Searcharxiv⌕ Search

arXiv subjects

F. Richard Yu

Publications and source records attributed to F. Richard Yu.

At least 19 recordsLinked to original sources
arXiv2026

Structure-Aware Robust Fine-Tuning: Defending Vision-Language-Action Robots Against Physical Attention Hijacking

Vision-Language-Action (VLA) policies promise general robotic manipulation, but their robustness against physical-world attacks remains fragile. In particular, we show that physically realizable adversarial patches can reliably induce failures by triggering a mechanism we call policy-critical action-to-vision attention hijacking, where action-conditioned attention is diverted from task-relevant regions to a localized patch. To demonstrate the threat, we propose Attention-Guided Semantic Disruption (AGSD), an Expectation-over-Transformation (EOT) optimized printable patch that jointly (i) concentrates action-to-vision attention on the patch and (ii) disrupts vision-language semantic alignment, yielding strong cross-task and cross-architecture transfer. To mitigate such attacks, we introduce Structure-Aware Robust Fine-Tuning (SARF), a zero-inference-overhead defense that fine-tunes only the visual encoder using feature anchoring, policy-critical attention correction, and language-guided geometric consistency restricted to semantically relevant regions. On LIBERO, SARF reduces OpenVLA's failure rate under AGSD from 100% to 14.2%-56.8% (28.6% average) across suites while preserving clean performance, and on a real PiPER manipulator it improves average success under AGSD from 23.0% to 65.0%. These results highlight mechanism-level robustness as a practical path to securing VLA robots against physical attention hijacking.

cs.RO↗
arXiv2026

SAGE: Multi-Agent Self-Evolution for LLM Reasoning

Reinforcement learning with verifiable rewards improves reasoning in large language models (LLMs), but many methods still rely on large human-labeled datasets. While self-play reduces this dependency, it often lacks explicit planning and strong quality control, limiting stability in long-horizon multi-step reasoning. We present SAGE (Self-evolving Agents for Generalized reasoning Evolution), a closed-loop framework where four agents: Challenger, Planner, Solver, and Critic, co-evolve from a shared LLM backbone using only a small seed set. The Challenger continuously generates increasingly difficult tasks; the Planner converts each task into a structured multi-step plan; and the Solver follows the plan to produce an answer, whose correctness is determined by external verifiers. The Critic scores and filters both generated questions and plans to prevent curriculum drift and maintain training signal quality, enabling stable self-training. Across mathematics and code-generation benchmarks, SAGE delivers consistent gains across model scales, improving the Qwen-2.5-7B model by 8.9% on LiveCodeBench and 10.7% on OlympiadBench.

cs.AI↗
arXiv2026

SEMAG: Self-Evolutionary Multi-Agent Code Generation

Large Language Models (LLMs) have made significant progress in handling complex programming tasks. However, current methods rely on manual model selection and fixed workflows, which limit their ability to adapt to changing task complexities. To address this, we propose SEMAG, a Self-Evolutionary Multi-Agent code Generation framework that mimics human coding practices. It decomposes programming tasks into stages, including planning, coding, debugging, and discussion, while adapting workflows to task difficulty. Its self-evolutionary agents can access the latest models in real time and automatically upgrade the backbone model. SEMAG sets new state-of-the-art Pass@1 accuracy across benchmarks. Using identical backbone models, SEMAG outperforms prior methods by 3.3% on CodeContests. When augmented with self-evolutionary model selection that automatically identifies optimal backbones, SEMAG reaches 52.6%, showcasing both framework effectiveness and adaptability to evolving LLM capabilities.

cs.SE↗
arXiv2026

AI/ML for mobile networks: Current status in Rel. 19 and challenges ahead

The transformative power of artificial intelligence (AI) and machine learning (ML) is recognized as a key enabler for sixth generation (6G) mobile networks by both academia and industry. Research on AI/ML in mobile networks has been ongoing for years, and the 3rd generation partnership project (3GPP) launched standardization efforts to integrate AI into mobile networks. However, a comprehensive review of the current status and challenges of the standardization of AI/ML for mobile networks is still missing. To this end, we provided a comprehensive review of the standardization efforts by 3GPP on AI/ML for mobile networks. This includes an overview of the general AI/ML framework, representative use cases (i.e., CSI feedback, beam management and positioning), and corresponding evaluation matrices. We emphasized the key research challenges on dataset preparation, generalization evaluation and baseline AI/ML models selection. Using CSI feedback as a case study, given the test dataset 2, we demonstrated that the pre-training-fine-tuning paradigm (i.e., pre-training using dataset 1 and fine-tuning using dataset 2) outperforms training on dataset 2. Moreover, we observed the highest performance enhancements in Transformer-based models through fine-tuning, showing its great generalization potential at large floating-point operations (FLOPs). Finally, we outlined future research directions for the application of AI/ML in mobile networks.

eess.SP↗
arXiv2026

Words & Weights: Streamlining Multi-Turn Interactions via Co-Adaptation

Test-time policy adaptation for multi-turn interactions (T2PAM) is essential for aligning Large Language Models (LLMs) with dynamic user needs during inference time. However, existing paradigms commonly treat test-time adaptation as a single-axis problem, either purely refining instructions (Prompt Engineering) or only adjusting weights (Test-Time Training), ignoring that interaction failures stem from a coupled mix of ambiguity and incapacity. We argue that these two optimization paths are not merely additive but synergistic: semantic clarity acts as a pre-conditioner for effective parameter updates. To this end, we propose ROSA2, a framework that reformulates interaction as a joint optimization problem over the heterogeneous space of Words and Weights. By mathematically decomposing the error signal, ROSA2 utilizes textual gradients to rectify intent ambiguity and parameter updates to bridge capability gaps. Theoretically, we prove that this co-adaptation strictly reduces the required parameter shift for convergence. Empirically, ROSA2 outperforms state-of-the-art baselines by 30% on MATH while reducing interaction turns by 40%, demonstrating that refining the context unlocks the true potential of parameter updates.

cs.AI↗
arXiv2026

LFPO: Likelihood-Free Policy Optimization for Masked Diffusion Models

Reinforcement Learning with Verifiable Rewards (RLVR) has achieved remarkable success in improving autoregressive models, especially in domains requiring correctness like mathematical reasoning and code generation. However, directly applying such paradigms to Diffusion Large Language Models (dLLMs) is fundamentally hindered by the intractability of exact likelihood computation, which forces existing methods to rely on high-variance approximations. To bridge this gap, we propose Likelihood-Free Policy Optimization (LFPO), a native framework that maps the concept of vector field flow matching to the discrete token space. Specifically, LFPO formulates alignment as geometric velocity rectification, which directly optimizes denoising logits via contrastive updates. This design effectively bypasses the errors inherent in likelihood approximation, yielding the precise gradient estimation. Furthermore, LFPO enforce consistency by predicting final solutions from intermediate steps, effectively straightening the probability flow to enable high-quality generation with significantly fewer iterations. Extensive experiments demonstrate that LFPO not only outperforms state-of-the-art baselines on code and reasoning benchmarks but also accelerates inference by approximately 20% through reduced diffusion steps.

cs.LG↗
arXiv2026

Resource Allocation for STAR-RIS-enhanced Metaverse Systems with Augmented Reality

Augmented reality (AR)-enabled Metaverse is a promising technique to provide immersive service experience for mobile users. However, the limited network resources and unpredictable wireless propagation environments are key design bottlenecks of AR-enabled Metaverse systems. Therefore, this paper presents a resource management framework for simultaneously transmitting and reflecting RIS (STAR-RIS)-assisted AR-enabled Metaverse, where the STAR-RIS is configured to improve the communication efficiency between AR users and the Metaverse server located at the base station (BS). Moreover, we formulate a service latency minimization problem via jointly optimizing the computation resource allocation of the BS, coefficient matrix of the STAR-RIS, central processing unit (CPU) frequency and transmit power of the AR users. To tackle the non-convex problem, we utilize an approximate method to transform it to a tractable form, and decouple the multi-dimensional variables via the alternating optimization method. Particularly, the optimal coefficient matrix is obtained by a penalty function-based method with proved convergence, the CPU frequencies of AR users are derived as the closed-form solution, and the transmit power of AR users and computation resource allocation of the BS are obtained by the Lagrange duality method and convex optimization theory. Finally, simulation results demonstrates that the proposed method achieves remarkable latency reduction than several benchmark methods.

cs.IT↗
arXiv2026

Beyond Pixels: Vector-to-Graph Transformation for Reliable Schematic Auditing

Multimodal Large Language Models (MLLMs) have shown remarkable progress in visual understanding, yet they suffer from a critical limitation: structural blindness. Even state-of-the-art models fail to capture topology and symbolic logic in engineering schematics, as their pixel-driven paradigm discards the explicit vector-defined relations needed for reasoning. To overcome this, we propose a Vector-to-Graph (V2G) pipeline that converts CAD diagrams into property graphs where nodes represent components and edges encode connectivity, making structural dependencies explicit and machine-auditable. On a diagnostic benchmark of electrical compliance checks, V2G yields large accuracy gains across all error categories, while leading MLLMs remain near chance level. These results highlight the systemic inadequacy of pixel-based methods and demonstrate that structure-aware representations provide a reliable path toward practical deployment of multimodal AI in engineering domains. To facilitate further research, we release our benchmark and implementation at https://github.com/gm-embodied/V2G-Audit.

cs.AI↗
arXiv2026

AugVLA-3D: Depth-Driven Feature Augmentation for Vision-Language-Action Models

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and action grounding in complex 3D environments. To address this limitation, we propose a novel framework that integrates depth estimation into VLA models to enrich 3D feature representations. Specifically, we employ a depth estimation baseline called VGGT to extract geometry-aware 3D cues from standard RGB inputs, enabling efficient utilization of existing large-scale 2D datasets while implicitly recovering 3D structural information. To further enhance the reliability of these depth-derived features, we introduce a new module called action assistant, which constrains the learned 3D representations with action priors and ensures their consistency with downstream control tasks. By fusing the enhanced 3D features with conventional 2D visual tokens, our approach significantly improves the generalization ability and robustness of VLA models. Experimental results demonstrate that the proposed method not only strengthens perception in geometrically ambiguous scenarios but also leads to superior action prediction accuracy. This work highlights the potential of depth-driven data augmentation and auxiliary expert supervision for bridging the gap between 2D observations and 3D-aware decision-making in robotic systems.

cs.CV↗
arXiv2026

Toward a Sustainable Federated Learning Ecosystem: A Practical Least Core Mechanism for Payoff Allocation

Emerging network paradigms and applications increasingly rely on federated learning (FL) to enable collaborative intelligence while preserving privacy. However, the sustainability of such collaborative environments hinges on a fair and stable payoff allocation mechanism. Focusing on coalition stability, this paper introduces a payoff allocation framework based on the least core (LC) concept. Unlike traditional methods, the LC prioritizes the cohesion of the federation by minimizing the maximum dissatisfaction among all potential subgroups, ensuring that no participant has an incentive to break away. To adapt this game-theoretic concept to practical, large-scale networks, we propose a streamlined implementation with a stack-based pruning algorithm, effectively balancing computational efficiency with allocation precision. Case studies in federated intrusion detection demonstrate that our mechanism correctly identifies pivotal contributors and strategic alliances. The results confirm that the practical LC framework promotes stable collaboration and fosters a sustainable FL ecosystem.

cs.GT↗
arXiv2026

ForeDiffusion: Foresight-Conditioned Diffusion Policy via Future View Construction for Robot Manipulation

Diffusion strategies have advanced visual motor control by progressively denoising high-dimensional action sequences, providing a promising method for robot manipulation. However, as task complexity increases, the success rate of existing baseline models decreases considerably. Analysis indicates that current diffusion strategies are confronted with two limitations. First, these strategies only rely on short-term observations as conditions. Second, the training objective remains limited to a single denoising loss, which leads to error accumulation and causes grasping deviations. To address these limitations, this paper proposes Foresight-Conditioned Diffusion (ForeDiffusion), by injecting the predicted future view representation into the diffusion process. As a result, the policy is guided to be forward-looking, enabling it to correct trajectory deviations. Following this design, ForeDiffusion employs a dual loss mechanism, combining the traditional denoising loss and the consistency loss of future observations, to achieve the unified optimization. Extensive evaluation on the Adroit suite and the MetaWorld benchmark demonstrates that ForeDiffusion achieves an average success rate of 80% for the overall task, significantly outperforming the existing mainstream diffusion methods by 23% in complex tasks, while maintaining more stable performance across the entire tasks.

cs.RO↗
arXiv2025

DeblurSplat: SfM-free 3D Gaussian Splatting with Event Camera for Robust Deblurring

In this paper, we propose the first Structure-from-Motion (SfM)-free deblurring 3D Gaussian Splatting method via event camera, dubbed DeblurSplat. We address the motion-deblurring problem in two ways. First, we leverage the pretrained capability of the dense stereo module (DUSt3R) to directly obtain accurate initial point clouds from blurred images. Without calculating camera poses as an intermediate result, we avoid the cumulative errors transfer from inaccurate camera poses to the initial point clouds' positions. Second, we introduce the event stream into the deblur pipeline for its high sensitivity to dynamic change. By decoding the latent sharp images from the event stream and blurred images, we can provide a fine-grained supervision signal for scene reconstruction optimization. Extensive experiments across a range of scenes demonstrate that DeblurSplat not only excels in generating high-fidelity novel views but also achieves significant rendering efficiency compared to the SOTAs in deblur 3D-GS.

cs.CV↗
arXiv2025

CDFlow: Generative Gradient Flows for Configuration Space Distance Fields via Neural ODEs

Signed Distance Fields (SDFs) are a fundamental representation in robot motion planning. Their configuration-space counterpart, the Configuration Space Distance Field (CDF), directly encodes distances in joint space, offering a unified representation for optimization and control. However, existing CDF formulations face two major challenges in high-degree-of-freedom (DoF) robots: (1) they effectively return only a single nearest collision configuration, neglecting the multi-modal nature of minimal-distance collision configurations and leading to gradient ambiguity; and (2) they rely on sparse sampling of the collision boundary, which often fails to identify the true closest configurations, producing oversmoothed approximations and geometric distortion in high-dimensional spaces. We propose CDFlow, a novel framework that addresses these limitations by learning a continuous flow in configuration space via Neural Ordinary Differential Equations (Neural ODEs). We redefine the problem from finding a single nearest point to modeling the distribution of minimal-distance collision configurations. We also introduce an adaptive refinement sampling strategy to generate high-fidelity training data for this distribution. The resulting Neural ODE implicitly models this multi-modal distribution and produces a smooth, consistent gradient field-derived as the expected direction towards the distribution-that mitigates gradient ambiguity and preserves sharp geometric features. Extensive experiments on high-DoF motion planning tasks demonstrate that CDFlow significantly improves planning efficiency, trajectory quality, and robustness compared to existing CDF-based methods, enabling more robust and efficient planning for collision-aware robots in complex environments.

cs.RO↗
arXiv2025

Inter3D: A Benchmark and Strong Baseline for Human-Interactive 3D Object Reconstruction

Recent advancements in implicit 3D reconstruction methods, e.g., neural rendering fields and Gaussian splatting, have primarily focused on novel view synthesis of static or dynamic objects with continuous motion states. However, these approaches struggle to efficiently model a human-interactive object with n movable parts, requiring 2^n separate models to represent all discrete states. To overcome this limitation, we propose Inter3D, a new benchmark and approach for novel state synthesis of human-interactive objects. We introduce a self-collected dataset featuring commonly encountered interactive objects and a new evaluation pipeline, where only individual part states are observed during training, while part combination states remain unseen. We also propose a strong baseline approach that leverages Space Discrepancy Tensors to efficiently modelling all states of an object. To alleviate the impractical constraints on camera trajectories across training states, we propose a Mutual State Regularization mechanism to enhance the spatial density consistency of movable parts. In addition, we explore two occupancy grid sampling strategies to facilitate training efficiency. We conduct extensive experiments on the proposed benchmark, showcasing the challenges of the task and the superiority of our approach.

cs.GR↗
arXiv2025

X-SG$^2$S: Safe and Generalizable Gaussian Splatting with X-dimensional Watermarks

3D Gaussian Splatting (3DGS) has been widely used in 3D reconstruction and 3D generation. However, the rapid adoption of 3D Gaussian Splatting raises growing concerns about information leakage and unauthorized use, urging the exploration of effective watermarking techniques. However, existing methods are limited by low capacity, fragility under geometric perturbations, and the infeasible requirement for costly fine-tuning or pipeline modifications, motivating the need for a generalizable, feed-forward framework capable of robust multi-modal embedding with minimal intrusion. In this paper, we propose a new framework X-SG$^2$S which can simultaneously inject 1D to 3D watermarks for copyright protection, while keeping the high fidelity of original 3DGS scenes. Specifically, we first split the watermarks into message patches. A self-adaptive gate is developed to select the injection positions of the watermark messages. Then, we use an XD (multi-dimensional) injection head to inject multi-modal messages into sorted 3DGS points. To restore watermarking messages, a learnable gate is developed to recognize the watermarked locations, from which our XD-extraction heads are used to restore hidden messages. X-SG$^2$S is the first framework to unify 1D-to-3D watermarking and enable simultaneous multi-modal watermark embedding in 3DGS, achieving this with minimal rendering interference and zero modifications to parameters or pipelines. Extensive experiments demonstrate that X-SG$^2$S effectively preserves consistency between the watermark and the original 3DGS, exhibits robustness against model degradation, and maintains accurate judgment capabilities.

cs.CR↗
arXiv2025

Leveraging Cross-Attention Transformer and Multi-Feature Fusion for Cross-Linguistic Speech Emotion Recognition

Speech Emotion Recognition (SER) plays a crucial role in enhancing human-computer interaction. Cross-Linguistic SER (CLSER) has been a challenging research problem due to significant variability in linguistic and acoustic features of different languages. In this study, we propose a novel approach HuMP-CAT, which combines HuBERT, MFCC, and prosodic characteristics. These features are fused using a cross-attention transformer (CAT) mechanism during feature extraction. Transfer learning is applied to gain from a source emotional speech dataset to the target corpus for emotion recognition. We use IEMOCAP as the source dataset to train the source model and evaluate the proposed method on seven datasets in five languages (e.g., English, German, Spanish, Italian, and Chinese). We show that, by fine-tuning the source model with a small portion of speech from the target datasets, HuMP-CAT achieves an average accuracy of 78.75% across the seven datasets, with notable performance of 88.69% on EMODB (German language) and 79.48% on EMOVO (Italian language). Our extensive evaluation demonstrates that HuMP-CAT outperforms existing methods across multiple target languages.

eess.AS↗
arXiv2024

Efficient Detection Framework Adaptation for Edge Computing: A Plug-and-play Neural Network Toolbox Enabling Edge Deployment

Edge computing has emerged as a key paradigm for deploying deep learning-based object detection in time-sensitive scenarios. However, existing edge detection methods face challenges: 1) difficulty balancing detection precision with lightweight models, 2) limited adaptability of generalized deployment designs, and 3) insufficient real-world validation. To address these issues, we propose the Edge Detection Toolbox (ED-TOOLBOX), which utilizes generalizable plug-and-play components to adapt object detection models for edge environments. Specifically, we introduce a lightweight Reparameterized Dynamic Convolutional Network (Rep-DConvNet) featuring weighted multi-shape convolutional branches to enhance detection performance. Additionally, we design a Sparse Cross-Attention (SC-A) network with a localized-mapping-assisted self-attention mechanism, enabling a well-crafted joint module for adaptive feature transfer. For real-world applications, we incorporate an Efficient Head into the YOLO framework to accelerate edge model optimization. To demonstrate practical impact, we identify a gap in helmet detection -- overlooking band fastening, a critical safety factor -- and create the Helmet Band Detection Dataset (HBDD). Using ED-TOOLBOX-optimized models, we address this real-world task. Extensive experiments validate the effectiveness of ED-TOOLBOX, with edge detection models outperforming six state-of-the-art methods in visual surveillance simulations, achieving real-time and accurate performance. These results highlight ED-TOOLBOX as a superior solution for edge object detection.

cs.CV↗