arXiv subjects

Chen Yu

Publications and source records attributed to Chen Yu.

At least 19 recordsLinked to original sources

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

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↗

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

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

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↗

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

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↗

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↗

arXiv2024

An Attention-Based Algorithm for Gravity Adaptation Zone Calibration

Accurate calibration of gravity adaptation zones is of great significance in fields such as underwater navigation, geophysical exploration, and marine engineering. With the increasing application of gravity field data in these areas, traditional calibration methods based on single features are becoming inadequate for capturing the complex characteristics of gravity fields and addressing the intricate interrelationships among multidimensional data. This paper proposes an attention-enhanced algorithm for gravity adaptation zone calibration. By introducing an attention mechanism, the algorithm adaptively fuses multidimensional gravity field features and dynamically assigns feature weights, effectively solving the problems of multicollinearity and redundancy inherent in traditional feature selection methods, significantly improving calibration accuracy and robustness.In addition, a large-scale gravity field dataset with over 10,000 sampling points was constructed, and Kriging interpolation was used to enhance the spatial resolution of the data, providing a reliable data foundation for model training and evaluation. We conducted both qualitative and quantitative experiments on several classical machine learning models (such as SVM, GBDT, and RF), and the results demonstrate that the proposed algorithm significantly improves performance across these models, outperforming other traditional feature selection methods. The method proposed in this paper provides a new solution for gravity adaptation zone calibration, showing strong generalization ability and potential for application in complex environments. The code is available at \href{this link} {https://github.com/hulnifox/RF-ATTN}.

cs.LG↗

arXiv2024

Harnessing the Power of Large Language Model for Uncertainty Aware Graph Processing

Handling graph data is one of the most difficult tasks. Traditional techniques, such as those based on geometry and matrix factorization, rely on assumptions about the data relations that become inadequate when handling large and complex graph data. On the other hand, deep learning approaches demonstrate promising results in handling large graph data, but they often fall short of providing interpretable explanations. To equip the graph processing with both high accuracy and explainability, we introduce a novel approach that harnesses the power of a large language model (LLM), enhanced by an uncertainty-aware module to provide a confidence score on the generated answer. We experiment with our approach on two graph processing tasks: few-shot knowledge graph completion and graph classification. Our results demonstrate that through parameter efficient fine-tuning, the LLM surpasses state-of-the-art algorithms by a substantial margin across ten diverse benchmark datasets. Moreover, to address the challenge of explainability, we propose an uncertainty estimation based on perturbation, along with a calibration scheme to quantify the confidence scores of the generated answers. Our confidence measure achieves an AUC of 0.8 or higher on seven out of the ten datasets in predicting the correctness of the answer generated by LLM.

cs.LG↗

arXiv2023

osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics

Maps are essential to mobile robotics tasks like localization and planning. We propose the open street map (osm) XML based Area Graph file format to store hierarchical, topometric semantic multi-floor maps of indoor and outdoor environments, since currently no such format is popular within the robotics community. Building on-top of osm we leverage the available open source editing tools and libraries of osm, while adding the needed mobile robotics aspect with building-level obstacle representation yet very compact, topometric data that facilitates planning algorithms. Through the use of common osm keys as well as custom ones we leverage the power of semantic annotation to enable various applications. For example, we support planning based on robot capabilities, to take the locomotion mode and attributes in conjunction with the environment information into account. The provided C++ library is integrated into ROS. We evaluate the performance of osmAG using real data in a global path planning application on a very big osmAG map, demonstrating its convenience and effectiveness for mobile robots.

cs.RO↗