arXiv subjects

Jiahui Yang

Publications and source records attributed to Jiahui Yang.

At least 19 recordsLinked to original sources

arXiv2026

PMU Foundation Model Bridge: A Tool for Connecting Synchrophasor Streams to Time Series Foundation Models

This paper presents PMU Foundation Model Bridge, an open source tool that connects online phasor measurement unit (PMU) or phasor data concentrator (PDC) streams to publicly available time series foundation models (TSFM). Through a desktop interface or command line interface, users can select measurement channels, define preprocessing, choose TSFMs, and configure outputs. In the initial release, 4 publicly available TSFMs were supported, including Chronos-2, TimesFM 2.5, Timestral, and TimesFM-3. The tool supports both file and synchrophasor streaming outputs, therefore enabling both offline use and integration into C37.118-based online workflow applications. In addition to supporting raw synchrophasor data, the framework provides a preprocessing layer for deriving customized additional quantities for forecasting. The tool is validated using a virtual PMU and real-time laboratory measurements from a frequency disturbance recorder (FDR). The tool aims to support community research on combining synchrophasor technology with TSFMs.

eess.SY↗

arXiv2026

COWBOY: A Scalable Sim-to-Real Framework for Learning Contextual Whole-Body Manipulation

Mobile manipulators must adapt not only to objects, but also to the spatial context in which they appear: where to position the base, how to manipulate, and where to look while navigating surrounding scene geometry. To address this, we present COWBOY, a scalable sim-to-real framework for learning such contextual whole-body manipulation. On whole-body dexterous grasping, COWBOY transfers zero-shot to hundreds of objects and diverse in-the-wild scenes, spanning cluttered tabletops, shelves, drawers, and other unstructured settings. Rather than learning scene adaptation directly with RL in simulation, a vectorized environment-aware whole-body controller (WBC) handles reaching in thousands of scenes by coordinating base-arm motion, collision avoidance, and active vision. Then, local RL experts are trained in local scenes for object interaction and can be reused across thousands of full-scene layouts. We distill these composed WBC-RL teachers into a single vision policy that controls the mobile base, arm, dexterous hand, and actuated camera from point-cloud observations. The resulting policy exhibits contextual whole-body behavior, automatically adapting base placement, camera viewpoint, arm trajectory, and grasp strategy to observed scene and object geometry. Videos are available at https://cowboy-manip.com

cs.RO↗

arXiv2026

Towards Omni-dimensional GUI Agent Navigation with Masked Trajectory Prediction

Graphical User Interface (GUI) Agents autonomously interact with software to fulfill user requests, where GUI navigation stands out as the most critical and challenging capability. Mastering this capability demands a complex synergy of step-wise decision-making, state-action alignment, and long-horizon planning. While directly mixing these corresponding navigation tasks seems intuitive to simultaneously acquire these skills, such a direct combination is severely bottlenecked by inconsistent optimization objectives and profound data heterogeneity. To overcome these barriers, we propose the MaP (stands for ``\textbf{M}asked Tr\textbf{a}jectory \textbf{P}rediction''), a unified framework that seamlessly harmonizes divergent GUI navigation tasks. By modeling multi-turn GUI interactions as a trajectory and defining training objectives through component masking and prediction, MaP shifts the optimization from task-specific marginal distributions to a consistent objective. Furthermore, to handle the data heterogeneity across multiple navigation tasks, we design a role-aware adapter learning module that dynamically routes each token to a specialized representation space. Extensive experiments on five representative GUI navigation benchmarks demonstrate that MaP effectively mitigates gradient conflicts and significantly outperforms the direct mixture training, establishing a robust paradigm for multi-task GUI navigation.

cs.AI↗

arXiv2026

Time Distribution Principle Using Measured Traveling Waves in Power Grid

Accurate time synchronization is essential for distributed systems. Conventional methods, such as satellite-based synchronization and communication-based approaches, face challenges including signal vulnerability and dependence on communication delay symmetry. This paper proposes a novel time synchronization principle based on traveling wave (TW) measurements in power grids. By leveraging the inherent symmetry of forward and backward TW propagation, the proposed method achieves high-precision time distribution without relying on external time references. The methodology is validated through electromagnetic transient simulations on a modified IEEE 14-bus system. The results demonstrate that under normal conditions, the proposed approach achieves microsecond-level synchronization accuracy. These findings suggest that the TW-based time synchronization principle is a potential alternative to traditional methods, offering improved security and reduced dependence on communication quality.

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arXiv2026

MetricAnything: Scaling Metric Depth Pretraining with Noisy Heterogeneous Sources

Scaling has powered recent advances in vision foundation models, yet extending this paradigm to metric depth estimation remains challenging due to heterogeneous sensor noise, camera-dependent biases, and metric ambiguity in noisy cross-source 3D data. We introduce Metric Anything, a simple and scalable pretraining framework that learns metric depth from noisy, diverse 3D sources without manually engineered prompts, camera-specific modeling, or task-specific architectures. Central to our approach is the Sparse Metric Prompt, created by randomly masking depth maps, which serves as a universal interface that decouples spatial reasoning from sensor and camera biases. Using about 20M image-depth pairs spanning reconstructed, captured, and rendered 3D data across 10000 camera models, we demonstrate-for the first time-a clear scaling trend in the metric depth track. The pretrained model excels at prompt-driven tasks such as depth completion, super-resolution and Radar-camera fusion, while its distilled prompt-free student achieves state-of-the-art results on monocular depth estimation, camera intrinsics recovery, single/multi-view metric 3D reconstruction, and VLA planning. We also show that using pretrained ViT of Metric Anything as a visual encoder significantly boosts Multimodal Large Language Model capabilities in spatial intelligence. These results show that metric depth estimation can benefit from the same scaling laws that drive modern foundation models, establishing a new path toward scalable and efficient real-world metric perception. We open-source MetricAnything at http://metric-anything.github.io/metric-anything-io/ to support community research.

cs.CV↗

arXiv2026

Xiaomi-GUI-0 Technical Report

Graphical user interface (GUI) agents build on vision-language models to complete user tasks end-to-end in real applications through interface actions such as tapping, swiping, text entry, and navigation. However, existing GUI agents are trained and evaluated largely on offline trajectories, simulated environments, and standardized benchmarks. These differ substantially from real applications in interface layout, interaction logic, and abnormal-state distribution, and cannot faithfully characterize execution stability in real-world use, where account states, permission dialogs, payment authentication, and risk control continually reshape the state distribution and open a persistent gap between benchmark scores and real usability. To close this gap, we propose Xiaomi-GUI-0, a native multimodal GUI agent for real mobile environments, trained and evaluated within a real-device closed loop. At its core is a real-device-dominant hybrid infrastructure, where physical devices are the primary execution environment and sandboxes provide auxiliary support, so that data collection, training, rollout, and evaluation share an execution distribution close to real deployment. We construct multi-source training data spanning high-frequency head tasks, high-generalization data for long-tail intents, and capability-enhancement data for reflection and memory, and introduce an error-driven data flywheel that turns failure trajectories into corrected actions, reflective explanations, and recovery demonstrations. The model is trained through a progressive three-stage pipeline of supervised fine-tuning, step-level reinforcement learning, and agentic reinforcement learning. Evaluated on public benchmarks and our in-house RealMobile, Xiaomi-GUI-0 achieves 72.0% success on RealMobile and 78.9% on AndroidWorld, while substantially improving execution stability and abnormal-state recognition in real-world tasks.

cs.AI↗

arXiv2026

GAIA: A Data Flywheel System for Training GUI Test-Time Scaling Critic Models

While Large Vision-Language Models (LVLMs) have significantly advanced GUI agents' capabilities in parsing textual instructions, interpreting screen content, and executing tasks, a critical challenge persists: the irreversibility of agent operations-where a single erroneous action can trigger catastrophic deviations. To address this, we propose the \textbf{G}UI \textbf{A}ction Cr\textbf{i}tic's Dat\textbf{a} Flywheel System (GAIA), a training framework that enables the models to have iterative critic capabilities, which are used to improve the Test-Time Scaling (TTS) of basic GUI agents' performance. Specifically, we train an \textbf{Intuitive Critic Model} (ICM) using positive and negative action examples from a base agent first. This critic evaluates the immediate correctness of the agent's intended actions, thereby selecting operations with higher success probability. Then, the initial critic guides agent actions to collect refined positive/negative samples, initiating the self-improving cycle. The augmented data then trains a second-round critic with enhanced discernment capability. We conduct experiments on various datasets and demonstrate that the proposed ICM can improve the test-time performance of various closed-source and open-source models, and the performance can be gradually improved as the data is recycled. The code, dataset, and accompanying datasheet will be publicly released at https://github.com/SeerRay-Lab/GAIA.

cs.AI↗

arXiv2026

UniTranslator: A Unified Multi-modal Framework for End-to-end In-Image Machine Translation

In-Image Machine Translation (IIMT) aims to translate scene text in an image and render the translated text back into the original regions while preserving the overall visual appearance. Recent unified multimodal models provide a promising solution by combining visual-text understanding and image generation within a single framework. However, directly adapting such models to IIMT remains challenging. In particular, they often suffer from understanding-generation conflicts, where the translation inferred during understanding is inconsistent with the text supervision used in generation, and spatial position misalignment, where the rendered text does not accurately match the target text regions. To address these issues, we present UniTranslator, a unified multimodal framework for IIMT that tightly couples translation understanding and text editing. Specifically, we introduce an Understand-Generation Alignment Module (UGAM) to bridge the representation gap between understanding and generation, encouraging semantic consistency between translated content prediction and text rendering. We further propose a Spatial Mask Decoder (SMD) with pixel-level supervision over text regions to improve spatial grounding, geometric alignment, and layout controllability during generation. Extensive experiments on multiple benchmarks demonstrate that UniTranslator achieves state-of-the-art performance across diverse language directions and complex real-world layouts. Moreover, our results reveal a strong mutual reinforcement effect between translation understanding and image generation, highlighting the advantage of unified translation multimodal learning. Code is available at https://github.com/SeerRay-Lab/Unitranslator.

cs.CV↗

arXiv2026

Enhancing Trustworthy GUI Grounding via Self-Critiqued Reinforcement Learning

Autonomous graphical user interface (GUI) agents rely on accurate GUI grounding, which maps language instructions to on-screen coordinates, to execute user commands. However, current models, whether trained via supervised fine-tuning (SFT) or reinforcement learning (RL), often provide confidence signals that are poorly aligned with actual grounding correctness, leading to overconfident and unreliable predictions. To address this, we propose HyperClick, a novel framework that enhances trustworthy GUI grounding through self-critiqued reinforcement learning (SCRL). HyperClick combines a correctness reward and a confidence alignment reward, training the policy model to output both a click prediction and an explicit confidence estimate. This approach jointly optimizes grounding accuracy and confidence reliability through confidence-based self-assessment. Extensive experiments on challenging benchmarks show that HyperClick maintains strong grounding performance while providing better-aligned confidence estimates. By exposing uncertainty alongside GUI actions, HyperClick supports confidence-based abstention in GUI automation. Code will be released here.

cs.CV↗

arXiv2026

IMTBench: A Multi-Scenario Cross-Modal Collaborative Evaluation Benchmark for In-Image Machine Translation

End-to-end In-Image Machine Translation (IIMT) aims to convert text embedded within an image into a target language while preserving the original visual context, layout, and rendering style. However, existing IIMT benchmarks are largely synthetic and thus fail to reflect real-world complexity, while current evaluation protocols focus on single-modality metrics and overlook cross-modal faithfulness between rendered text and model outputs. To address these shortcomings, we present In-image Machine Translation Benchmark (IMTBench), a new benchmark of 2,500 image translation samples covering four practical scenarios and nine languages. IMTBench supports multi-aspect evaluation, including translation quality, background preservation, overall image quality, and a cross-modal alignment score that measures consistency between the translated text produced by the model and the text rendered in the translated image. We benchmark strong commercial cascade systems, and both closed- and open-source unified multi-modal models, and observe large performance gaps across scenarios and languages, especially on natural scenes and resource-limited languages, highlighting substantial headroom for end-to-end image text translation. We hope IMTBench establishes a standardized benchmark to accelerate progress in this emerging task.

cs.CV↗

arXiv2026

Let the Agent Search: Autonomous Exploration Beats Rigid Workflows in Temporal Question Answering

Temporal Knowledge Graph Question Answering (TKGQA) is challenging because it requires multi-hop reasoning under complex temporal constraints. Recent LLM-based approaches have improved semantic modeling for this task, but many still rely on fixed reasoning workflows or costly post-training, which can limit adaptability and make error recovery difficult. We show that enabling an off-the-shelf Large Language Model (LLM) to determine its next action is already effective in a zero-shot setting. Based on this insight, we propose AT2QA, an Autonomous and Training-free Agent for TKG Question Answering. AT2QA empowers the LLM to iteratively interact with the TKG via a generic search tool, inherently enabling autonomous exploration and dynamic self-correction during reasoning. To further elicit the LLM's potential for complex temporal reasoning, we introduce a training-free experience mining mechanism that distills a compact few-shot demonstration library from successful self-generated trajectories. AT2QA also yields a transparent audit trail for every prediction. Experiments on three challenging benchmarks -- MultiTQ, Timeline-CronQuestion, and Timeline-ICEWS-Actor -- show that AT2QA achieves new state-of-the-art performance, surpassing the strongest baselines by 10.7, 4.9, and 11.2 absolute points, respectively. Our code is available at https://github.com/AT2QA-Official-Code/AT2QA-Official-Code

cs.CL↗

arXiv2026

Frequency Response of Windowed DFT Phasor Estimation: Impact on Oscillation Observability

Phasor measurement units (PMUs) are widely used for sub-synchronous oscillation monitoring, yet the effect of windowed discrete Fourier transform (DFT)-based phasor estimation on oscillation observability is not fully characterized. This letter derives the complete complex-valued frequency response of the windowed DFT phasor estimator under both magnitude and phase modulation. The analysis shows that the estimation window introduces both frequency-dependent magnitude attenuation and phase shift to oscillation components, governed by the complex gain. A simple recovery method is also proposed to restore the true oscillation amplitude and phase from PMU data using the analytically known complex gain. The results are validated through time-domain simulations and provide guidance for industry practitioners on interpreting PMU-based oscillation measurements and selecting appropriate window lengths.

eess.SP↗

arXiv2025

BTL-UI: Blink-Think-Link Reasoning Model for GUI Agent

In the field of AI-driven human-GUI interaction automation, while rapid advances in multimodal large language models and reinforcement fine-tuning techniques have yielded remarkable progress, a fundamental challenge persists: their interaction logic significantly deviates from natural human-GUI communication patterns. To fill this gap, we propose "Blink-Think-Link" (BTL), a brain-inspired framework for human-GUI interaction that mimics the human cognitive process between users and graphical interfaces. The system decomposes interactions into three biologically plausible phases: (1) Blink - rapid detection and attention to relevant screen areas, analogous to saccadic eye movements; (2) Think - higher-level reasoning and decision-making, mirroring cognitive planning; and (3) Link - generation of executable commands for precise motor control, emulating human action selection mechanisms. Additionally, we introduce two key technical innovations for the BTL framework: (1) Blink Data Generation - an automated annotation pipeline specifically optimized for blink data, and (2) BTL Reward -- the first rule-based reward mechanism that enables reinforcement learning driven by both process and outcome. Building upon this framework, we develop a GUI agent model named BTL-UI, which demonstrates competitive performance across both static GUI understanding and dynamic interaction tasks in comprehensive benchmarks. These results provide conclusive empirical validation of the framework's efficacy in developing advanced GUI Agents.

cs.CV↗

arXiv2025

Deep Reactive Policy: Learning Reactive Manipulator Motion Planning for Dynamic Environments

Generating collision-free motion in dynamic, partially observable environments is a fundamental challenge for robotic manipulators. Classical motion planners can compute globally optimal trajectories but require full environment knowledge and are typically too slow for dynamic scenes. Neural motion policies offer a promising alternative by operating in closed-loop directly on raw sensory inputs but often struggle to generalize in complex or dynamic settings. We propose Deep Reactive Policy (DRP), a visuo-motor neural motion policy designed for reactive motion generation in diverse dynamic environments, operating directly on point cloud sensory input. At its core is IMPACT, a transformer-based neural motion policy pretrained on 10 million generated expert trajectories across diverse simulation scenarios. We further improve IMPACT's static obstacle avoidance through iterative student-teacher finetuning. We additionally enhance the policy's dynamic obstacle avoidance at inference time using DCP-RMP, a locally reactive goal-proposal module. We evaluate DRP on challenging tasks featuring cluttered scenes, dynamic moving obstacles, and goal obstructions. DRP achieves strong generalization, outperforming prior classical and neural methods in success rate across both simulated and real-world settings. Video results and code available at https://deep-reactive-policy.com

cs.RO↗

arXiv2025

QR-LoRA: Efficient and Disentangled Fine-tuning via QR Decomposition for Customized Generation

Existing text-to-image models often rely on parameter fine-tuning techniques such as Low-Rank Adaptation (LoRA) to customize visual attributes. However, when combining multiple LoRA models for content-style fusion tasks, unstructured modifications of weight matrices often lead to undesired feature entanglement between content and style attributes. We propose QR-LoRA, a novel fine-tuning framework leveraging QR decomposition for structured parameter updates that effectively separate visual attributes. Our key insight is that the orthogonal Q matrix naturally minimizes interference between different visual features, while the upper triangular R matrix efficiently encodes attribute-specific transformations. Our approach fixes both Q and R matrices while only training an additional task-specific $ΔR$ matrix. This structured design reduces trainable parameters to half of conventional LoRA methods and supports effective merging of multiple adaptations without cross-contamination due to the strong disentanglement properties between $ΔR$ matrices. Experiments demonstrate that QR-LoRA achieves superior disentanglement in content-style fusion tasks, establishing a new paradigm for parameter-efficient, disentangled fine-tuning in generative models. The project page is available at: https://luna-ai-lab.github.io/QR-LoRA/.

cs.CV↗

arXiv2025

Q-Frame: Query-aware Frame Selection and Multi-Resolution Adaptation for Video-LLMs

Multimodal Large Language Models (MLLMs) have demonstrated significant success in visual understanding tasks. However, challenges persist in adapting these models for video comprehension due to the large volume of data and temporal complexity. Existing Video-LLMs using uniform frame sampling often struggle to capture the query-related crucial spatiotemporal clues of videos effectively. In this paper, we introduce Q-Frame, a novel approach for adaptive frame selection and multi-resolution scaling tailored to the video's content and the specific query. Q-Frame employs a training-free, plug-and-play strategy generated by a text-image matching network like CLIP, utilizing the Gumbel-Max trick for efficient frame selection. Q-Frame allows Video-LLMs to process more frames without exceeding computational limits, thereby preserving critical temporal and spatial information. We demonstrate Q-Frame's effectiveness through extensive experiments on benchmark datasets, including MLVU, LongVideoBench, and Video-MME, illustrating its superiority over existing methods and its applicability across various video understanding tasks.

cs.CV↗

arXiv2025

UniCP: A Unified Caching and Pruning Framework for Efficient Video Generation

Diffusion Transformers (DiT) excel in video generation but encounter significant computational challenges due to the quadratic complexity of attention. Notably, attention differences between adjacent diffusion steps follow a U-shaped pattern. Current methods leverage this property by caching attention blocks, however, they still struggle with sudden error spikes and large discrepancies. To address these issues, we propose UniCP a unified caching and pruning framework for efficient video generation. UniCP optimizes both temporal and spatial dimensions through. Error Aware Dynamic Cache Window (EDCW): Dynamically adjusts cache window sizes for different blocks at various timesteps, adapting to abrupt error changes. PCA based Slicing (PCAS) and Dynamic Weight Shift (DWS): PCAS prunes redundant attention components, and DWS integrates caching and pruning by enabling dynamic switching between pruned and cached outputs. By adjusting cache windows and pruning redundant components, UniCP enhances computational efficiency and maintains video detail fidelity. Experimental results show that UniCP outperforms existing methods in both performance and efficiency.

cs.CV↗

arXiv2025

Hyper-3DG: Text-to-3D Gaussian Generation via Hypergraph

Text-to-3D generation represents an exciting field that has seen rapid advancements, facilitating the transformation of textual descriptions into detailed 3D models. However, current progress often neglects the intricate high-order correlation of geometry and texture within 3D objects, leading to challenges such as over-smoothness, over-saturation and the Janus problem. In this work, we propose a method named ``3D Gaussian Generation via Hypergraph (Hyper-3DG)'', designed to capture the sophisticated high-order correlations present within 3D objects. Our framework is anchored by a well-established mainflow and an essential module, named ``Geometry and Texture Hypergraph Refiner (HGRefiner)''. This module not only refines the representation of 3D Gaussians but also accelerates the update process of these 3D Gaussians by conducting the Patch-3DGS Hypergraph Learning on both explicit attributes and latent visual features. Our framework allows for the production of finely generated 3D objects within a cohesive optimization, effectively circumventing degradation. Extensive experimentation has shown that our proposed method significantly enhances the quality of 3D generation while incurring no additional computational overhead for the underlying framework. (Project code: https://github.com/yjhboy/Hyper3DG)

cs.CV↗