arXiv subjects

Fan Yang

Publications and source records attributed to Fan Yang.

At least 73 records · Page 4Linked to original sources

arXiv2026

Value-Sensitive Delegation in Everyday AI Agent Use: Evidence from OpenClaw

Users increasingly delegate work to autonomous AI agents, yet evaluations typically measure task completion rather than the values users prioritize. Using Value Sensitive Design, we analyzed, with LLM assistance, 73,093 first-person Reddit posts about using OpenClaw, each for its human value, agent aspect, value fulfillment, and user outcome. The 21 values form six value groups, including Autonomous, Dependable, and Affordable Operation, Bounded Reach, Reviewability, and Equitable Access. Relative to each aspect's corpus share, values clustered not at the agent's outputs but at the operating conditions users set around a run. Values were usually met where users described what the agent delivered, in five of six groups, and mostly unmet where users described supervising it, in all six groups. We conceptualize this pattern as value-sensitive delegation. Supporting human values requires attention not only to what an agent accomplishes, but to the conditions users set around delegation, including cost, access, and oversight.

cs.HC↗

arXiv2026

On 2-distance-transitive circulant digraphs

Circulant digraphs form a prominent class of Cayley digraphs defined on finite cyclic groups. Building on the existing classification of $2$-arc-transitive circulant graphs, this paper presents a complete classification of $2$-distance-transitive circulant digraphs. Our main theorem establishes that every connected $2$-distance-transitive circulant digraph is isomorphic to one of the following: the undirected cycle $C_n$, the complete bipartite graph $\K_{\frac{n}{2},\frac{n}{2}}$, the complete multipartite graph $\K_{m[b]}$ with $m\geq 3,b\geq 2$, the graph $\K_{\frac{n}{2},\frac{n}{2}}-\frac{n}{2}\K_2$ for odd $\frac{n}{2}$, prime-order Paley graphs, the directed cycle $\overrightarrow{C}_n$, the oriented graph $G(p^m,r)$ satisfying Condition~\ref{p-power-normal-2dt-cond}, the oriented graph $ C_r(b,1)$ with $r\geq 3,b\geq 2$ and $rb=n$, the lexicographic product oriented graph $ G(p^m,r)[\overline{\K}_d]$ where $G(p^m,r)$ obeys Condition~\ref{p-power-normal-2dt-cond}.

math.CO↗

arXiv2026

Online Multimodal Workload Assessment in Contact-Rich Physical Human-Robot Interaction

Contact-rich physical human--robot interaction (pHRI) imposes time-varying demands associated with physical interaction, motor regulation, and physiological response, motivating continuous assessment of interaction workload. This paper presents an online multimodal assessment framework that integrates interaction wrench, planar tool-center-point (TCP) kinematics, and skin conductance level (SCL) into four interpretable workload-related factors. Their relative contributions are adjusted using path curvature to reflect changes in motion demand and task progression to account for gradual physiological variation over time. The framework was evaluated with 24 participants across 18 controlled combinations of temperature, acoustic noise, and illuminance under two admittance-control modes. Strict leave-one-subject-out (LOSO) evaluation used standardized pupil diameter ($\mathrm{PD}_z$) as an independent physiological reference and included comparisons with static variants and representative state-of-the-art learning-based baselines. The proposed framework achieves a cohort-mean $30\,\mathrm{s}$ block-wise Spearman correlation of $ρ_{30}=0.308$ with the physiological reference, with positive subject-level correspondence in 23 of 24 participants. Its overall performance is comparable to the state-of-the-art learning-based baseline. At the same time, our framework keeps the assessment process transparent through explicit workload-related factors and defined weighting rules, while outperforming the corresponding fixed-weight formulation. The framework also maintains consistent performance across the two tested admittance-control modes. These results support a transparent and interpretable approach to continuous interaction workload assessment in contact-rich pHRI.

cs.RO↗

arXiv2026

CARES: A Conversational AI System for Regulation-Grounded Safety Reporting in Construction Education

Construction safety reporting often relies on manual logs and static templates that provide limited feedback and leave daily activities disconnected from relevant regulations. This paper introduces CARES (Conversational AI Reporting for Enhanced Safety), a conversational AI system that integrates regulatory guidance into daily reporting to support construction safety education. CARES combines proactive multi-agent dialogue, retrieval-augmented generation (RAG), and automated report generation. The system guides users through reporting tasks, retrieves relevant regulatory passages using hybrid retrieval, and converts conversations into structured daily reports. Regulatory sources and the evolving report are displayed alongside the dialogue to support user review and correction. A preliminary evaluation involving 15 construction management students assessed retrieval quality, response faithfulness, and conversational relevance. CARES achieved an overall faithfulness score of 0.74 and an answer relevance score of 1.00, while initial retrieval ranking remained an area for improvement. These results provide preliminary evidence of the technical feasibility of regulation-grounded conversational reporting. The study highlights opportunities to integrate regulatory knowledge into routine documentation, with future work needed to evaluate effects on report quality, safety awareness, and learning outcomes.

cs.HC↗

arXiv2026

Pulsed heterodyne detection enables fiber-compatible, high-specificity Brillouin biomechanics in intact tissue and the living brain

Brillouin microscopy provides label-free, three-dimensional mechanical characterization of biological specimens, but current dispersive detection imposes two limits: the fiber background folds onto the sample spectrum, precluding single-fiber operation, and a ~250 MHz dispersion-induced instrumental broadening blurs mechanically distinct components within a focal volume. Here, we introduce pulsed heterodyne Brillouin detection (PHBD), which retrieves the spectrum electronically from temporal beat notes, overcoming both limitations. The fiber background beats outside the detection band and is rejected; elimination of dispersive broadening yields 25-MHz spectrometer resolution. Pulsed excitation reaches Brillouin-signal-shot-noise-limited detection, attaining 9.0-MHz shift precision in 3 ms at 30 mW in water with 53-fold improvement in energy efficiency over continuous-wave excitation. Through a bare 125-um fiber, PHBD resolves regional contrast along a 4-mm insertion track in the living mouse brain; in free space, it resolves distinct Brillouin components from the cell wall and adjacent cytoplasm in strongly scattering Arabidopsis root tips with epi-mode.

physics.optics↗

arXiv2026

On the Expressive Power of Implicit Line-Graph Higher-Order Weisfeiler--Leman

Whitney's theorem allows isomorphism testing for connected simple graphs, apart from $K_3$ and $K_{1,3}$, to be formulated as distinguishing their line graphs. However, the relation between fixed-dimensional Weisfeiler--Leman (WL) expressivity on line graphs and on their roots remains unresolved. We study this relation through Implicit Line-Graph WL (ILG-$k$-WL), which is exactly $k$-WL on $L(G)$, executed over the edges of $G$ with line-graph relations derived from endpoint incidence and without explicitly constructing $L(G)$. On the Whitney-general class, the relation between root-domain and line-graph WL depends on $k$. For $k=1,2$, ILG-$k$-WL adds no distinguishing power beyond root-domain $1$-WL and misses some pairs that $1$-WL separates. For $k=3$, we prove the backward containment $L(G)\equiv_{3\text{-WL}}L(H)\Rightarrow G\equiv_{3\text{-WL}}H$. Strongly regular witness pairs, including the Shrikhande/rook pair, show that ILG-$3$-WL is strictly more expressive than $3$-WL. The backward containment also extends to disconnected graphs with no isolated vertices when every connected component is Whitney-general. Deterministic ILG-$3$-WL separates all three substructure-counting witness pairs, all $105$ pairs in SR25, and $359$ of $400$ BREC pairs. An untrained dense ILG-$3$-GNN gives the same pairwise verdicts on these evaluations.

cs.SI↗

arXiv2026

DirectSwap: Paired, Mask-Free Video Head Swapping with Full-Reference Evaluation

Head swapping replaces an entire head while preserving pose, expression, body motion, and scene. Progress is limited by the lack of cross-identity paired videos: real footage cannot provide different identities performing exactly the same motion, leaving the task without paired supervision or frame-aligned ground truth. Existing methods therefore rely on same-identity masked reconstruction, which restricts supervision to predefined editable regions. To address this, we introduce an identity-expression decoupled synthesis pipeline that constructs expression-synchronized cross-identity video pairs from real footage. Expression-bearing facial regions are retained under small clip-consistent geometric perturbations, while the surrounding head is regenerated with a new identity as synthesized swapping input. These pairs form a cross-identity benchmark with frame-aligned real-world video as ground-truth targets, enabling full-reference evaluation of identity, expression, pose, reconstruction fidelity, and temporal stability. This yields HeadSwapBench, the first cross-identity paired dataset for video head swapping, supporting both training (20,278 videos) and benchmarking (1,040 videos). With the cross-identity supervision enabled by this paired dataset, we propose DirectSwap, a mask-free video head swapping training paradigm. Under otherwise identical settings, this formulation outperforms head- and rectangle-masked same-identity reconstruction, particularly for bidirectional head-silhouette changes. At inference, driving-output divergence and emergent reference attention estimate the edit support, allowing unchanged non-head content to be restored from the driving video without external segmentation or additional training. On 1,040 clips from 104 unseen subjects, the resulting model demonstrates that the proposed paired supervision supports effective whole-head swapping.

cs.CV↗

arXiv2026

LightNav-0: Eliciting VLM Spatial Intelligence for Generalist Embodied Navigation

Embodied navigation requires agents to translate heterogeneous goals and visual observations into actions across tasks, environments, and robot embodiments. Modern vision-language models (VLMs) already encode spatial priors for visual grounding, spatial reasoning, and pointing, but these capabilities are rarely elicited directly for robot control. Existing navigation systems instead rely on task- or embodiment-specific components, fragmenting perception, reasoning, and action while offering limited generalization. Here we present LightNav-0, a compact generalist embodied navigation model that elicits the spatial intelligence of a pretrained VLM and aligns it with navigation, without task-specific prediction heads. LightNav-0 represents diverse navigation tasks through a unified token interface: dual-channel pointing expresses task-, scene-, and embodiment-agnostic spatial intent, while a residual vector-quantized action tokenizer maps this intent to precise, embodiment-specific trajectories. Together with temporally aware visual history compression, ER mid-training, supervised fine-tuning, and reinforcement learning, this formulation supports instruction following, open-vocabulary object navigation, and visual tracking within a single model. The navigation training corpus spans 2K+ scenes and 4K+ hours of embodied navigation data. LightNav-ER, the embodied-reasoning checkpoint used to initialize LightNav-0, attains the highest complete-set average across 8 embodied-reasoning benchmarks, while LightNav-0 achieves state-of-the-art monocular success rates across all 10 public navigation simulation settings. Real-world evaluations further demonstrate zero-shot generalization across robot embodiments, diverse scenes, and static and dynamic targets. These results establish compact VLMs as a unified and transferable backbone for generalist embodied navigation.

cs.RO↗

arXiv2026

Agentic ML Exploration (A-MLE) for Ads Ranking

Modern industrial ads ranking stacks are increasingly bottlenecked not by model capacity or training compute, but by the throughput of human ML iteration - the cycles of research, implementation, training, debugging, evaluation, and launch required to surface a single statistically significant improvement. A typical ranking stack contains numerous differentiated models with heterogeneous data, architectures, and infrastructure constraints, and each cycle takes days to weeks of senior engineer attention per model. As a result, techniques that have proven effective on one model diffuse into others slowly and unevenly, leaving substantial recoverable signal unexplored. We present Agentic ML Exploration (A-MLE), an autonomous LLM-agent system that systematically explores ML techniques across a portfolio of ads ranking models. A-MLE decomposes ML iteration into five stages involving hypothesis generation, exploration strategy, experiment execution, result analysis and shared knowledge substrate which are orchestrated by a single agent that invokes domain-specific skills and agentic workflows against a sandboxed execution layer, with human-in-the-loop checkpoints at each stage boundary. We deploy A-MLE across a representative set of large-scale ads ranking models and evaluate it along a tiered capability framework (tool availability, autonomous workflow execution, and open-ended exploration). We further report a controlled cross-LLM study using a fixed agent loop, which surfaces qualitative differences in execution reliability and exploration aggressiveness across the Claude Sonnet, Gemini, and GPT families. We discuss failure modes and the design choices that govern reliability. Our findings suggest that agentic exploration is a practical force multiplier for ML engineers in industrial recommenders, especially for the long tail of models that rarely receive expert attention.

cs.AI↗

arXiv2026

Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding

Achieving agile and generalized legged locomotion across terrains requires tight integration of perception and control, especially under occlusions and sparse footholds. Existing methods have demonstrated agility on parkour courses but often rely on end-to-end sensorimotor models with limited generalization and interpretability. By contrast, methods targeting generalized locomotion typically exhibit limited agility and struggle with visual occlusions. We introduce a unified reinforcement learning (RL) framework for agile and generalized locomotion that incorporates a novel attention-based map encoder in the control policy. This encoder extracts local and global mapping features and uses attention mechanisms to focus on salient regions, producing an interpretable and generalized embedding for RL-based control. We further propose a learning-based mapping pipeline that provides fast, uncertainty-aware terrain representations robust to noise and occlusions, serving as policy inputs. It uses neural networks to convert depth observations into local elevations with uncertainties, and fuses them with odometry. The pipeline also integrates with parallel simulation so that we can train controllers with online mapping, aiding sim-to-real transfer. We validate our framework with the proposed mapping pipeline on a quadruped and a biped robot, and the resulting controllers demonstrate strong agility and generalization to unseen terrains in simulation and in real-world experiments.

cs.RO↗

arXiv2026

The Erdős-Gallai bound for consecutive even cycle lengths

Erdős and Gallai in 1959 proved the seminal result that every $n$-vertex graph with no cycle of length at least $2t+2$ has at most $\tfrac{2t+1}{2}(n-1)$ edges. We prove the extension that, for every sufficiently large $t$, the same quantity is also the sharp extremal bound for graphs with no $t$ consecutive even cycle lengths, resolving a conjecture of Verstraëte. Thus, at the Erdős-Gallai threshold, forcing an entire interval of even cycle lengths costs no more than forcing its longest member. More precisely, every $n$-vertex graph $G$ with $e(G)\ge \tfrac{(2t+1)(n-1)}2$ $\bullet$ either contains $t$ consecutive even cycle lengths, $\bullet$ or equality holds and $G$ is connected with every block isomorphic to $K_{2t+1}$. As consequences, for every sufficiently large even $k$ we determine the sharp edge thresholds forcing a cycle of length $0\pmod k$ or $2\pmod k$, answering questions of Bai, Grzesik, Li, and Prorok and of Gao, Li, Ma and Xie, respectively, for sufficiently large even $k$. The proof develops a stability-enhanced sublinear expander method. Its main new ingredient is a dense-case decomposition that recovers the lengths lost in the expander extraction by combining a flexible dense core with rooted cycle families in the vertices outside the core.

math.CO↗

arXiv2026

Achieving the Quantum Limits with Twin-Field Sensors

Continuous measurements play a fundamental role in quantum experiments, yet understanding and extracting the maximal possible information in a continuous probe signal remains a significant challenge. In this work, we show that for a wide class of sensors, the quantum Fisher information bound can be saturated through a combined measurement of signals from the original sensor and a suitable system copy. We elucidate the physical mechanism of such a twin-field sensor (TFS) and study its performance across diverse implementations, ranging from two-level atoms to a hybrid quantum Rabi model. In all of these cases, we find that simple photon counting or homodyne detection saturates the theoretical quantum limit. We further prove that the TFS achieves the quantum limits for the joint sensing of pairs of parameters as quantified by the quantum Fisher information matrix.

quant-ph↗

arXiv2026

Anderson Lattice in Incommensurate $\bf{Nb_3Cl_8}$/Graphene van der Waals Heterostructures

The periodic Anderson model}, traditionally realized in rare-earth compounds with limited tunability, have hindered systematic exploration of correlated quantum phenomena. Here, we introduce a strategy for {realizing and }engineering {this model} in incommensurate van der Waals heterostructures by coupling a Mott insulator (Nb$_3$Cl$_8$) with itinerant electrons (from monolayer graphene), circumventing strict lattice-matching requirements. Through magnetotransport and slave spin mean-field calculations, we demonstrate the hybridization gap ($Δ\approx30$ meV), gate-tunable metal-insulator transition, and band-selective electron effective mass enhancement, hallmarks of Kondo coherence. The heterostructure exhibits a nearly order-of-magnitude enhancement in the effective electron mass between hybridized and conventional graphene-like regimes, alongside in-plane magnetic field-induced metal-insulator transitions. Top gate-temperature phase mapping reveals competing correlated states, including insulating and hidden-order phases. This work establishes an electrically tunable van der Waals platform for studying correlated states generated by coupling a Mott-insulating layer to an itinerant-electron system, providing a materials route for exploring low-dimensional correlated quantum phases.

cond-mat.str-el↗

arXiv2026

Primes with Restricted-Digit Differences

Fix a base $b\ge2$ and a digit set $\mathcal{D}\subset\{0,1,\dots,b-1\}$, and let $\mathcal C_k$ be the set of integers in $[0,b^k)$ whose $k$ base-$b$ digits all lie in $\mathcal D$. We study prime pairs and three-term arithmetic progressions in primes whose difference, or common difference, belongs to $\mathcal C_k$. Under a natural digit non-resonance condition, we establish a localized Fourier criterion guaranteeing asymptotic formulae with explicit leading constants for both problems. Using a transfer-operator argument, we verify this criterion in explicit parameter ranges for several natural families of digit sets.

math.NT↗

arXiv2026

The Traveling Tournament Problem: An Overview

Over the past 25 years, the Traveling Tournament Problem (TTP) has become one of the most extensively studied optimization problems in sports scheduling. At its core, the TTP seeks to minimize the total travel distance incurred by teams that travel directly between opponents' venues during consecutive away games. The problem originated from the scheduling challenges faced by Major League Baseball, where it was identified as the central computational difficulty. This paper provides a comprehensive overview of the literature on the TTP. We review the principal problem variants and benchmark instances, and summarize the current state of the art in lower bounds, approximation guarantees, and exact and heuristic optimization algorithms. Moreover, we contribute to the continued development of the field by tracking and validating lower and upper bounds, while succeeding the repository originally established by Prof. Michael Trick as part of the RobinX sports timetabling project. Finally, we identify several open questions and outline promising directions for future research.

math.OC↗

arXiv2026

Toward Unified Robot Learning: Bridging Representation, Vision-Language-Action, and World Models

For robots to operate reliably in real-world environments, they need to perceive their surroundings, act, and reason about the consequences of those actions. Rapid progress in the domains of representation learning, VLA models, and world models has significantly enhanced the capabilities of robot learning systems, enabling robots to work in increasingly complex environments. However, these paradigms are typically developed in isolation, resulting in fragmented systems that struggle with generalization, long-horizon temporal reasoning and planning, and deployment in unstructured environments. In this survey, we present a unified perspective on robot learning by organizing the existing methods along three complementary axes: understanding through representation learning, acting through VLA models, and reasoning through world models. We introduce a structured taxonomy that captures key design choices in environment representation, policy learning, and predictive modeling, and summarize the recent progress in these domains. Beyond classifying the existing works, we analyze how these components interact, discuss common limitations, and highlight emerging trends towards more integrated systems. Through this lens, we identify the challenges in the domain of robot learning, including uncertainty quantification, out-of-distribution generalization, cross-embodiment transfer, long-context understanding, and long-horizon planning. We argue that these challenges arise not only from limitations within individual components but also from the lack of integration across perception, action, and reasoning. Building on this analysis, we outline future directions towards unified, physically grounded, and probabilistic robot learning to develop robust robotic systems that maintain consistent internal representations and support decision making over extended interactions in real-world environments.

cs.RO↗

arXiv2026

Step Back to Move Forward: Reflection-Aware Preference Optimization for Visual Generation

Diffusion models have become the mainstream paradigm for modern visual generation and have substantially advanced multimedia content synthesis, especially in text-to-image and text-to-video tasks. To further align such generative models with human preferences, reinforcement learning (RL) has recently shown strong potential as a post-training strategy. Nevertheless, existing policy gradient-based methods often explore inefficiently, making them vulnerable to local optima that may degrade semantic faithfulness and visual realism. To address these challenges, we present Reflection-Aware GRPO (RA-GRPO), a new RL-based preference alignment framework for diffusion generative models. The core idea is to improve "forward" generation by incorporating "backward" reflection during optimization. We first introduce Diffusion Reflection, which rectifies intermediate sampling trajectories by inverting the diffusion process with a weak estimator, guiding latent states toward higher-probability regions of the true data manifold. Furthermore, we introduce Counterfactual Path Synthesis to implicitly distill these rectified trajectories into the policy, enabling the model to internalize the benefits of search-based exploration without incurring inference-time overhead. Extensive experiments on T2I and T2V models demonstrate that RA-GRPO significantly outperforms existing methods, particularly in mitigating reward hacking and improving generalization. The method remains architecture-agnostic and integrates seamlessly with standard pipelines, suggesting a promising direction for stable preference alignment.

cs.CV↗

arXiv2026

Joint Alignment and Distillation for Video Generation via Sample-Guided Distribution Matching

Aligning video generative models to human preferences heavily relies on Reinforcement Learning (RL), which suffers from extensive computational overhead. Existing workflows typically treat RL and distillation as disconnected stages: applying RL before distillation incurs prohibitive computational costs, whereas applying RL after distillation frequently leads to model collapse. To overcome these limitations, we propose a unified, single-stage optimization framework grounded in Distribution Matching (DM). In the standard DM framework, distillation updates the model via a gradient direction that minimizes the gap between the real and fake models, guiding generations toward clarity and high fidelity. Building upon this, we introduce DM-Align, which derives a complementary gradient direction to guide the model toward human-preferred samples. Inspired by DPO and GRPO, our method leverages the distributional gap -- formulated from either preference pairs or intra-group exploration -- to directly construct this preference-guided gradient. By synergizing these two gradient directions, our approach eliminates the need for multi-step reward evaluation and complex ODE-SDE conversions inherent in traditional RL. Comprehensive experiments across multiple foundational video models demonstrate that this sample-guided framework robustly enhances both distillation quality and preference alignment, consistently outperforming both standalone variants and sequential two-stage pipelines.

cs.CV↗