arXiv subjects

Guangyu Li

Publications and source records attributed to Guangyu Li.

At least 19 recordsLinked to original sources

arXiv2026

PLS-Calib: A Partial Least Squares Framework for Event Camera and Odometry Calibration under Ground Motion Constraints

Accurate extrinsic rotation calibration between sensors is fundamental to the performance of robotic perception systems. However, most existing calibration techniques rely on full 6-DoF motion to excite all degrees of freedom, which is often infeasible for ground-constrained robots with limited motion capabilities. Recent approaches designed for such restricted settings, such as Canonical Correlation Analysis (CCA)-based methods, suffer from ill-conditioned covariance matrices that lead to numerical instability and suboptimal calibration accuracy. To overcome these limitations, we present a novel rotation calibration framework named PLS-Calib that, for the first time, leverages Partial Least Squares (PLS) regression to model the latent kinematic correlations between asynchronous, heterogeneous sensor streams. Specifically, we apply our method to the calibration of an event camera and an odometry onboard a ground robot. To improve event-based pattern detection, we introduce a polarity-aware event representation, which enhances spatiotemporal contrast in circular calibration targets. Our PLS-based formulation yields a closed-form, stable solution that avoids matrix singularities inherent in CCA-based approaches. Extensive experiments on both synthetic and real-world datasets validate the effectiveness of our approach, demonstrating significant improvements in calibration robustness and accuracy over state-of-the-art methods. This work offers a practical and theoretically grounded solution for rotation calibration in constrained robotic systems and opens up new directions for applying statistical learning techniques in neuromorphic vision.

cs.RO↗

arXiv2026

Rate Maximization for Multi-Waveguide PASS: A Hierarchical User Scheduling and Joint Optimization Framework

Pinching-antenna systems (PASS) have emerged as a promising flexible-antenna architecture capable of dynamically reconfiguring wireless channels by activating dielectric particles along waveguides. The sum rate maximization problem in multi-waveguide PASS is investigated in this study. Both in-waveguide propagation loss and coupling effects are explicitly modeled. To tackle the optimization problem, a hierarchical user scheduling (HUS) algorithm is proposed. The HUS algorithm minimizes the sum of squared distances between users and their associated waveguides to mitigate path loss. Additionally, spatially separated users are assigned within each time slot to reduce inter-user interference. Furthermore, a joint optimization framework integrating power allocation and pinching-antenna (PA) positioning is developed to further improve system sum rate. Specifically, PAs' positions are optimized via one-dimensional search, while the power allocation problem is solved by using the Lagrangian duality and fractional programming. Numerical results show that the HUS algorithm clearly outperforms random pairing, and the proposed power allocation algorithm shows a marked performance improvement over the maximum ratio transmission algorithm. Moreover, the results explicitly demonstrate the considerable impact of in-waveguide propagation loss and coupling effects on the performance of PASS.

cs.IT↗

arXiv2026

Understanding Generalization and Forgetting in In-Context Continual Learning

In-context learning (ICL) derives its power from enabling Large Language Models to adapt to new tasks via prompt-based reasoning alone, entirely bypassing the need for parameter updates. Existing theories primarily study ICL in single-task settings, while real-world prompts often contain sequences of heterogeneous tasks, leaving a gap in understanding whether Large Language Models implicitly perform continual learning during inference. To bridge this gap, we propose the first theoretical framework for in-context continual learning, modeling how a pretrained Transformer processes multiple sequential tasks within a single prompt through shared attention mechanisms. Focusing on linear and masked linear self-attention, we derive error expressions for model predictions under sequential task prompts and analyze their generalization and forgetting behavior. Our results reveal that standard attention mechanisms inevitably induce intertask interference by uniformly or causally aggregating historical contexts, leading to systematic bias. We further provide a bias-variance-interference decomposition of prediction error, characterizing when historical in-context information yields positive transfer or provable negative transfer. This analysis exposes fundamental limits of attention-based continual inference and offers theoretical explanations for order sensitivity and performance degradation in long prompts.

cs.LG↗

arXiv2026

CSPMNet: Pareto-Efficient Automatic Modulation Classification With Learnable Complex Subband Phase Motion

Automatic modulation classification (AMC) is an essential technique for noncooperative spectrum monitoring and intelligent wireless receivers. However, practical AMC models must identify modulation formats from short and noisy I/Q observations while maintaining low computational and storage overhead. Existing deep-learning approaches often improve recognition accuracy by expanding generic neural backbones, which increases deployment cost and weakens their suitability for resource-constrained receivers. To bridge the gap between recognition performance and model efficiency, this letter proposes a Complex Subband Phase-Motion Network, designated as CSPMNet, for lightweight AMC from raw I/Q samples. Specifically, learnable complex subband filters are introduced to adaptively extract frequency-selective baseband responses while preserving the algebraic coupling between in-phase and quadrature components. Then, an amplitude-preserving phase-motion module captures multi-lag temporal rotation dynamics within each subband, and a lightweight temporal classifier performs efficient sequence aggregation. Rigorous experimental evaluations on public RadioML benchmark datasets demonstrate that CSPMNet achieves highly competitive recognition accuracy while requiring substantially lower model complexity than many existing AMC models.

eess.SP↗

arXiv2026

SEI-SHIELD: Robust Specific Emitter Identification Under Label Noise Via Self-Supervised Filtering and Iterative Rescue

Specific Emitter Identification (SEI) provides physical-layer device authentication for wireless communications and Internet of Things (IoT) systems. While deep learning (DL) has significantly advanced SEI performance, label noise severely degrades system reliability in non-cooperative environments. Label noise originates from channel-induced ambiguities, annotation errors, and deliberate data poisoning by intelligent jammers injecting misleading signals. While recent SEI methods attempt to mitigate label noise, they fundamentally rely on corrupted supervised signals to guide sample selection, inevitably leading to confirmation bias and suboptimal feature spaces. To address this challenge, we propose SEI-SHIELD, a robust SEI framework that integrates self-supervised contrastive pre-training with iterative sample selection. Specifically, SEI-SHIELD employs Momentum Contrast (MoCo) with RF-tailored augmentations to extract intrinsically robust, label-independent representations directly from complex-valued I/Q signals. In addition, K-nearest neighbors (KNN)-based noise filtering identifies corrupted samples through neighborhood label consistency analysis in the learned feature space. Furthermore, an iterative rescue mechanism using prediction confidence and prototype cosine similarity progressively recovers correctly labeled hard samples inadvertently discarded during filtering. Comprehensive experiments on the POWDER and ORACLE datasets demonstrate that SEI-SHIELD achieves state-of-the-art (SOTA) accuracy under various noise rates, substantially outperforming existing noise-robust paradigms, including advanced regularization techniques and sample selection frameworks.

eess.SP↗

arXiv2026

MorphSNN: Adaptive Graph Diffusion and Structural Plasticity for Spiking Neural Networks

Spiking Neural Networks (SNNs) currently face a critical bottleneck: while individual neurons exhibit dynamic biological properties, their macro-scopic architectures remain confined within conventional connectivity patterns that are static and hierarchical. This discrepancy between neuron-level dynamics and network-level fixed connectivity eliminates critical brain-like lateral interactions, limiting adaptability in changing environments. To address this, we propose MorphSNN, a backbone framework inspired by biological non-synaptic diffusion and structural plasticity. Specifically, we introduce a Graph Diffusion (GD)mechanism to facilitate efficient undirected signal propagation, complementing the feedforward hierarchy. Furthermore, it incorporates a Spatio-Temporal Structural Plasticity (STSP) mechanism, endowing the network with the capability for instance-specific, dynamic topological reorganization, thereby overcoming the limitations of fixed topologies. Experiments demonstrate that MorphSNN achieves state-of-the-art accuracy on static and neuromorphic datasets; for instance, it reaches 83.35% accuracy on N-Caltech101 with only 5 timesteps. More importantly, its self-evolving topology functions as an intrinsic distribution fingerprint, enabling superior Out-of- Distribution (OOD) detection without auxiliary training. The code is available at anonymous.4open.science/r/MorphSNN-B0BC.

cs.NE↗

arXiv2025

Tongyi DeepResearch Technical Report

We present Tongyi DeepResearch, an agentic large language model, which is specifically designed for long-horizon, deep information-seeking research tasks. To incentivize autonomous deep research agency, Tongyi DeepResearch is developed through an end-to-end training framework that combines agentic mid-training and agentic post-training, enabling scalable reasoning and information seeking across complex tasks. We design a highly scalable data synthesis pipeline that is fully automatic, without relying on costly human annotation, and empowers all training stages. By constructing customized environments for each stage, our system enables stable and consistent interactions throughout. Tongyi DeepResearch, featuring 30.5 billion total parameters, with only 3.3 billion activated per token, achieves state-of-the-art performance across a range of agentic deep research benchmarks, including Humanity's Last Exam, BrowseComp, BrowseComp-ZH, WebWalkerQA, xbench-DeepSearch, FRAMES and xbench-DeepSearch-2510. We open-source the model, framework, and complete solutions to empower the community.

cs.CL↗

arXiv2025

Scaling Agents via Continual Pre-training

Large language models (LLMs) have evolved into agentic systems capable of autonomous tool use and multi-step reasoning for complex problem-solving. However, post-training approaches building upon general-purpose foundation models consistently underperform in agentic tasks, particularly in open-source implementations. We identify the root cause: the absence of robust agentic foundation models forces models during post-training to simultaneously learn diverse agentic behaviors while aligning them to expert demonstrations, thereby creating fundamental optimization tensions. To this end, we are the first to propose incorporating Agentic Continual Pre-training (Agentic CPT) into the deep research agents training pipeline to build powerful agentic foundational models. Based on this approach, we develop a deep research agent model named AgentFounder. We evaluate our AgentFounder-30B on 10 benchmarks and achieve state-of-the-art performance while retains strong tool-use ability, notably 39.9% on BrowseComp-en, 43.3% on BrowseComp-zh, and 31.5% Pass@1 on HLE.

cs.CL↗

arXiv2025

Towards General Agentic Intelligence via Environment Scaling

Advanced agentic intelligence is a prerequisite for deploying Large Language Models in practical, real-world applications. Diverse real-world APIs demand precise, robust function-calling intelligence, which needs agents to develop these capabilities through interaction in varied environments. The breadth of function-calling competence is closely tied to the diversity of environments in which agents are trained. In this work, we scale up environments as a step towards advancing general agentic intelligence. This gives rise to two central challenges: (i) how to scale environments in a principled manner, and (ii) how to effectively train agentic capabilities from experiences derived through interactions with these environments. To address these, we design a scalable framework that automatically constructs heterogeneous environments that are fully simulated, systematically broadening the space of function-calling scenarios. We further adapt a two-phase agent fine-tuning strategy: first endowing agents with fundamental agentic capabilities, then specializing them for domain-specific contexts. Extensive experiments on agentic benchmarks, tau-bench, tau2-Bench, and ACEBench, demonstrate that our trained model, AgentScaler, significantly enhances the function-calling capability of models.

cs.CL↗

arXiv2025

Cross-Domain Attribute Alignment with CLIP: A Rehearsal-Free Approach for Class-Incremental Unsupervised Domain Adaptation

Class-Incremental Unsupervised Domain Adaptation (CI-UDA) aims to adapt a model from a labeled source domain to an unlabeled target domain, where the sets of potential target classes appearing at different time steps are disjoint and are subsets of the source classes. The key to solving this problem lies in avoiding catastrophic forgetting of knowledge about previous target classes during continuously mitigating the domain shift. Most previous works cumbersomely combine two technical components. On one hand, they need to store and utilize rehearsal target sample from previous time steps to avoid catastrophic forgetting; on the other hand, they perform alignment only between classes shared across domains at each time step. Consequently, the memory will continuously increase and the asymmetric alignment may inevitably result in knowledge forgetting. In this paper, we propose to mine and preserve domain-invariant and class-agnostic knowledge to facilitate the CI-UDA task. Specifically, via using CLIP, we extract the class-agnostic properties which we name as "attribute". In our framework, we learn a "key-value" pair to represent an attribute, where the key corresponds to the visual prototype and the value is the textual prompt. We maintain two attribute dictionaries, each corresponding to a different domain. Then we perform attribute alignment across domains to mitigate the domain shift, via encouraging visual attention consistency and prediction consistency. Through attribute modeling and cross-domain alignment, we effectively reduce catastrophic knowledge forgetting while mitigating the domain shift, in a rehearsal-free way. Experiments on three CI-UDA benchmarks demonstrate that our method outperforms previous state-of-the-art methods and effectively alleviates catastrophic forgetting. Code is available at https://github.com/RyunMi/VisTA.

cs.CV↗

arXiv2025

Factorized Disentangled Representation Learning for Interpretable Radio Frequency Fingerprint

In response to the rapid growth of Internet of Things (IoT) devices and rising security risks, Radio Frequency Fingerprint (RFF) has become key for device identification and authentication. However, various changing factors - beyond the RFF itself - can be entangled from signal transmission to reception, reducing the effectiveness of RFF Identification (RFFI). Existing RFFI methods mainly rely on domain adaptation techniques, which often lack explicit factor representations, resulting in less robustness and limited controllability for downstream tasks. To tackle this problem, we propose a novel Disentangled Representation Learning (DRL) framework that learns explicit and independent representations of multiple factors, including the RFF. Our framework introduces modules for disentanglement, guided by the principles of explicitness, modularity, and compactness. We design two dedicated modules for factor classification and signal reconstruction, each with tailored loss functions that encourage effective disentanglement and enhance support for downstream tasks. Thus, the framework can extract a set of interpretable vectors that explicitly represent corresponding factors. We evaluate our approach on two public benchmark datasets and a self-collected dataset. Our method achieves impressive performance on multiple DRL metrics. We also analyze the effectiveness of our method on downstream RFFI task and conditional signal generation task. All modules of the framework contribute to improved classification accuracy, and enable precise control over conditional generated signals. These results highlight the potential of our DRL framework for interpretable and explicit RFFs.

eess.SP↗

arXiv2024

Global Spatio-Temporal Fusion-based Traffic Prediction Algorithm with Anomaly Aware

Traffic prediction is an indispensable component of urban planning and traffic management. Achieving accurate traffic prediction hinges on the ability to capture the potential spatio-temporal relationships among road sensors. However, the majority of existing works focus on local short-term spatio-temporal correlations, failing to fully consider the interactions of different sensors in the long-term state. In addition, these works do not analyze the influences of anomalous factors, or have insufficient ability to extract personalized features of anomalous factors, which make them ineffectively capture their spatio-temporal influences on traffic prediction. To address the aforementioned issues, We propose a global spatio-temporal fusion-based traffic prediction algorithm that incorporates anomaly awareness. Initially, based on the designed anomaly detection network, we construct an efficient anomalous factors impacting module (AFIM), to evaluate the spatio-temporal impact of unexpected external events on traffic prediction. Furthermore, we propose a multi-scale spatio-temporal feature fusion module (MTSFFL) based on the transformer architecture, to obtain all possible both long and short term correlations among different sensors in a wide-area traffic environment for accurate prediction of traffic flow. Finally, experiments are implemented based on real-scenario public transportation datasets (PEMS04 and PEMS08) to demonstrate that our approach can achieve state-of-the-art performance.

cs.LG↗

arXiv2024

RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation

In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse tasks involving 96 object classes. RoboMIND is collected through human teleoperation and encompasses comprehensive robotic-related information, including multi-view observations, proprioceptive robot state information, and linguistic task descriptions. To ensure data consistency and reliability for imitation learning, RoboMIND is built on a unified data collection platform and a standardized protocol, covering four distinct robotic embodiments: the Franka Emika Panda, the UR5e, the AgileX dual-arm robot, and a humanoid robot with dual dexterous hands. Our dataset also includes 5k real-world failure demonstrations, each accompanied by detailed causes, enabling failure reflection and correction during policy learning. Additionally, we created a digital twin environment in the Isaac Sim simulator, replicating the real-world tasks and assets, which facilitates the low-cost collection of additional training data and enables efficient evaluation. To demonstrate the quality and diversity of our dataset, we conducted extensive experiments using various imitation learning methods for single-task settings and state-of-the-art Vision-Language-Action (VLA) models for multi-task scenarios. By leveraging RoboMIND, the VLA models achieved high manipulation success rates and demonstrated strong generalization capabilities. To the best of our knowledge, RoboMIND is the largest multi-embodiment teleoperation dataset collected on a unified platform, providing large-scale and high-quality robotic training data. Our project is at https://x-humanoid-robomind.github.io/.

cs.RO↗

arXiv2024

GazeGaussian: High-Fidelity Gaze Redirection with 3D Gaussian Splatting

Gaze estimation encounters generalization challenges when dealing with out-of-distribution data. To address this problem, recent methods use neural radiance fields (NeRF) to generate augmented data. However, existing methods based on NeRF are computationally expensive and lack facial details. 3D Gaussian Splatting (3DGS) has become the prevailing representation of neural fields. While 3DGS has been extensively examined in head avatars, it faces challenges with accurate gaze control and generalization across different subjects. In this work, we propose GazeGaussian, the first high-fidelity gaze redirection method that uses a two-stream 3DGS model to represent the face and eye regions separately. Leveraging the unstructured nature of 3DGS, we develop a novel representation of the eye for rigid eye rotation based on the target gaze direction. To enable synthesis generalization across various subjects, we integrate an expression-guided module to inject subject-specific information into the neural renderer. Comprehensive experiments show that GazeGaussian outperforms existing methods in rendering speed, gaze redirection accuracy, and facial synthesis across multiple datasets. The code is available at: https://ucwxb.github.io/GazeGaussian.

cs.CV↗

arXiv2024

KBM: Delineating Knowledge Boundary for Adaptive Retrieval in Large Language Models

Large Language Models (LLMs) often struggle with dynamically changing knowledge and handling unknown static information. Retrieval-Augmented Generation (RAG) is employed to tackle these challenges and has a significant impact on improving LLM performance. In fact, we find that not all questions need to trigger RAG. By retrieving parts of knowledge unknown to the LLM and allowing the LLM to answer the rest, we can effectively reduce both time and computational costs. In our work, we propose a Knowledge Boundary Model (KBM) to express the known/unknown of a given question, and to determine whether a RAG needs to be triggered. Experiments conducted on 11 English and Chinese datasets illustrate that the KBM effectively delineates the knowledge boundary, significantly decreasing the proportion of retrievals required for optimal end-to-end performance. Furthermore, we evaluate the effectiveness of KBM in three complex scenarios: dynamic knowledge, long-tail static knowledge, and multi-hop problems, as well as its functionality as an external LLM plug-in.

cs.CL↗

arXiv2024

MAMCA -- Optimal on Accuracy and Efficiency for Automatic Modulation Classification with Extended Signal Length

With the rapid growth of the Internet of Things ecosystem, Automatic Modulation Classification (AMC) has become increasingly paramount. However, extended signal lengths offer a bounty of information, yet impede the model's adaptability, introduce more noise interference, extend the training and inference time, and increase storage overhead. To bridge the gap between these requisites, we propose a novel AMC framework, designated as the Mamba-based Automatic Modulation ClassificAtion (MAMCA). Our method adeptly addresses the accuracy and efficiency requirements for long-sequence AMC. Specifically, we introduce the Selective State Space Model as the backbone, enhancing the model efficiency by reducing the dimensions of the state matrices and diminishing the frequency of information exchange across GPU memories. We design a denoising-capable unit to elevate the network's performance under low signal-to-noise radio. Rigorous experimental evaluations on the publicly available dataset RML2016.10, along with our synthetic dataset within multiple quadrature amplitude modulations and lengths, affirm that MAMCA delivers superior recognition accuracy while necessitating minimal computational time and memory occupancy. Codes are available on https://github.com/ZhangYezhuo/MAMCA.

eess.SP↗

arXiv2024

Domain adaptive pose estimation via multi-level alignment

Domain adaptive pose estimation aims to enable deep models trained on source domain (synthesized) datasets produce similar results on the target domain (real-world) datasets. The existing methods have made significant progress by conducting image-level or feature-level alignment. However, only aligning at a single level is not sufficient to fully bridge the domain gap and achieve excellent domain adaptive results. In this paper, we propose a multi-level domain adaptation aproach, which aligns different domains at the image, feature, and pose levels. Specifically, we first utilize image style transer to ensure that images from the source and target domains have a similar distribution. Subsequently, at the feature level, we employ adversarial training to make the features from the source and target domains preserve domain-invariant characeristics as much as possible. Finally, at the pose level, a self-supervised approach is utilized to enable the model to learn diverse knowledge, implicitly addressing the domain gap. Experimental results demonstrate that significant imrovement can be achieved by the proposed multi-level alignment method in pose estimation, which outperforms previous state-of-the-art in human pose by up to 2.4% and animal pose estimation by up to 3.1% for dogs and 1.4% for sheep.

cs.CV↗

arXiv2024

A comprehensive framework for occluded human pose estimation

Occlusion presents a significant challenge in human pose estimation. The challenges posed by occlusion can be attributed to the following factors: 1) Data: The collection and annotation of occluded human pose samples are relatively challenging. 2) Feature: Occlusion can cause feature confusion due to the high similarity between the target person and interfering individuals. 3) Inference: Robust inference becomes challenging due to the loss of complete body structural information. The existing methods designed for occluded human pose estimation usually focus on addressing only one of these factors. In this paper, we propose a comprehensive framework DAG (Data, Attention, Graph) to address the performance degradation caused by occlusion. Specifically, we introduce the mask joints with instance paste data augmentation technique to simulate occlusion scenarios. Additionally, an Adaptive Discriminative Attention Module (ADAM) is proposed to effectively enhance the features of target individuals. Furthermore, we present the Feature-Guided Multi-Hop GCN (FGMP-GCN) to fully explore the prior knowledge of body structure and improve pose estimation results. Through extensive experiments conducted on three benchmark datasets for occluded human pose estimation, we demonstrate that the proposed method outperforms existing methods. Code and data will be publicly available.

cs.CV↗