arXiv subjects

Chen Yu

Publications and source records attributed to Chen Yu.

At least 19 recordsLinked to original sources

arXiv2026

Ego2Contact: Predicting Touch from Egocentric Human Video for Contact-Rich Robot Manipulation

Contact locations and interaction forces are critical for contact-rich robot manipulation but are often ambiguous from vision alone. Measuring them on robots requires specialized tactile hardware and platform-specific data collection, which keeps robot tactile data scarce. Human egocentric video is far easier to scale but lacks touch. Recent predictors trained on egocentric recordings paired with tactile-glove measurements can predict this missing signal from video alone. These predictors, however, remain confined to human hands, which differ from robot hands in appearance and tactile layout. We present Ego2Contact, which learns a visual-tactile prior from human interactions and transfers it to robot hands. Its predictor fuses temporal scene context with hand-local visual features to infer bimanual tactile fields from the RGB video. Anatomical region correspondences align varying robot tactile layouts with the predictor's canonical grid, turning robot measurements into fine-tuning targets and predictions into policy inputs. Ego2Contact outperforms prior tactile predictors on human data, including unseen objects, and on robot data after adaptation. The adapted predictor provides tactile inputs for both simulated reinforcement learning and real-robot policy post-training. In simulation, policies using predicted touch outperform non-tactile baselines and recover part of the benefit of ground-truth tactile sensing. These results show that human-learned tactile priors can supply touch when direct tactile sensing is limited.

cs.RO↗

arXiv2026

Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation

People often learn how an unfamiliar object moves through a small exploratory push, using its response to guide their next motion. Inspired by this behavior, we study humanoids pushing carts whose mass and caster stiffness are initially unknown. Our object-centric framework closes online estimation, flow-based planning, and whole-body control into a loop, creating a tension: replacing the plan whenever the belief shifts disrupts the maneuver under way, while keeping it strands the robot on a path its evidence has ruled out. Belief-Overlap Partial Inversion (BOPI) scales revision to agreement, inverting the flow under the old belief only as far as the beliefs disagree before reconstructing under the new one. Across 18 simulated goals it lowers pooled final position and yaw error by roughly 33% and 47% against fixed-depth replanning, and on hardware it translates and turns a non-holonomic cart.

cs.RO↗

arXiv2026

BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking

Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the tracker is aware of neither the forces the robot must exchange with objects nor the terrain it must stand on. Existing controllers address one side of this gap: force-capable policies command an end-effector force but prescribe no whole-body pose, while terrain-adaptive trackers treat loads as disturbances to reject rather than wrenches to command. We present BRACE, a whole-body tracker that exerts and compensates commanded hand forces from diverse poses while following a flat-ground reference on sloped terrain. Rather than leaving the tracker to absorb the load and the slope, BRACE folds both into the reference it follows: terrain conformance lifts footholds and root onto the local surface, and a wrench transformation resolves the hand displacement that produces a force jointly with the center-of-mass and center- of-pressure shifts it induces, bounded by teacher-specific arm-effort limits. Separate exertion and compensation teachers are distilled by DAgger into one flow-matching student that runs on proprioception alone, without a height map or measured wrench, so a teleoperator (even in remote locations) can supply a flat- ground trajectory and the robot resolves slope and load onboard. We extensive experiments on the Unitree-G1 to demonstrate the ability of BRACE to exert, compensate force and handle diverse terrain in simulation and real robot experiments.

cs.RO↗

arXiv2026

Rendering-in-the-Loop: An Execution-Driven Agent for Interactive Web Development

Multimodal large language models have achieved remarkable progress in front-end web development, generating interactive webpages from multimodal references such as screenshots and interaction videos. However, existing work largely emphasizes visual metrics such as aesthetics and layout similarity, while overlooking the more critical validation of interactive functionality. We present RILA, an execution-driven agent that puts browser rendering in the loop, iteratively editing generated code from runtime interaction feedback. RILA introduces an Action Interaction Verification (AIV) module that replays the reference interaction trajectory on the generated webpage to collect grounded execution-aware observations, and an Execution-aware Rendering Score (ERS) that jointly measures interaction correctness and visual fidelity to guide iterative optimization. We further build an execution-verified data synthesis pipeline that produces diverse, high-quality training data, offering gains complementary to inference-time optimization. On IWR-Bench, RILA consistently improves both interaction and visual fidelity across foundation models. Notably, with our training pipeline, RILA lifts the compact Qwen3.5-9B backbone from 40.40% to 57.52%, surpassing far larger one-shot generators, including the 1T-parameter Kimi-K2.6 (55.61%) and the proprietary GPT-5.5 (55.74%).

cs.CV↗

arXiv2026

Making Sense of Touch from the Child's View for Contrastive Learning

Is the sense of touch a mechanism for human babies' learning of visual concepts? If so, can we quantify its importance, and to what extent do babies rely on their sense of touch for visual learning? To approach these questions in a principled way, we propose a structured coding system for baby-centric touch events, yielding a dataset of 264k two-second clips of touch events coded according to this system. Using this dataset, we pretrain developmentally grounded models that reveal promising insights into the nature of baby learning from touch.

cs.LG↗

arXiv2026

Computational Design of a Low-Visibility UAV Using a Human-Aligned Perceptual Metric

We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stage automated design pipeline that optimizes the placement of functional components including batteries, control PCB, motor-propeller assembly, and counterweights. The pipeline minimizes visibility as measured by a human-aligned perceptual metric (LPIPS) while strictly satisfying inertial and aerodynamic constraints required for stable flight. We validate this approach through fabrication and flight testing of multiple prototypes. These tests confirm that our pipeline produces stable, controllable designs and that the optimized UAV exhibits significantly reduced visual perceptibility compared to conventional quadcopters.

cs.RO↗

arXiv2026

Robots that redesign themselves through kinematic self-destruction

Every robot built to date was predesigned by an external process, prior to deployment. Here we show a robot that actively participates in its own design during its lifetime. Starting from a randomly assembled body, and using only proprioceptive feedback, the robot dynamically ``sculpts'' itself into a new design through kinematic self-destruction: identifying redundant links within its body that inhibit its locomotion, and then thrashing those links against the surface until they break at the joint and fall off the body. It does so using a single autoregressive sequence model, a universal controller that learns in simulation when and how to simplify a robot's body through self-destruction and then adaptively controls the reduced morphology. The optimized policy successfully transfers to reality and generalizes to previously unseen kinematic trees, generating forward locomotion that is more effective than otherwise equivalent policies that randomly remove links or cannot remove any. This suggests that self-designing robots may be more successful than predesigned robots in some cases, and that kinematic self-destruction, though reductive and irreversible, could provide a general adaptive strategy for a wide range of robots.

cs.RO↗

arXiv2026

Agile legged locomotion in reconfigurable modular robots

Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological counterparts, legged machines have largely converged over the past decade to canonical quadrupedal and bipedal architectures that cannot be easily reconfigured to meet new tasks or recover from injury. Here we introduce autonomous modular legs: agile yet minimal, single-degree-of-freedom jointed links that can learn complex dynamic behaviors and may be freely attached to form multilegged machines at the meter scale. This enables rapid repair, redesign, and recombination of highly-dynamic modular agents that move quickly and acrobatically (non-quasistatically) through unstructured environments. Because each module is itself a complete agent, the bodies that contain them can sustain deep structural damage that would completely disable other legged robots. We also show how to encode the vast space of possible body configurations into a compact latent design space that can be efficiently explored, revealing a wide diversity of novel legged forms.

cs.RO↗

arXiv2026

LLM-CoOpt: A Co-Design and Optimization Framework for Efficient LLM Inference on Heterogeneous Platforms

Major challenges in LLMs inference remain frequent memory bandwidth bottlenecks, computational redundancy, and inefficiencies in long-sequence processing. To address these issues, we propose LLM-CoOpt, a comprehensive algorithmhardware co-design framework aimed at improving both throughput and latency in LLM inference. LLM-CoOpt integrates three key strategies: (1) Key-Value Cache Optimization, termed Opt-KV, which improves memory access efficiency by optimizing both KV cache write and read paths, and introduces FP8 quantization to reduce memory footprint while maintaining accuracy; (2) Grouped-Query Attention for Computational Efficiency, termed Opt-GQA, which reduces the overall computational complexity by restructuring multi-head self-attention into grouped-query attention with shared key-value projections, enabling higher throughput and lower resource consumption; (3) Paged Attention for Long- Sequence Processing, termed Opt-Pa, which adopts a two-step strategy to first segment long sequences into manageable chunks and then apply lazy memory mapping and computation, significantly reducing memory pressure and improving performance on long-context inputs.Experiments on the LLaMa-13BGPTQ model demonstrate that LLM-CoOpt increases inference throughput by up to 13.43%, reduces latency by up to 16.79%, and maintains model accuracy. These results confirm that LLM-CoOpt provides a practical, high-performance optimization path for real-world inference of large-scale language models.

cs.DC↗

arXiv2026

PhageMind: Generalized Strain-level Phage Host Range Prediction via Meta-learning

Bacteriophages (phages) are key regulators of bacterial populations and hold great promise for applications such as phage therapy, biocontrol, and industrial fermentation. The success of these applications depends on accurately determining phage host range, which is often specific at the strain level rather than the species level. However, existing computational approaches face major limitations: many rely on genus-specific features that do not generalize across taxa, while others require large amounts of training data that are unavailable for most bacterial lineages. These challenges create a critical need for methods that can accurately predict strain-level phage-host interactions across diverse bacterial genera, particularly under data-limited conditions. We present PhageMind, a learning framework designed to address this challenge by enabling efficient transfer of knowledge across bacterial genera. PhageMind is trained to identify shared principles of phage-bacterium interactions from well-studied systems and to rapidly adapt these principles to new genera using only a small number of known interactions. To reflect the biological basis of infection, we represent phage-host relationships using a knowledge graph that explicitly incorporates phage tail fiber proteins and bacterial O-antigen biosynthesis gene clusters, and we use this representation to guide interaction prediction. Across four bacterial genera (Escherichia, Klebsiella, Vibrio, and Alteromonas), PhageMind achieves high prediction accuracy and shows strong adaptability to new lineages. In particular, in leave-one-genus-out evaluations, the model maintains robust performance when only limited reference data are available, demonstrating its potential as a scalable and practical tool for studying phage-host interactions across the global phageome.

q-bio.GN↗

arXiv2026

Streamlining evidence based clinical recommendations with large language models

Clinical evidence underpins informed healthcare decisions, yet integrating it into real-time practice remains challenging due to intensive workloads, complex procedures, and time constraints. This study presents Quicker, an LLM-powered system that automates evidence synthesis and generates clinical recommendations following standard guideline development workflows. Quicker delivers an end-to-end pipeline from clinical questions to recommendations and supports customized decision-making through integrated tools and interactive interfaces. To evaluate how closely Quicker can reproduce guideline development processes, we constructed Q2CRBench-3, a benchmark derived from guideline development records for three diseases. Experiments show that Quicker produces precise question decomposition, expert-aligned retrieval, and near-comprehensive screening. Quicker assistance improved the accuracy of extracted study data, and its recommendations were more comprehensive and coherent than clinician-written ones. In system-level testing, Quicker working with one participant reduced recommendation development to 20-40 min. Overall, the findings demonstrate Quicker's potential to enhance the speed and reliability of evidence-based clinical decision-making.

cs.CL↗

arXiv2025

Simulated Cortical Magnification Supports Self-Supervised Object Learning

Recent self-supervised learning models simulate the development of semantic object representations by training on visual experience similar to that of toddlers. However, these models ignore the foveated nature of human vision with high/low resolution in the center/periphery of the visual field. Here, we investigate the role of this varying resolution in the development of object representations. We leverage two datasets of egocentric videos that capture the visual experience of humans during interactions with objects. We apply models of human foveation and cortical magnification to modify these inputs, such that the visual content becomes less distinct towards the periphery. The resulting sequences are used to train two bio-inspired self-supervised learning models that implement a time-based learning objective. Our results show that modeling aspects of foveated vision improves the quality of the learned object representations in this setting. Our analysis suggests that this improvement comes from making objects appear bigger and inducing a better trade-off between central and peripheral visual information. Overall, this work takes a step towards making models of humans' learning of visual representations more realistic and performant.

cs.CV↗

arXiv2025

Conceptual Design Report of Super Tau-Charm Facility: The Accelerator

Electron-positron colliders operating in the GeV region of center-of-mass energies or the Tau-Charm energy region, have been proven to enable competitive frontier research, due to its several unique features. With the progress of high energy physics in the last two decades, a new-generation Tau-Charm factory, Super Tau Charm Facility (STCF) has been actively promoting by the particle physics community in China. STCF holds great potential to address fundamental questions such as the essence of color confinement and the matter-antimatter asymmetry in the universe in the next decades. The main design goals of STCF are with a center-of-mass energy ranging from 2 to 7 GeV and a peak luminosity surpassing 5*10^34 cm^-2s^-1 that is optimized at a center-of-mass energy of 4 GeV, which is about 50 times that of the currently operating Tau-Charm factory - BEPCII. The STCF accelerator is composed of two main parts: a double-ring collider with the crab-waist collision scheme and an injector that provides top-up injections for both electron and positron beams. As a typical third-generation electron-positron circular collider, the STCF accelerator faces many challenges in both accelerator physics and technology. In this paper, the conceptual design of the STCF accelerator complex is presented, including the ongoing efforts and plans for technological R&D, as well as the required infrastructure. The STCF project aims to secure support from the Chinese central government for its construction during the 15th Five-Year Plan (2026-2030) in China.

physics.acc-ph↗

arXiv2025

More Is Better: A MoE-Based Emotion Recognition Framework with Human Preference Alignment

In this paper, we present our solution for the semi-supervised learning track (MER-SEMI) in MER2025. We propose a comprehensive framework, grounded in the principle that "more is better," to construct a robust Mixture of Experts (MoE) emotion recognition system. Our approach integrates a diverse range of input modalities as independent experts, including novel signals such as knowledge from large Vision-Language Models (VLMs) and temporal Action Unit (AU) information. To effectively utilize unlabeled data, we introduce a consensus-based pseudo-labeling strategy, generating high-quality labels from the agreement between a baseline model and Gemini, which are then used in a two-stage training paradigm. Finally, we employ a multi-expert voting ensemble combined with a rule-based re-ranking process to correct prediction bias and better align the outputs with human preferences. Evaluated on the MER2025-SEMI challenge dataset, our method achieves an F1-score of 0.8772 on the test set, ranking 2nd in the track. Our code is available at https://github.com/zhuyjan/MER2025-MRAC25.

cs.CV↗

arXiv2025

Toddlers' Active Gaze Behavior Supports Self-Supervised Object Learning

Toddlers learn to recognize objects from different viewpoints with almost no supervision. During this learning, they execute frequent eye and head movements that shape their visual experience. It is presently unclear if and how these behaviors contribute to toddlers' emerging object recognition abilities. To answer this question, we here combine head-mounted eye tracking during dyadic play with unsupervised machine learning. We approximate toddlers' central visual field experience by cropping image regions from a head-mounted camera centered on the current gaze location estimated via eye tracking. This visual stream feeds an unsupervised computational model of toddlers' learning, which constructs visual representations that slowly change over time. Our experiments demonstrate that toddlers' gaze strategy supports the learning of invariant object representations. Our analysis also shows that the limited size of the central visual field where acuity is high is crucial for this. Overall, our work reveals how toddlers' gaze behavior may support their development of view-invariant object recognition.

cs.CV↗

arXiv2025

Falcon: Advancing Asynchronous BFT Consensus for Lower Latency and Enhanced Throughput

Asynchronous Byzantine Fault Tolerant (BFT) consensus protocols have garnered significant attention with the rise of blockchain technology. A typical asynchronous protocol is designed by executing sequential instances of the Asynchronous Common Sub-seQuence (ACSQ). The ACSQ protocol consists of two primary components: the Asynchronous Common Subset (ACS) protocol and a block sorting mechanism, with the ACS protocol comprising two stages: broadcast and agreement. However, current protocols encounter three critical issues: high latency arising from the execution of the agreement stage, latency instability due to the integral-sorting mechanism, and reduced throughput caused by block discarding. To address these issues,we propose Falcon, an asynchronous BFT protocol that achieves low latency and enhanced throughput. Falcon introduces a novel broadcast protocol, Graded Broadcast (GBC), which enables a block to be included in the ACS set directly, bypassing the agreement stage and thereby reducing latency. To ensure safety, Falcon incorporates a new binary agreement protocol called Asymmetrical Asynchronous Binary Agreement (AABA), designed to complement GBC. Additionally, Falcon employs a partial-sorting mechanism, allowing continuous rather than simultaneous block committing, enhancing latency stability. Finally, we incorporate an agreement trigger that, before its activation, enables nodes to wait for more blocks to be delivered and committed, thereby boosting throughput. We conduct a series of experiments to evaluate Falcon, demonstrating its superior performance.

cs.DC↗

arXiv2025

It Takes Two to Tango: Serverless Workflow Serving via Bilaterally Engaged Resource Adaptation

Serverless platforms typically adopt an early-binding approach for function sizing, requiring developers to specify an immutable size for each function within a workflow beforehand. Accounting for potential runtime variability, developers must size functions for worst-case scenarios to ensure service-level objectives (SLOs), resulting in significant resource inefficiency. To address this issue, we propose Janus, a novel resource adaptation framework for serverless platforms. Janus employs a late-binding approach, allowing function sizes to be dynamically adapted based on runtime conditions. The main challenge lies in the information barrier between the developer and the provider: developers lack access to runtime information, while providers lack domain knowledge about the workflow. To bridge this gap, Janus allows developers to provide hints containing rules and options for resource adaptation. Providers then follow these hints to dynamically adjust resource allocation at runtime based on real-time function execution information, ensuring compliance with SLOs. We implement Janus and conduct extensive experiments with real-world serverless workflows. Our results demonstrate that Janus enhances resource efficiency by up to 34.7% compared to the state-of-the-art.

cs.DC↗

arXiv2024

State Estimation Transformers for Agile Legged Locomotion

We propose a state estimation method that can accurately predict the robot's privileged states to push the limits of quadruped robots in executing advanced skills such as jumping in the wild. In particular, we present the State Estimation Transformers (SET), an architecture that casts the state estimation problem as conditional sequence modeling. SET outputs the robot states that are hard to obtain directly in the real world, such as the body height and velocities, by leveraging a causally masked Transformer. By conditioning an autoregressive model on the robot's past states, our SET model can predict these privileged observations accurately even in highly dynamic locomotions. We evaluate our methods on three tasks -- running jumping, running backflipping, and running sideslipping -- on a low-cost quadruped robot, Cyberdog2. Results show that SET can outperform other methods in estimation accuracy and transferability in the simulation as well as success rates of jumping and triggering a recovery controller in the real world, suggesting the superiority of such a Transformer-based explicit state estimator in highly dynamic locomotion tasks.

cs.RO↗