arXiv subjects

Haotian Yang

Publications and source records attributed to Haotian Yang.

At least 19 recordsLinked to original sources

arXiv2026

A One-Third Bound for the Maker--Breaker Degree Game

Let $H$ be a finite hypergraph with rank $r$ and minimum degree $d$. In the Maker--Breaker degree game, Maker and Breaker alternately claim previously unclaimed hyperedges of $H$, with Maker moving first, and Breaker seeks to maximize the minimum degree $\delta(H_{\mathrm B})$ of his spanning subhypergraph $H_{\mathrm B}$. We prove that, for every fixed $r\ge2$ and all sufficiently large $d$, Breaker has a deterministic strategy satisfying \[ \delta(H_{\mathrm B})\ge \frac{d}{r+1}-\sqrt{d\log d}. \] For graphs, this improves the classical universal lower bound $d/4$ to $d/3-\sqrt{d\log d}$. The proof introduces a virtual balancing process, encodes local imbalance by a multiplicative risk, and keeps the resulting risk vector in the Shearer region throughout the game.

math.CO↗

arXiv2026

DAC-Pose: Dual-Agent Collaborative Framework for Pose-Guided Human Generation

AI agents have emerged as a powerful new paradigm in generative image synthesis, enabling systems to perform complex semantic reasoning rather than passive pixel-level mapping. In pose-guided human generation, conventional methods inevitably produce severe visual artifacts under drastic viewpoint shifts, fundamentally because they lack the cognitive capacity to logically deduce unseen regions and model complex spatial deformations. To bridge this gap, we propose DAC-Pose, a novel agent-driven multimodal framework that reformulates single-view human generation as a collaborative dual-agent system. DAC-Pose integrates two complementary components, namely, the Prior Semantic Reasoning (PSR) agent and the Discrepancy-Aware Visual Encoding (DAVE) agent. Functioning as a cognitive engine, PSR utilizes collaborative reasoning to deduce the fine-grained attributes of unseen regions. Concurrently, acting as a specialized visual perception agent, DAVE quantifies and encodes viewpoint-induced spatial misalignments, continuously feeding robust spatial constraints back into the generative process. This autonomous feedback loop between semantic deduction and visual perception ensures high-fidelity detail synthesis. Extensive experiments on the DeepFashion and Market-1501 benchmarks validate the superiority of our agent-driven paradigm. Notably, DAC-Pose excels in preserving texture alignment and identity consistency under drastic viewpoint changes. The code is available at https://github.com/AIVRC/DAC-Pose.

cs.CV↗

arXiv2026

Global Attention-Fused Image Cropping with Attention-Guided and Global-Aligned Crop Evaluator

Image cropping aims to improve image aesthetics by preserving important content within an appropriately composed region. However, most existing methods focus primarily on salient regions and therefore have limited sensitivity to the global relationships among the main image components. To address this limitation, we propose Global Attention-Fused Image Cropping (GAFIC), which consists of an Attention-Guided Feature Fusion (AGFF) and a Global-Aligned Crop Evaluator (GACE). AGFF aggregates the importance of local regions to construct a global representation that captures both image structure and local details. GACE aligns candidate crop features with this global representation, enabling crop evaluation to remain sensitive to boundary changes. We further combine three ranking losses across multiple scales to obtain accurate and stable crop scores. Extensive experiments on the GAIC and CPC datasets demonstrate that GAFIC outperforms existing image-cropping methods, particularly in terms of accuracy and stability. Unlike pixel-level retargeting methods such as seam carving, inpainting, and diffusion-based synthesis, GAFIC does not synthesize or modify the retained pixels; instead, it selects an aesthetically preferred crop from the source image, making it suitable for scenarios where pixel integrity and efficient batch processing are important. The source code is available at https://github.com/AIVRC/GAFIC.git.

cs.CV↗

arXiv2026

Towards Predictive, Aligned, and Scalable Robot Learning

Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigating a space of possibilities. We introduce Lumo-2, a latent world-action model that generates actions by reasoning over world dynamics in latent space. The learned latent world dynamics capture physically grounded visual transitions, naturally encoding future possibilities and providing a unified substrate for cross-modal alignment. This formulation enables predictive reasoning akin to world modelling while remaining lightweight and focused on physical dynamics relevant to control. Central to our approach is the hypothesis that action generation quality is governed by the geometry of the latent space. We observe that standard reconstruction-based action tokenization objectives induce representations biased toward low-level signal fidelity, leading to misalignment between reconstruction quality and downstream control performance. To address this limitation, we propose a multi-stage modality pre-alignment strategy in which action representations are progressively aligned with latent world dynamics, vision, and language. This process enforces cross-modal consistency, promotes abstraction, and induces a structured latent space for predictive reasoning. We provide a systematic empirical study of latent world modelling and modality alignment, analyzing their roles in scaling laws and out-of-distribution generalization. Results show that Lumo-2 consistently outperforms strong vision-language-action (VLA) and world-action model (WAM) baselines, with gains on challenging real-world tasks requiring temporal reasoning, physical understanding, or high control complexity, including long-horizon and dexterous manipulation. These findings suggest that structured multimodal alignment and predictive reasoning are fundamental principles for advancing embodied intelligence.

cs.RO↗

arXiv2026

A Glimpse into Long-term Physical Coexistence with Intelligent Robots

Long-term physical coexistence with intelligent robots requires more than capable robot policies. A persistent robotic assistant must support diverse user-facing interfaces, maintain long-horizon memory of people and preferences, coordinate across robot embodiments, and translate human intent into safe physical execution. We introduce PHILIA, a multi-robot agent built around a robot gateway abstraction. PHILIA retains the rich interaction and tool ecosystem of OpenClaw while exposing robot-local runtimes, onboard perception, navigation, speaker, and robot policies through a unified capability interface. This design decouples low-frequency, high-semantic agent reasoning from high-frequency, low-level robot execution, enabling plug-and-play integration of user interfaces, robot embodiments, and policy backends. As a result, the user experience becomes compositional: advances in user interfaces, robot embodiments, robot policies, navigation, or interaction algorithms can improve the overall experience without redesigning the system. We validate the architecture on Astribot S1 robots while designing the robot gateway contract to support future heterogeneous robot platforms through a shared capability interface for observation, task execution, navigation, speech playback, status monitoring, and task cancellation. We present representative use cases in which agent memory and scene understanding are grounded in robot actions. These span interactive household scenarios, ranging from simple organization to challenging long-horizon and dexterous service tasks, such as packing a backpack and lifting a garbage bag. We highlight the human-robot interaction flow, where contextual understanding of user intent and preferences, together with human-in-the-loop confirmation or adjustment during execution, is essential for effective assistance.

cs.RO↗

arXiv2026

Tree suspensions and transfer functions for single degree Tur\'an spectra

For integers $1\le \ell<k$, let $\Pi^k_\ell$ denote the single-forbidden $\ell$-degree Tur\'an spectrum of $k$-uniform hypergraphs. We introduce transfer functions for this spectrum: explicit functions $f$ such that, for every $F$, there is another single $k$-graph $F^*$ with $\pi_\ell(F^*)=f(\pi_\ell(F))$. This gives a mechanism for producing new single-forbidden densities while retaining full control of the resulting value. Our transfer functions are realized by a new family of suspension-type operations, called tree suspensions. From these operations we obtain three explicit maps: one acting on $\Pi^k_\ell$ for every $1\le\ell<k$, a second acting when $\ell\ge k/2$, and a third acting in the ordinary Tur\'an case $\ell=1$. The common feature is a robust tree structure which gives the lower bound by a two-part construction and, in the regimes above, admits a matching embedding or Lagrangian upper bound. As a first application, the universal transfer function propagates accumulation points. Using the recent zero-accumulation results for $\ell\ge2$ together with the ordinary Tur\'an accumulation result of Conlon and Sch\"ulke, we prove that $\Pi^k_\ell$ has infinitely many accumulation points for every $k\ge3$ and every $1\le\ell<k$. This recovers, in particular, the known infinitude of accumulation points in the ordinary and codegree spectra. As a second application, combining two independent transfer functions forces algebraic degrees to grow. For every $k\ge3$ and every $\ell\in\{1,\lceil k/2\rceil,\ldots,k-2\}$, the spectrum $\Pi^k_\ell$ contains algebraic numbers of arbitrarily large degree over $\mathbb Q$. Thus the arithmetic complexity previously known for finite forbidden families already occurs in the single-forbidden spectrum, both for ordinary Tur\'an density and for a broad range of degree Tur\'an densities.

math.CO↗

arXiv2026

Beam Test Characterization of Silicon Microstrip Detector Flight-Model Ladders for the AMS-02 Upgrade

The AMS-02 experiment plans to install a new silicon microstrip tracker layer (Layer-0) on top of the existing detector, increasing the cosmic-ray acceptance by a factor of 3. Layer-0 employs a design in which multiple silicon microstrip detectors (SSDs) are connected in series to form long detector ladders. We present a detailed performance study of the flight-model ladders using a 350~GeV mixed hadron beam at the CERN SPS. The study focuses on the following aspects: (i) the performance of ladders with different numbers of SSDs, for which the intrinsic spatial resolution at normal incidence varies from $9.5~\mu\mathrm{m}$ to $11.4~\mu\mathrm{m}$ for ladders composed of 8 to 12 SSDs; (ii) the response consistency for particles impacting on the \emph{Head} and \emph{Tail} regions of the ladder; and (iii) the dependence of the detector performance on the particle incidence angle.

physics.ins-det↗

arXiv2026

HECTOR: Hybrid Editable Compositional Object References for Video Generation

Real-world videos naturally portray complex interactions among distinct physical objects, effectively forming dynamic compositions of visual elements. However, most current video generation models synthesize scenes holistically and therefore lack mechanisms for explicit compositional manipulation. To address this limitation, we propose HECTOR, a generative pipeline that enables fine-grained compositional control. In contrast to prior methods,HECTOR supports hybrid reference conditioning, allowing generation to be simultaneously guided by static images and/or dynamic videos. Moreover, users can explicitly specify the trajectory of each referenced element, precisely controlling its location, scale, and speed (see Figure1). This design allows the model to synthesize coherent videos that satisfy complex spatiotemporal constraints while preserving high-fidelity adherence to references. Extensive experiments demonstrate that HECTOR achieves superior visual quality, stronger reference preservation, and improved motion controllability compared with existing approaches.

cs.CV↗

arXiv2026

Vanishing orders, suspensions and zero degree Tur\'an densities

For integers $1\le \ell<k$, the $\ell$-degree Tur\'an density $\pi_\ell(F)$ measures the minimum $\ell$-degree threshold that forces a copy of a fixed $k$-uniform hypergraph $F$, generalizing both the classical Tur\'an density $\pi_1$ and the codegree Tur\'an density $\pi_{k-1}$. Motivated by Erd\H{o}s' characterization of $k$-graphs with zero Tur\'an density, we study the structural implications of vanishing $\ell$-degree Tur\'an density. Our main result concerns the case $\ell=2$. We prove that, for every $k\ge3$, if a $k$-graph $F$ satisfies $\pi_2(F)=0$, then $F$ admits a $2$-vanishing order, that is, a global vertex ordering under which all edges align canonically with respect to their pairs. This extends to all uniformities a structural phenomenon previously known for $3$-graphs, and gives a higher-degree analogue of the classical fact that $\pi_1(F)=0$ forces $F$ to be $k$-partite. In particular, the absence of a $2$-vanishing order is a structural obstruction to vanishing $2$-degree Tur\'an density. We also establish a suspension principle connecting consecutive degree parameters. Given a $(k-1)$-graph $F$, let $\mathcal{S}_F$ be the $k$-graph obtained by adding an apex vertex $v$ and replacing each edge $e\in E(F)$ with $v\cup e$. We show that, for $2\le \ell<k$, $\pi_{\ell}(\mathcal{S}_F)=0$ if and only if $\pi_{\ell-1}(F)=0$. This provides a bridge between different degree Tur\'an densities and allows vanishing results to be lifted across uniformities and degree parameters. As an application, we prove that except the classical Tur\'an density, all other degree Tur\'an densities accumulate at zero. The proof of our main result combines random geometric building blocks, a design-theoretic gluing scheme, and random sparsification to reconcile positive $2$-degree with local vanishing structure.

math.CO↗

arXiv2025

Asynchronous Fast-Slow Vision-Language-Action Policies for Whole-Body Robotic Manipulation

Most Vision-Language-Action (VLA) systems integrate a Vision-Language Model (VLM) for semantic reasoning with an action expert generating continuous action signals, yet both typically run at a single unified frequency. As a result, policy performance is constrained by the low inference speed of large VLMs. This mandatory synchronous execution severely limits control stability and real-time performance in whole-body robotic manipulation, which involves more joints, larger motion spaces, and dynamically changing views. We introduce a truly asynchronous Fast-Slow VLA framework (DuoCore-FS), organizing the system into a fast pathway for high-frequency action generation and a slow pathway for rich VLM reasoning. The system is characterized by two key features. First, a latent representation buffer bridges the slow and fast systems. It stores instruction semantics and action-reasoning representation aligned with the scene-instruction context, providing high-level guidance to the fast pathway. Second, a whole-body action tokenizer provides a compact, unified representation of whole-body actions. Importantly, the VLM and action expert are still jointly trained end-to-end, preserving unified policy learning while enabling asynchronous execution. DuoCore-FS supports a 3B-parameter VLM while achieving 30 Hz whole-body action-chunk generation, approximately three times as fast as prior VLA models with comparable model sizes. Real-world whole-body manipulation experiments demonstrate improved task success rates and significantly enhanced responsiveness compared to synchronous Fast-Slow VLA baselines. The implementation of DuoCore-FS, including training, inference, and deployment, is provided to commercial users by Astribot as part of the Astribot robotic platform.

cs.RO↗

arXiv2025

VIVA: VLM-Guided Instruction-Based Video Editing with Reward Optimization

Instruction-based video editing aims to modify an input video according to a natural-language instruction while preserving content fidelity and temporal coherence. However, existing diffusion-based approaches are often trained on paired data of simple editing operations, which fundamentally limits their ability to generalize to diverse and complex, real-world instructions. To address this generalization gap, we propose VIVA, a scalable framework for instruction-based video editing that leverages VLM-guided encoding and reward optimization. First, we introduce a VLM-based instructor that encodes the textual instruction, the first frame of the source video, and an optional reference image into visually-grounded instruction representations, providing fine-grained spatial and semantic context for the diffusion transformer backbone. Second, we propose a post-training stage, Edit-GRPO, which adapts Group Relative Policy Optimization to the domain of video editing, directly optimizing the model for instruction-faithful, content-preserving, and aesthetically pleasing edits using relative rewards. Furthermore, we propose a data construction pipeline designed to synthetically generate diverse, high-fidelity paired video-instruction data of basic editing operations. Extensive experiments show that VIVA achieves superior instruction following, generalization, and editing quality over state-of-the-art methods. Website: https://viva-paper.github.io

cs.CV↗

arXiv2025

Mind to Hand: Purposeful Robotic Control via Embodied Reasoning

Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We introduce Lumo-1, a generalist vision-language-action (VLA) model that unifies robot reasoning ("mind") with robot action ("hand"). Our approach builds upon the general multi-modal reasoning capabilities of pre-trained vision-language models (VLMs), progressively extending them to embodied reasoning and action prediction, and ultimately towards structured reasoning and reasoning-action alignment. This results in a three-stage pre-training pipeline: (1) Continued VLM pre-training on curated vision-language data to enhance embodied reasoning skills such as planning, spatial understanding, and trajectory prediction; (2) Co-training on cross-embodiment robot data alongside vision-language data; and (3) Action training with reasoning process on trajectories collected on Astribot S1, a bimanual mobile manipulator with human-like dexterity and agility. Finally, we integrate reinforcement learning to further refine reasoning-action consistency and close the loop between semantic inference and motor control. Extensive experiments demonstrate that Lumo-1 achieves significant performance improvements in embodied vision-language reasoning, a critical component for generalist robotic control. Real-world evaluations further show that Lumo-1 surpasses strong baselines across a wide range of challenging robotic tasks, with strong generalization to novel objects and environments, excelling particularly in long-horizon tasks and responding to human-natural instructions that require reasoning over strategy, concepts and space.

cs.RO↗

arXiv2025

TGT: Text-Grounded Trajectories for Locally Controlled Video Generation

Text-to-video generation has advanced rapidly in visual fidelity, whereas standard methods still have limited ability to control the subject composition of generated scenes. Prior work shows that adding localized text control signals, such as bounding boxes or segmentation masks, can help. However, these methods struggle in complex scenarios and degrade in multi-object settings, offering limited precision and lacking a clear correspondence between individual trajectories and visual entities as the number of controllable objects increases. We introduce Text-Grounded Trajectories (TGT), a framework that conditions video generation on trajectories paired with localized text descriptions. We propose Location-Aware Cross-Attention (LACA) to integrate these signals and adopt a dual-CFG scheme to separately modulate local and global text guidance. In addition, we develop a data processing pipeline that produces trajectories with localized descriptions of tracked entities, and we annotate two million high quality video clips to train TGT. Together, these components enable TGT to use point trajectories as intuitive motion handles, pairing each trajectory with text to control both appearance and motion. Extensive experiments show that TGT achieves higher visual quality, more accurate text alignment, and improved motion controllability compared with prior approaches. Website: https://textgroundedtraj.github.io.

cs.CV↗

arXiv2025

Free Lunch Alignment of Text-to-Image Diffusion Models without Preference Image Pairs

Recent advances in diffusion-based text-to-image (T2I) models have led to remarkable success in generating high-quality images from textual prompts. However, ensuring accurate alignment between the text and the generated image remains a significant challenge for state-of-the-art diffusion models. To address this, existing studies employ reinforcement learning with human feedback (RLHF) to align T2I outputs with human preferences. These methods, however, either rely directly on paired image preference data or require a learned reward function, both of which depend heavily on costly, high-quality human annotations and thus face scalability limitations. In this work, we introduce Text Preference Optimization (TPO), a framework that enables "free-lunch" alignment of T2I models, achieving alignment without the need for paired image preference data. TPO works by training the model to prefer matched prompts over mismatched prompts, which are constructed by perturbing original captions using a large language model. Our framework is general and compatible with existing preference-based algorithms. We extend both DPO and KTO to our setting, resulting in TDPO and TKTO. Quantitative and qualitative evaluations across multiple benchmarks show that our methods consistently outperform their original counterparts, delivering better human preference scores and improved text-to-image alignment. Our Open-source code is available at https://github.com/DSL-Lab/T2I-Free-Lunch-Alignment.

cs.CV↗

arXiv2025

A Hybrid Force-Position Strategy for Shape Control of Deformable Linear Objects With Graph Attention Networks

Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex nonlinear dynamics, and the underactuated nature of the system. To address these issues, this paper proposes a hybrid force-position strategy for DLO shape control. The framework, combining both force and position representations of DLO, integrates state trajectory planning in the force space and Model Predictive Control (MPC) in the position space. We present a dynamics model with an explicit action encoder, a property extractor and a graph processor based on Graph Attention Networks. The model is used in the MPC to enhance prediction accuracy. Results from both simulations and real-world experiments demonstrate the effectiveness of our approach in achieving efficient and stable shape control of DLOs. Codes and videos are available at https://sites.google.com/view/dlom.

cs.RO↗

arXiv2025

Imbalance in Balance: Online Concept Balancing in Generation Models

In visual generation tasks, the responses and combinations of complex concepts often lack stability and are error-prone, which remains an under-explored area. In this paper, we attempt to explore the causal factors for poor concept responses through elaborately designed experiments. We also design a concept-wise equalization loss function (IMBA loss) to address this issue. Our proposed method is online, eliminating the need for offline dataset processing, and requires minimal code changes. In our newly proposed complex concept benchmark Inert-CompBench and two other public test sets, our method significantly enhances the concept response capability of baseline models and yields highly competitive results with only a few codes released at https://github.com/KwaiVGI/IMBA-Loss.

cs.CV↗

arXiv2025

VMoBA: Mixture-of-Block Attention for Video Diffusion Models

The quadratic complexity of full attention mechanisms poses a significant bottleneck for Video Diffusion Models (VDMs) aiming to generate long-duration, high-resolution videos. While various sparse attention methods have been proposed, many are designed as training-free inference accelerators or do not optimally capture the unique spatio-temporal characteristics inherent in video data when trained natively. This paper introduces Video Mixture of Block Attention (VMoBA), a novel sparse attention mechanism specifically adapted for VDMs. Motivated by an in-depth analysis of attention patterns within pre-trained video transformers, which revealed strong spatio-temporal locality, varying query importance, and head-specific concentration levels, VMoBA enhances the original MoBA framework with three key modifications: (1) a layer-wise recurrent block partition scheme (1D-2D-3D) to dynamically adapt to diverse spatio-temporal attention patterns and improve efficiency; (2) global block selection to prioritize the most salient query-key block interactions across an entire attention head; and (3) threshold-based block selection to dynamically determine the number of attended blocks based on their cumulative similarity. Extensive experiments demonstrate that VMoBA significantly accelerates the training of VDMs on longer sequences, achieving 2.92x FLOPs and 1.48x latency speedup, while attaining comparable or even superior generation quality to full attention. Furthermore, VMoBA exhibits competitive performance in training-free inference, offering 2.40x FLOPs and 1.35x latency speedup for high-res video generation.

cs.CV↗

arXiv2025

An Empirical Study of the Impact of Federated Learning on Machine Learning Model Accuracy

Federated Learning (FL) enables distributed ML model training on private user data at the global scale. Despite the potential of FL demonstrated in many domains, an in-depth view of its impact on model accuracy remains unclear. In this paper, we investigate, systematically, how this learning paradigm can affect the accuracy of state-of-the-art ML models for a variety of ML tasks. We present an empirical study that involves various data types: text, image, audio, and video, and FL configuration knobs: data distribution, FL scale, client sampling, and local and global computations. Our experiments are conducted in a unified FL framework to achieve high fidelity, with substantial human efforts and resource investments. Based on the results, we perform a quantitative analysis of the impact of FL, and highlight challenging scenarios where applying FL degrades the accuracy of the model drastically and identify cases where the impact is negligible. The detailed and extensive findings can benefit practical deployments and future development of FL.

cs.LG↗