arXiv subjects

Chunlei Yu

Publications and source records attributed to Chunlei Yu.

8 recordsLinked to original sources

arXiv2026

InstructMove: A Text-Indispensable Benchmark for Instruction-Following Manipulation

Vision-language-action (VLA) models have made general-purpose robot manipulation increasingly plausible by conditioning robot actions on natural-language instructions. A key test of such generality is whether policies actually follow language instructions. Yet many manipulation benchmarks leave this ability underdetermined: the intended object or destination is often visually salient or uniquely feasible, allowing policies to succeed without grounding the instruction. We argue that instruction-following evaluation should be text-indispensable: multiple actions should be visually and physically plausible, while only one should be consistent with the language instruction. We introduce InstructMove, a text-indispensable benchmark for instruction-following manipulation. InstructMove instantiates this principle in pick-and-place scenes with semantic distractors, decomposing instruction following into category identification, attribute discrimination, spatial reasoning, and compositional pick-and-place. InstructMove supports a train-eval protocol with InstructMove training data and held-out evaluation tasks, with additional diagnostics for language dependence. Experiments with representative VLA policies show that InstructMove provides a controlled testbed for diagnosing visual shortcuts and that InstructMove simulation data can improve real-world instruction-following manipulation performance. Code: https://github.com/HorizonRobotics/RoboOrchardSim

cs.RO↗

arXiv2026

EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI

We present EmbodiedGen V2, a generative 3D world engine for building executable policy-ready environments for embodied intelligence. Sim-ready 3D asset generation has advanced rapidly, yet assembling such assets into policy-ready task environments remains largely manual, limiting scalable closed-loop learning. EmbodiedGen V2 addresses this gap through a unified sim-ready representation that connects cross-simulator assets, interaction affordances, task-driven worlds, large-scale multi-room scenes, and stateful Vibe Coding into a generative, editable, and reusable simulation pipeline. The generated environments support manipulation, navigation, mobile manipulation, cross-simulator deployment, and embodied policy training. In evaluation, the asset pipeline achieves 96.5% human acceptance and 98.6% collision success, and 83.3% of task-driven worlds are directly usable for downstream simulation without manual modification. Online reinforcement learning with generated environments further improves simulation success from 9.7% to 79.8%, and transfers to real robots with task success increasing from 21.7% to 75.0%. These results establish EmbodiedGen V2 as scalable simulation infrastructure for training, evaluating, and deploying embodied policies.

cs.RO↗

arXiv2026

Electron-beam Writing of Spectrally Uniform Green Single-photon Emitters in Hexagonal Boron Nitride

Scalable quantum photonic technologies require single-photon emitters whose positions and emission energies can be engineered simultaneously. Hexagonal boron nitride (hBN) is an attractive room-temperature host, but deterministic creation of spectrally reproducible emitters remains challenging. Here, we use a standard scanning electron microscope as a direct-writing tool to activate bright green single-photon emitters in hBN at predefined sites, without ion implantation or post-fabrication thermal annealing. The written emitters exhibit reproducible zero-phonon-line emission centered near 536 nm, room-temperature antibunching with g(2)(0) as low as 0.08, high brightness, strong linear polarization, and stable emission. Thickness-dependent activation, stacking experiments, cathodoluminescence spectroscopy, and first-principles calculations support a carbon-related defect complex as the most plausible origin of the emission. As a proof of nanophotonic compatibility, we further activate emitters in a nanoparticle-on-mirror plasmonic nanocavity and observe photoluminescence enhancement accompanied by shortened emission lifetimes. These results establish electron-beam direct writing as a practical route to site-selective, spectrally uniform green quantum emitters in hBN, offering a promising basis for integrated room-temperature quantum photonic architectures.

physics.optics↗

arXiv2026

Socratic agents for autonomous scientific discovery in high-dimensional physical systems

The automation of scientific discovery has reached an inflection point. While AI systems now operate instruments, optimize parameters and generate hypotheses, most remain procedural: they execute workflows fixed by human designers. True autonomous science demands epistemic autonomy--the capacity to construct, challenge and revise physical explanations in response to evidence. Here we introduce AHOIS, a multi-agent AI scientist that embeds Socratic midwifery into closed-loop experimentation. A physics-critic agent interrogates hypotheses through causal questioning, constraint checking, counterexample generation and falsification-criteria formulation. We evaluate AHOIS on a real multimode-fibre optical platform, a high-dimensional system with complex wave transformations, indirect detection, environmental drift and multi-modal acquisition. Without prior encoding schemes, classifiers or speckle models, the system autonomously proposed and validated a random-interference encoding hypothesis, discovered task-adaptive sparse-measurement strategies, diagnosed distinct failure modes (encoding instability, fluorescence contamination and detector noise) and translated a published imaging protocol into an executable workflow on a non-original configuration. The discovered encoding yielded 16x16 measurements with effective rank 56.9 and classification accuracies of 76.97% on MNIST and 83.17% on Fashion-MNIST. Ablations show that Socratic interrogation improves physical consistency, hypothesis completeness, uncertainty calibration and experimental-plan validity. These results establish a route from workflow automation towards evidence-grounded, self-correcting autonomous discovery in complex physical environments.

cs.AI↗

arXiv2025

A power-in-bucket model enabled designs of nanostructure-enhanced waveguides for highly efficient wide-angle light couplings

Well-designed nanostructures on fiber facets can boost wide-angle light coupling and thus gain considerable attention because of the potential for intensive applications. However, previous theories commonly concentrate on the configurations of the bare waveguide, lacking full consideration of structure-assisted couplings. Here, a power-in-bucket (PIB) model is introduced to explore the coupling behavior of structure-modified waveguides. The analytical model investigates two representative coupling scenarios,including Gaussian beam and plane wave excitation. The PIB-computed coefficient {\eta} enhancements agree well with the experimental values, especially for the multiple-mode fibers under large-angle illuminations. Using PIB to optimize the beam-fiber parameters, we show that at the incidence angle of 37 degree, {\eta} could increase from 0.3320 to 0.5102 by the identical ring gratings. Overall, the proposed model provides a useful account of the mechanism of grating-aided light couplings. These findings would be of great help in designing structure-enhanced probes for wide-angle broadband light collection applications.

physics.optics↗

arXiv2025

CATS-V2V: A Real-World Vehicle-to-Vehicle Cooperative Perception Dataset with Complex Adverse Traffic Scenarios

Vehicle-to-Vehicle (V2V) cooperative perception has great potential to enhance autonomous driving performance by overcoming perception limitations in complex adverse traffic scenarios (CATS). Meanwhile, data serves as the fundamental infrastructure for modern autonomous driving AI. However, due to stringent data collection requirements, existing datasets focus primarily on ordinary traffic scenarios, constraining the benefits of cooperative perception. To address this challenge, we introduce CATS-V2V, the first-of-its-kind real-world dataset for V2V cooperative perception under complex adverse traffic scenarios. The dataset was collected by two hardware time-synchronized vehicles, covering 10 weather and lighting conditions across 10 diverse locations. The 100-clip dataset includes 60K frames of 10 Hz LiDAR point clouds and 1.26M multi-view 30 Hz camera images, along with 750K anonymized yet high-precision RTK-fixed GNSS and IMU records. Correspondingly, we provide time-consistent 3D bounding box annotations for objects, as well as static scenes to construct a 4D BEV representation. On this basis, we propose a target-based temporal alignment method, ensuring that all objects are precisely aligned across all sensor modalities. We hope that CATS-V2V, the largest-scale, most supportive, and highest-quality dataset of its kind to date, will benefit the autonomous driving community in related tasks.

cs.CV↗

arXiv2025

Realistic and Controllable 3D Gaussian-Guided Object Editing for Driving Video Generation

Corner cases are crucial for training and validating autonomous driving systems, yet collecting them from the real world is often costly and hazardous. Editing objects within captured sensor data offers an effective alternative for generating diverse scenarios, commonly achieved through 3D Gaussian Splatting or image generative models. However, these approaches often suffer from limited visual fidelity or imprecise pose control. To address these issues, we propose G^2Editor, a framework designed for photorealistic and precise object editing in driving videos. Our method leverages a 3D Gaussian representation of the edited object as a dense prior, injected into the denoising process to ensure accurate pose control and spatial consistency. A scene-level 3D bounding box layout is employed to reconstruct occluded areas of non-target objects. Furthermore, to guide the appearance details of the edited object, we incorporate hierarchical fine-grained features as additional conditions during generation. Experiments on the Waymo Open Dataset demonstrate that G^2Editor effectively supports object repositioning, insertion, and deletion within a unified framework, outperforming existing methods in both pose controllability and visual quality, while also benefiting downstream data-driven tasks.

cs.CV↗

arXiv2018

Monocular Vehicle Self-localization method based on Compact Semantic Map

High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we propose a novel self-localizing method using a monocular camera and a 3D compact semantic map. Pre-collected information of the road landmarks is stored in a self-defined map with a minimal amount of data. We recognize landmarks using a deep neural network, followed with a geometric feature extraction process which promotes the measurement accuracy. The vehicle location and posture are estimated by minimizing a self-defined re-projection residual error to evaluate the map-to-image registration, together with a robust association method. We validate the effectiveness of our approach by applying this method to localize a vehicle in an open dataset, achieving the RMS accuracy of 0.345 meter with reduced sensor setup and map storage compared to the state of art approaches. We also evaluate some key steps and discuss the contribution of the subsystems.

cs.RO↗