arXiv subjects

Haoran Yang

Publications and source records attributed to Haoran Yang.

At least 37 records · Page 2Linked to original sources

arXiv2026

Robot Learning from Human Videos: A Survey

A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing attention in recent years, driven by the abundance of human activity videos and advances in computer vision. This line of research promises to enable robots to acquire skills passively from the vast and readily available resource of human demonstrations, substantially favoring scalable learning for generalist robotic systems. Therefore, we present this survey to provide a comprehensive and up-to-date review of human-video-based learning techniques in robotics, focusing on both human-robot skill transfer and data foundations. We first review the policy learning foundations in robotics, and then describe the fundamental interfaces to incorporate human videos. Subsequently, we introduce a hierarchical taxonomy of transferring human videos to robot skills, covering task-, observation-, and action-oriented pathways, along with a cross-family analysis of their couplings with different data configurations and learning paradigms. In addition, we investigate the data foundations including widely-used human video datasets and video generation schemes, and provide large-scale statistical trends in dataset development and utilization. Ultimately, we emphasize the challenges and limitations intrinsic to this field, and delineate potential avenues for future research. The paper list of our survey is available at https://github.com/IRMVLab/awesome-robot-learning-from-human-videos.

cs.RO↗

arXiv2026

Generating Local Shields for Decentralised Partially Observable Markov Decision Processes

Multi-agent systems under partial observation often struggle to maintain safety because each agent's locally chosen action does not, in general, determine the resulting joint action. Shielding addresses this by filtering actions based on the current state, but most existing techniques either assume access to a shared centralised global state or employ memoryless local filters that cannot consider interaction history. We introduce a shield process algebra with guarded choice and recursion for specifying safe global behaviour in communication-free Dec-POMDP settings. From a shield process, we compile a process automaton, then a global Mealy machine as a safe joint-action filter, and finally project it to local Mealy machines whose states are belief-style subsets of the global Mealy machine states consistent with each agent's observations, and which output per-agent safe action sets. We implement the pipeline in Rust and integrate PRISM, the Probabilistic Symbolic Model Checker, to compute best- and worst-case safety probabilities independently of the agents' policies. A multi-agent path-finding case study demonstrates how different shield processes substantially reduce collisions compared to the unshielded baseline while exhibiting varying levels of expressiveness and conservatism.

cs.MA↗

arXiv2026

A 44-minute periodic radio transient in a supernova remnant

Long-period radio transients (LPTs) are a newly discovered class of radio emitters with periods ranging from minutes to hours. The astrophysical nature remains undetermined, particularly of LPTs with no detectable companions. We report the first evidence for a plausible supernova remnant (SNR) association with an LPT (DART J1832-0911, 2656.23+-0.15 s period), which supports a neutron star origin of such objects. The dispersion measure of this LPT, SNR's CO emission and HI absorption, and low probability of chance of alignment with field pulsars are all consistent with such an association. The source displays either phase-locked circular or nearly 100\% linear polarization, indicating its strong and geometrically stable magnetic field. No detectable optical counterpart was found, even with a 10m-class telescope. The SNR association and the stable polarization suggest that DART J1832-0911 most likely originates from a young neutron star, whose spin could have been braked by supernova's fallback materials. This discovery provides critical insights into the nature of ultra-long period transients and their link to stellar remnants.

astro-ph.HE↗

arXiv2026

Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC

Non-prehensile manipulation of diverse objects remains a core challenge in robotics, driven by unknown physical properties and the complexity of contact-rich interactions. Recent advances in contact-implicit model predictive control (CI-MPC), with contact reasoning embedded directly in the trajectory optimization, have shown promise in tackling the task efficiently and robustly. However, demonstrations have been limited to narrowly curated examples. In this work, we showcase the broader capabilities of CI-MPC through precise planar pushing tasks over a wide range of object geometries, including multi-object domains. These scenarios demand reasoning over numerous inter-object and object-environment contacts to strategically manipulate and de-clutter the environment, challenges that were intractable for prior CI-MPC methods. To achieve this, we introduce Consensus Complementarity Control Plus (C3+), an enhanced CI-MPC algorithm integrated into a complete pipeline spanning object scanning, mesh reconstruction, and hardware execution. Compared to its predecessor C3, C3+ achieves substantially faster solve times, enabling real-time performance even in multi-object pushing tasks. On hardware, our system achieves overall 98% success rate across 33 objects, reaching pose goals within tight tolerances. The average time-to-goal is approximately 0.5, 1.6, 3.2, and 5.3 minutes for 1-, 2-, 3-, and 4-object tasks, respectively. Project page: https://dairlab.github.io/push-anything.

cs.RO↗

arXiv2026

EO-1: An Open Unified Embodied Foundation Model for General Robot Control

The human ability to seamlessly perform multimodal reasoning and physical interaction in the open world is a core goal for general purpose embodied intelligent systems. Recent vision-language-action (VLA) models, which are co-trained on large-scale robot and visual-text data, have demonstrated notable progress in general robot control. However, they still fail to achieve human-level flexibility in interleaved reasoning and interaction. In this work, we introduce EO-Robotics, consists of EO-1 model and EO-Data1.5M dataset. EO-1 is a unified embodied foundation model that achieves superior performance in multimodal embodied reasoning and robot control through interleaved vision-text-action pre-training. The development of EO-1 is based on two key pillars: (i) a unified architecture that processes multimodal inputs indiscriminately (image, text, video, and action), and (ii) a massive, high-quality multimodal embodied reasoning dataset, EO-Data1.5M, which contains over 1.5 million samples with emphasis on interleaved vision-text-action comprehension. EO-1 is trained through synergies between auto-regressive decoding and flow matching denoising on EO-Data1.5M, enabling seamless robot action generation and multimodal embodied reasoning. Extensive experiments demonstrate the effectiveness of interleaved vision-text-action learning for open-world understanding and generalization, validated through a variety of long-horizon, dexterous manipulation tasks across multiple embodiments. This paper details the architecture of EO-1, the data construction strategy of EO-Data1.5M, and the training methodology, offering valuable insights for developing advanced embodied foundation models. Project Page: https://eo-robotics.ai/eo-1.

cs.RO↗

arXiv2025

On a new filtration of the variational bicomplex

We define a filtration on the variational bicomplex according to jet order. The filtration is preserved by the interior Euler operator, which is not a module homomorphism with respect to the ring of smooth functions on the jet space. However, the induced maps on the graded components of this filtration are. Furthermore, the space of functional forms in the image of the interior Euler operator inherits a filtration. Though the filtered subspaces are not submodules either, the graded components are isomorphic to linear spaces which do have module structures. This works for any fixed degree of the functional forms. In this way, the condition that a functional form vanishes can be stated concisely with a module basis. We work out explicitly two examples: one for functional forms of degree two in relation to the Helmholtz conditions and the other of arbitrary degree but with jet order one.

math.DG↗

arXiv2025

RP-CATE: Recurrent Perceptron-based Channel Attention Transformer Encoder for Industrial Hybrid Modeling

Nowadays, industrial hybrid modeling which integrates both mechanistic modeling and machine learning-based modeling techniques has attracted increasing interest from scholars due to its high accuracy, low computational cost, and satisfactory interpretability. Nevertheless, the existing industrial hybrid modeling methods still face two main limitations. First, current research has mainly focused on applying a single machine learning method to one specific task, failing to develop a comprehensive machine learning architecture suitable for modeling tasks, which limits their ability to effectively represent complex industrial scenarios. Second, industrial datasets often contain underlying associations (e.g., monotonicity or periodicity) that are not adequately exploited by current research, which can degrade model's predictive performance. To address these limitations, this paper proposes the Recurrent Perceptron-based Channel Attention Transformer Encoder (RP-CATE), with three distinctive characteristics: 1: We developed a novel architecture by replacing the self-attention mechanism with channel attention and incorporating our proposed Recurrent Perceptron (RP) Module into Transformer, achieving enhanced effectiveness for industrial modeling tasks compared to the original Transformer. 2: We proposed a new data type called Pseudo-Image Data (PID) tailored for channel attention requirements and developed a cyclic sliding window method for generating PID. 3: We introduced the concept of Pseudo-Sequential Data (PSD) and a method for converting industrial datasets into PSD, which enables the RP Module to capture the underlying associations within industrial dataset more effectively. An experiment aimed at hybrid modeling in chemical engineering was conducted by using RP-CATE and the experimental results demonstrate that RP-CATE achieves the best performance compared to other baseline models.

cs.LG↗

arXiv2025

Democratic Recommendation with User and Item Representatives Produced by Graph Condensation

The challenges associated with large-scale user-item interaction graphs have attracted increasing attention in graph-based recommendation systems, primarily due to computational inefficiencies and inadequate information propagation. Existing methods provide partial solutions but suffer from notable limitations: model-centric approaches, such as sampling and aggregation, often struggle with generalization, while data-centric techniques, including graph sparsification and coarsening, lead to information loss and ineffective handling of bipartite graph structures. Recent advances in graph condensation offer a promising direction by reducing graph size while preserving essential information, presenting a novel approach to mitigating these challenges. Inspired by the principles of democracy, we propose \textbf{DemoRec}, a framework that leverages graph condensation to generate user and item representatives for recommendation tasks. By constructing a compact interaction graph and clustering nodes with shared characteristics from the original graph, DemoRec significantly reduces graph size and computational complexity. Furthermore, it mitigates the over-reliance on high-order information, a critical challenge in large-scale bipartite graphs. Extensive experiments conducted on four public datasets demonstrate the effectiveness of DemoRec, showcasing substantial improvements in recommendation performance, computational efficiency, and robustness compared to SOTA methods.

cs.IR↗

arXiv2025

Large Language Model Enhanced Graph Invariant Contrastive Learning for Out-of-Distribution Recommendation

Out-of-distribution (OOD) generalization has emerged as a significant challenge in graph recommender systems. Traditional graph neural network algorithms often fail because they learn spurious environmental correlations instead of stable causal relationships, leading to substantial performance degradation under distribution shifts. While recent advancements in Large Language Models (LLMs) offer a promising avenue due to their vast world knowledge and reasoning capabilities, effectively integrating this knowledge with the fine-grained topology of specific graphs to solve the OOD problem remains a significant challenge. To address these issues, we propose {$\textbf{Inv}$ariant $\textbf{G}$raph $\textbf{C}$ontrastive Learning with $\textbf{LLM}$s for Out-of-Distribution Recommendation (InvGCLLM)}, an innovative causal learning framework that synergistically integrates the strengths of data-driven models and knowledge-driven LLMs. Our framework first employs a data-driven invariant learning model to generate causal confidence scores for each user-item interaction. These scores then guide an LLM to perform targeted graph refinement, leveraging its world knowledge to prune spurious connections and augment missing causal links. Finally, the structurally purified graphs provide robust supervision for a causality-guided contrastive learning objective, enabling the model to learn representations that are resilient to spurious correlations. Experiments conducted on four public datasets demonstrate that InvGCLLM achieves significant improvements in out-of-distribution recommendation, consistently outperforming state-of-the-art baselines.

cs.IR↗

arXiv2025

Lightweight Multi-task CNN for ECG Diagnosis with GRU-Diffusion

With the increasing demand for real-time Electrocardiogram (ECG) classification on edge devices, existing models face challenges of high computational cost and limited accuracy on imbalanced datasets.This paper presents Multi-task DFNet, a lightweight multi-task framework for ECG classification across the MIT-BIH Arrhythmia Database and the PTB Diagnostic ECG Database, enabling efficient task collaboration by dynamically sharing knowledge across tasks, such as arrhythmia detection, myocardial infarction (MI) classification, and other cardiovascular abnormalities. The proposed method integrates GRU-augmented Diffusion, where the GRU is embedded within the diffusion model to capture temporal dependencies better and generate high-quality synthetic signals for imbalanced classes. The experimental results show that Multi-task DFNet achieves 99.72% and 99.89% accuracy on the MIT-BIH dataset and PTB dataset, respectively, with significantly fewer parameters compared to traditional models, making it suitable for deployment on wearable ECG monitors. This work offers a compact and efficient solution for multi-task ECG diagnosis, providing a promising potential for edge healthcare applications on resource-constrained devices.

eess.SP↗

arXiv2025

Jacobian-Based Interpretation of Nonlinear Neural Encoding Model

In recent years, the alignment between artificial neural network (ANN) embeddings and blood oxygenation level dependent (BOLD) responses in functional magnetic resonance imaging (fMRI) via neural encoding models has significantly advanced research on neural representation mechanisms and interpretability in the brain. However, these approaches remain limited in characterizing the brain's inherently nonlinear response properties. To address this, we propose the Jacobian-based Nonlinearity Evaluation (JNE), an interpretability metric for nonlinear neural encoding models. JNE quantifies nonlinearity by statistically measuring the dispersion of local linear mappings (Jacobians) from model representations to predicted BOLD responses, thereby approximating the nonlinearity of BOLD signals. Centered on proposing JNE as a novel interpretability metric, we validated its effectiveness through controlled simulation experiments on various activation functions and network architectures, and further verified it on real fMRI data, demonstrating a hierarchical progression of nonlinear characteristics from primary to higher-order visual cortices, consistent with established cortical organization. We further extended JNE with Sample-Specificity (JNE-SS), revealing stimulus-selective nonlinear response patterns in functionally specialized brain regions. As the first interpretability metric for quantifying nonlinear responses, JNE provides new insights into brain information processing. Code available at https://github.com/Gaitxh/JNE.

q-bio.NC↗

arXiv2025

HydraServe: Minimizing Cold Start Latency for Serverless LLM Serving in Public Clouds

With the proliferation of large language model (LLM) variants, developers are turning to serverless computing for cost-efficient LLM deployment. However, public cloud providers often struggle to provide performance guarantees for serverless LLM serving due to significant cold start latency caused by substantial model sizes and complex runtime dependencies. To address this problem, we present HydraServe, a serverless LLM serving system designed to minimize cold start latency in public clouds. HydraServe proactively distributes models across servers to quickly fetch them, and overlaps cold-start stages within workers to reduce startup latency. Additionally, HydraServe strategically places workers across GPUs to avoid network contention among cold-start instances. To minimize resource consumption during cold starts, HydraServe further introduces pipeline consolidation that can merge groups of workers into individual serving endpoints. Our comprehensive evaluations under diverse settings demonstrate that HydraServe reduces the cold start latency by 1.7$\times$-- 4.7$\times$ and improves service level objective attainment by 1.43$\times$--1.74$\times$ compared to baselines.

cs.DC↗

arXiv2025

TR-PTS: Task-Relevant Parameter and Token Selection for Efficient Tuning

Large pre-trained models achieve remarkable performance in vision tasks but are impractical for fine-tuning due to high computational and storage costs. Parameter-Efficient Fine-Tuning (PEFT) methods mitigate this issue by updating only a subset of parameters; however, most existing approaches are task-agnostic, failing to fully exploit task-specific adaptations, which leads to suboptimal efficiency and performance. To address this limitation, we propose Task-Relevant Parameter and Token Selection (TR-PTS), a task-driven framework that enhances both computational efficiency and accuracy. Specifically, we introduce Task-Relevant Parameter Selection, which utilizes the Fisher Information Matrix (FIM) to identify and fine-tune only the most informative parameters in a layer-wise manner, while keeping the remaining parameters frozen. Simultaneously, Task-Relevant Token Selection dynamically preserves the most informative tokens and merges redundant ones, reducing computational overhead. By jointly optimizing parameters and tokens, TR-PTS enables the model to concentrate on task-discriminative information. We evaluate TR-PTS on benchmark, including FGVC and VTAB-1k, where it achieves state-of-the-art performance, surpassing full fine-tuning by 3.40% and 10.35%, respectively. The code are available at https://github.com/synbol/TR-PTS.

cs.CV↗

arXiv2025

Hessian spectrum at the global minimum of the spherical pure-like mixed p-spin glasses

We study the large $N$-dimensional limit of the Hessian spectrum at the global minimum of some subclasses of the spherical mixed $p$-spin models. Specifically, we show that its empirical spectral measure converges in probability to a shifted and rescaled semicircle law and does not have outliers. Our method follows the second moment approach developed recently in \cite{BSZ20}, from which the ground state energy can be derived for the $pure$-$like$ mixed $p$-spin model. By analyzing the complexity function with given radial derivative and energy, we derive the convergence of the Hessian spectrum from the vanishing mean number of critical points. For the $1$-RSB model, the ground state energy was explicitly computed in \cite{huang2023constructive}. Combined with the complexity function of local maxima with given radial derivative obtained in \cite{belius2022complexity}, this allows us to obtain the corresponding results more directly. Our result extends those corresponding results in the regime of topology trivialization.

math-ph↗

arXiv2025

Torpor: GPU-Enabled Serverless Computing for Low-Latency, Resource-Efficient Inference

Serverless computing offers a compelling cloud model for online inference services. However, existing serverless platforms lack efficient support for GPUs, hindering their ability to deliver high-performance inference. In this paper, we present Torpor, a serverless platform for GPU-efficient, low-latency inference. To enable efficient sharing of a node's GPUs among numerous inference functions, Torpor maintains models in main memory and dynamically swaps them onto GPUs upon request arrivals (i.e., late binding with model swapping). Torpor uses various techniques, including asynchronous API redirection, GPU runtime sharing, pipelined model execution, and efficient GPU memory management, to minimize latency overhead caused by model swapping. Additionally, we design an interference-aware request scheduling algorithm that utilizes high-speed GPU interconnects to meet latency service-level objectives (SLOs) for individual inference functions. We have implemented Torpor and evaluated its performance in a production environment. Utilizing late binding and model swapping, Torpor can concurrently serve hundreds of inference functions on a worker node with 4 GPUs, while achieving latency performance comparable to native execution, where each model is cached exclusively on a GPU. Pilot deployment in a leading commercial serverless cloud shows that Torpor reduces the GPU provisioning cost by 70% and 65% for users and the platform, respectively.

cs.DC↗

arXiv2025

Tamed Euler-Maruyama method for SDEs with non-globally Lipschitz drift and multiplicative noise

Consider the following stochastic differential equation driven by multiplicative noise on $\mathbb{R}^d$ with a superlinearly growing drift coefficient, \begin{align*} \mathrm{d} X_t = b (X_t) \, \mathrm{d} t + σ(X_t) \, \mathrm{d} B_t. \end{align*} It is known that the corresponding explicit Euler schemes may not converge. In this article, we analyze an explicit and easily implementable numerical method for approximating such a stochastic differential equation, i.e. its tamed Euler-Maruyama approximation. Under partial dissipation conditions ensuring the ergodicity, we obtain the uniform-in-time convergence rates of the tamed Euler-Maruyama process under $L^{1}$-Wasserstein distance and total variation distance.

math.PR↗

arXiv2025

Focus on Local: Finding Reliable Discriminative Regions for Visual Place Recognition

Visual Place Recognition (VPR) is aimed at predicting the location of a query image by referencing a database of geotagged images. For VPR task, often fewer discriminative local regions in an image produce important effects while mundane background regions do not contribute or even cause perceptual aliasing because of easy overlap. However, existing methods lack precisely modeling and full exploitation of these discriminative regions. In this paper, we propose the Focus on Local (FoL) approach to stimulate the performance of image retrieval and re-ranking in VPR simultaneously by mining and exploiting reliable discriminative local regions in images and introducing pseudo-correlation supervision. First, we design two losses, Extraction-Aggregation Spatial Alignment Loss (SAL) and Foreground-Background Contrast Enhancement Loss (CEL), to explicitly model reliable discriminative local regions and use them to guide the generation of global representations and efficient re-ranking. Second, we introduce a weakly-supervised local feature training strategy based on pseudo-correspondences obtained from aggregating global features to alleviate the lack of local correspondences ground truth for the VPR task. Third, we suggest an efficient re-ranking pipeline that is efficiently and precisely based on discriminative region guidance. Finally, experimental results show that our FoL achieves the state-of-the-art on multiple VPR benchmarks in both image retrieval and re-ranking stages and also significantly outperforms existing two-stage VPR methods in terms of computational efficiency. Code and models are available at https://github.com/chenshunpeng/FoL

cs.CV↗

arXiv2025

APPATCH: Automated Adaptive Prompting Large Language Models for Real-World Software Vulnerability Patching

Timely and effective vulnerability patching is essential for cybersecurity defense, for which various approaches have been proposed yet still struggle to generate valid and correct patches for real-world vulnerabilities. In this paper, we leverage the power and merits of pre-trained language language models (LLMs) to enable automated vulnerability patching using no test input/exploit evidence and without model training/fine-tuning. To elicit LLMs to effectively reason about vulnerable code behaviors, which is essential for quality patch generation, we introduce vulnerability semantics reasoning and adaptive prompting on LLMs and instantiate the methodology as APPATCH, an automated LLM-based patching system. Our evaluation of APPATCH on 97 zero-day vulnerabilities and 20 existing vulnerabilities demonstrates its superior performance to both existing prompting methods and state-of-the-art non-LLM-based techniques (by up to 28.33% in F1 and 182.26% in recall over the best baseline). Through APPATCH, we demonstrate what helps for LLM-based patching and how, as well as discussing what still lacks and why.

cs.CR↗