as people with mental illness~\cite{De-Choudhury2017} and jazz musicians~\cite{heckathorn2001finding}. Entities of such target population satisfy a property that is typically identified using an oracle (human or a pre-trained classifier). When the property of the target entities is not directly queryable via the API, we refer to the property as `hidden' and the population as a hidden population. Finding individuals who belong to these populations on social networks is hard because they are non-queryable, and the sampler has to explore from a combinatorial query space within a finite budget limit. By exploiting the correlation between queryable attributes and the population of interest and by hierarchically ordering the query space, we propose a Decision tree-based Thompson sampler (\texttt{DT-TMP}) that efficiently discovers the right combination of attributes to query. Our proposed sampler outperforms the state-of-the-art samplers in online experiments, for example by 54\% on Twitter. When the number of matching entities to a query is known in offline experiments, \texttt{DT-TMP} performs exceedingly well by a factor of 0.9-1.5$\times$ over the baseline samplers. In the future, we wish to explore the option of finding hidden populations by formulating more complex queries.

cs.SI↗

arXiv2012

The LBFGS Quasi-Newtonian Method for Molecular Modeling Prion AGAAAAGA Amyloid Fibrils

Experimental X-ray crystallography, NMR (Nuclear Magnetic Resonance) spectroscopy, dual polarization interferometry, etc are indeed very powerful tools to determine the 3-Dimensional structure of a protein (including the membrane protein); theoretical mathematical and physical computational approaches can also allow us to obtain a description of the protein 3D structure at a submicroscopic level for some unstable, noncrystalline and insoluble proteins. X-ray crystallography finds the X-ray final structure of a protein, which usually need refinements using theoretical protocols in order to produce a better structure. This means theoretical methods are also important in determinations of protein structures. Optimization is always needed in the computer-aided drug design, structure-based drug design, molecular dynamics, and quantum and molecular mechanics. This paper introduces some optimization algorithms used in these research fields and presents a new theoretical computational method - an improved LBFGS Quasi-Newtonian mathematical optimization method - to produce 3D structures of Prion AGAAAAGA amyloid fibrils (which are unstable, noncrystalline and insoluble), from the potential energy minimization point of view. Because the NMR or X-ray structure of the hydrophobic region AGAAAAGA of prion proteins has not yet been determined, the model constructed by this paper can be used as a reference for experimental studies on this region, and may be useful in furthering the goals of medicinal chemistry in this field.

math.OC↗