arXiv subjects

Mingyang Yu

Publications and source records attributed to Mingyang Yu.

At least 19 recordsLinked to original sources

arXiv2026

From Sports to Safety: Benchmarking Proactive Risk Inference in MLLMs

Timely anticipation of physical hazards is essential for real-world safety, yet existing MLLM evaluations focus on harmful content or general risks, leaving proactive physical hazard prediction underexplored. Sports provide a well-suited testbed: accident causes span diverse injury dimensions and pre-accident spatiotemporal cues draw on reasoning capabilities shared with broader safety domains such as autonomous driving and fall detection. We introduce SPRINT (Sports Proactive Risk INference Testbed), a benchmark of 2,888 real-world sports videos (2,440 accident, 448 safe controls) spanning 14 sports and 3 environmental settings. Accident videos feature fine-grained annotations of early hazard cues, accident timing, and hierarchical causes; safe videos are manually verified as accident-free and serve to diagnose prompt-induced false alarms. Evaluating state-of-the-art MLLMs under diverse prompts and temporal windows reveals a sharp gap between hazard sensitivity and understanding: the best model exceeds 95% in signaling hazards yet falls below 50% in identifying their causes. Diagnostic experiments further show that explicit danger queries trigger severe false alarms even on hazard-free videos. These findings indicate that current MLLMs exhibit only superficial proactive safety, lacking stable, cause-grounded early warning, and underscore the need for reliable proactive safety in dynamic physical environments. Data and code will be open-sourced upon acceptance.

cs.CV↗

arXiv2026

Evolutionary Algorithm-Guided LLMs for Physics-Informed Neural Network Design

Physics-informed neural networks (PINNs) are unusually sensitive to interacting choices of architecture, activation, loss weighting, collocation, optimization, and constraint enforcement. Large language models (LLMs) can propose these choices, but independent recommendations do not accumulate experience from previously trained PINNs. We propose a closed-loop evolutionary algorithm that guides an LLM to generate complete, executable PINN configurations across generations, using measured training outcomes to determine subsequent search decisions. The algorithm maintains an evaluated population and lineage, applies parent-conditioned mutation and crossover, preserves elite and diverse solutions, rejects effective duplicates, and converts parent-relative successes and failures into the next-generation context supplied to the LLM. Every proposed configuration is executed directly under an exact optimizer-step budget. On a one-dimensional multiscale wave equation, two independent ten-generation runs trained 60 PINNs for 600,000 optimizer steps. In both runs, the best configuration appeared in the final generation, with best mean-squared error reduced by 2.97\% and 95.38\% relative to the initial population. The stronger run validated residual connections and increased depth on separate branches, combined them in a later generation, and then refined width and collocation density. It also revealed that low solution error can coexist with a high PDE residual. These results demonstrate the feasibility of evolutionary-algorithm-guided LLMs for PINN design on a controlled PDE while motivating broader, physics-aware evaluation.

cs.NE↗

arXiv2026

Mode-Selective Laser Propagation and Absorption in Strongly Magnetized Inhomogeneous Plasma

We systematically investigate the field-aligned propagation and collisional absorption of normally incident laser light in a strongly magnetized inhomogeneous plasma. Analytical expressions for electric fields in both vacuum and plasma are derived. Using analytical modelling and particle-in-cell simulations, we establish the cutoff conditions, absorption efficiencies, and scaling laws for the right-hand (R) and left-hand (L) circularly polarized waves. The dependence of collisional absorption coefficient on magnetic field strength, plasma scale length and laser intensity are quantified. In particular, L waves reflect at cutoff density, with absorption strongly enhanced as the magnetic field increases. For the R-waves, the absorption decreases with increasing magnetic field when the normalized electron cyclotron frequency is less than unity. However, when it exceeds unity, the R-waves propagate as whistler modes without a cutoff, allowing penetration into overdense plasma. This enables deep energy deposition inside overdense plasma. These results provide a framework for understanding laser-plasma energy coupling through collisional absorption in strongly magnetized inhomogeneous plasma.

physics.plasm-ph↗

arXiv2026

Rethinking Visual-Language-Action Model Scaling: Alignment, Mixture, and Regularization

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is inherently heterogeneous across embodiments, sensors, and action spaces. We present a systematic, controlled study of VLA scaling that revisits core training choices for pretraining across diverse robots. Using a representative VLA framework that combines a vision-language backbone with flow-matching, we ablate key design decisions under matched conditions and evaluate in extensive simulation and real-robot experiments. To improve the reliability of real-world results, we introduce a Grouped Blind Ensemble protocol that blinds operators to model identity and separates policy execution from outcome judgment, reducing experimenter bias. Our analysis targets three dimensions of VLA scaling. (1) Physical alignment: we show that a unified end-effector (EEF)-relative action representation is critical for robust cross-embodiment transfer. (2) Embodiment mixture: we find that naively pooling heterogeneous robot datasets often induces negative transfer rather than gains, underscoring the fragility of indiscriminate data scaling. (3) Training regularization: we observe that intuitive strategies, such as sensory dropout and multi-stage fine-tuning, do not consistently improve performance at scale. Together, this study challenge some common assumptions about embodied scaling and provide practical guidance for training large-scale VLA policies from diverse robotic data. Project website: https://research.beingbeyond.com/rethink_vla

cs.RO↗

arXiv2026

TwistNet-2D: Learning Second-Order Channel Interactions via Spiral Twisting for Texture Recognition

Second-order feature statistics are central to texture recognition, yet existing mechanisms exhibit a structural tension: bilinear pooling and Gram matrices capture global channel correlations but discard spatial structure, whereas self-attention models capture cross-position relations through weighted sums rather than explicit pairwise products. We propose TwistNet-2D, a lightweight module that computes local pairwise channel products under directional spatial displacement, jointly encoding where features co-occur and how they interact. The core component, Spiral-Twisted Channel Interaction (STCI), shifts one feature map along a prescribed direction before L2-normalized channel multiplication, capturing cross-position co-occurrence patterns that characterize structured and periodic textures. Four directional heads are aggregated through content-adaptive channel reweighting, and the result is injected via a sigmoid-gated residual path with near-zero initialization. TwistNet-2D adds only approximately 3.5% parameters and approximately 2% FLOPs over ResNet-18. To isolate the contribution of architectural inductive bias from that of transfer learning, all models in this study are trained from scratch without ImageNet pretraining. Under this protocol, TwistNet-2D consistently surpasses parameter-matched baselines and substantially larger ConvNeXt and Swin Transformer backbones across four texture and fine-grained recognition benchmarks, while the multi-head structure produces interpretable, orientation-selective representations that align with classical texture analysis.

cs.CV↗

arXiv2026

A Quantum-Driven Evolutionary Framework for Solving High-Dimensional Sharpe Ratio Portfolio Optimization

High-dimensional portfolio optimization faces significant computational challenges under complex constraints, with traditional optimization methods struggling to balance convergence speed and global exploration capability. To address this, firstly, we introduce an enhanced Sharpe ratio-based model that incorporates all constraints into the objective function using adaptive penalty terms, transforming the original constrained problem into an unconstrained single-objective formulation. This approach preserves financial interpretability while simplifying algorithmic implementation. To efficiently solve the resulting high-dimensional optimization problem, we develop a Quantum Hybrid Differential Evolution (QHDE) algorithm, which introduces a dynamic quantum tunneling mechanism that enables individuals to probabilistically escape local optima, dramatically enhancing global exploration and solution flexibility. To further improve performance, a good point set-chaos reverse learning strategy generates a well-dispersed initial population, providing a robust and diverse starting point. Meanwhile, a dynamic elite pool combined with Cauchy-Gaussian hybrid perturbations maintains population diversity and mitigates premature convergence, ensuring stable and high-quality solutions. Experimental validation on CEC benchmarks and real-world portfolios involving 20 to 80 assets demonstrates that QHDE's performance improves by up to 96.6%. It attains faster convergence, higher solution precision, and greater robustness than seven state-of-the-art counterparts, thereby confirming its suitability for complex, high-dimensional portfolio optimization.

cs.NE↗

arXiv2025

LightTact: A Visual-Tactile Fingertip Sensor for Deformation-Independent Contact Sensing

Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors rely on deformation to infer contact, making such light-contact interactions difficult to perceive robustly. To address this, we present LightTact, a visual-tactile fingertip sensor that makes contact directly visible via a deformation-independent principle. LightTact features an ambient-blocking optical configuration that suppresses both external light and internal illumination at non-contact regions, while transmitting only the scattered light generated at true contacts. As a result, LightTact produces high-contrast raw images in which non-contact pixels remain near-black (mean gray value < 3) and contact pixels preserve the natural appearance of the contacting surface. Built on this, LightTact achieves accurate pixel-level contact segmentation that is robust to material properties, contact force, surface appearance, and environmental lighting. We further demonstrate that LightTact unlocks new robotic manipulation behaviors that require detection of extremely light contact, including water spreading, facial-cream dipping, and soft thin-film interaction. In addition, we show that LightTact's spatially aligned visual-tactile images can be directly interpreted by vision-language models.

cs.RO↗

arXiv2025

OPAL: Operator-Programmed Algorithms for Landscape-Aware Black-Box Optimization

Black-box optimization often relies on evolutionary and swarm algorithms whose performance is highly problem dependent. We view an optimizer as a short program over a small vocabulary of search operators and learn this operator program separately for each problem instance. We instantiate this idea in Operator-Programmed Algorithms (OPAL), a landscape-aware framework for continuous black-box optimization that uses a small design budget with a standard differential evolution baseline to probe the landscape, builds a $k$-nearest neighbor graph over sampled points, and encodes this trajectory with a graph neural network. A meta-learner then maps the resulting representation to a phase-wise schedule of exploration, restart, and local search operators. On the CEC~2017 test suite, a single meta-trained OPAL policy is statistically competitive with state-of-the-art adaptive differential evolution variants and achieves significant improvements over simpler baselines under nonparametric tests. Ablation studies on CEC~2017 justify the choices for the design phase, the trajectory graph, and the operator-program representation, while the meta-components add only modest wall-clock overhead. Overall, the results indicate that operator-programmed, landscape-aware per-instance design is a practical way forward beyond ad hoc metaphor-based algorithms in black-box optimization.

cs.NE↗

arXiv2025

Wasserstein Evolution : Evolutionary Optimization as Phase Transition

Evolutionary algorithms (EAs) serve as powerful black-box optimizers inspired by biological evolution. However, most existing EAs predominantly focus on heuristic operators such as crossover and mutation, while usually overlooking underlying physical interpretability such as statistical mechanics and thermosdynamics. This theoretical void limits the principled understanding of algorithmic dynamics, hindering the systematic design of evolutionary search beyond ad-hoc heuristics. To bridge this gap, we first point out that evolutionary optimization can be conceptually reframed as a physical phase transition process. Building on this perspective, we establish the theoretical grounds by modeling the optimization dynamics as a Wasserstein gradient flow of free energy. Consequently, a robust and interpretable solver named Wasserstein Evolution (WE) is proposed. WE mathematically frames the trade-off between exploration and exploitation as a competition between potential gradient forces and entropic forces. This formulation guarantees convergence to the Boltzmann distribution, thereby minimizing free energy and maximizing entropy, which promotes highly diverse solutions. Extensive experiments on complex multimodal and physical potential functions demonstrate that WE achieves superior diversity and stability compared to established baselines.

cs.NE↗

arXiv2025

A Quantum Tunneling and Bio-Phototactic Driven Enhanced Dwarf Mongoose Optimizer for UAV Trajectory Planning and Engineering Problem

With the widespread adoption of unmanned aerial vehicles (UAV), effective path planning has become increasingly important. Although traditional search methods have been extensively applied, metaheuristic algorithms have gained popularity due to their efficiency and problem-specific heuristics. However, challenges such as premature convergence and lack of solution diversity still hinder their performance in complex scenarios. To address these issues, this paper proposes an Enhanced Multi-Strategy Dwarf Mongoose Optimization (EDMO) algorithm, tailored for three-dimensional UAV trajectory planning in dynamic and obstacle-rich environments. EDMO integrates three novel strategies: (1) a Dynamic Quantum Tunneling Optimization Strategy (DQTOS) to enable particles to probabilistically escape local optima; (2) a Bio-phototactic Dynamic Focusing Search Strategy (BDFSS) inspired by microbial phototaxis for adaptive local refinement; and (3) an Orthogonal Lens Opposition-Based Learning (OLOBL) strategy to enhance global exploration through structured dimensional recombination. EDMO is benchmarked on 39 standard test functions from CEC2017 and CEC2020, outperforming 14 advanced algorithms in convergence speed, robustness, and optimization accuracy. Furthermore, real-world validations on UAV three-dimensional path planning and three engineering design tasks confirm its practical applicability and effectiveness in field robotics missions requiring intelligent, adaptive, and time-efficient planning.

cs.RO↗

arXiv2025

Beyond Single Images: Retrieval Self-Augmented Unsupervised Camouflaged Object Detection

At the core of Camouflaged Object Detection (COD) lies segmenting objects from their highly similar surroundings. Previous efforts navigate this challenge primarily through image-level modeling or annotation-based optimization. Despite advancing considerably, this commonplace practice hardly taps valuable dataset-level contextual information or relies on laborious annotations. In this paper, we propose RISE, a RetrIeval SElf-augmented paradigm that exploits the entire training dataset to generate pseudo-labels for single images, which could be used to train COD models. RISE begins by constructing prototype libraries for environments and camouflaged objects using training images (without ground truth), followed by K-Nearest Neighbor (KNN) retrieval to generate pseudo-masks for each image based on these libraries. It is important to recognize that using only training images without annotations exerts a pronounced challenge in crafting high-quality prototype libraries. In this light, we introduce a Clustering-then-Retrieval (CR) strategy, where coarse masks are first generated through clustering, facilitating subsequent histogram-based image filtering and cross-category retrieval to produce high-confidence prototypes. In the KNN retrieval stage, to alleviate the effect of artifacts in feature maps, we propose Multi-View KNN Retrieval (MVKR), which integrates retrieval results from diverse views to produce more robust and precise pseudo-masks. Extensive experiments demonstrate that RISE outperforms state-of-the-art unsupervised and prompt-based methods. Code is available at https://github.com/xiaohainku/RISE.

cs.CV↗

arXiv2025

Distributed Shared Layered Storage Quantum Simulator: A novel quantum simulation system for efficient scaling and cost optimization

Quantum simulators are essential tools for developing and testing quantum algorithms. However, the high-frequency traversal characteristic of quantum simulators represents an unprecedented demand in the history of IT, and existing distributed technologies is unable to meet this requirement, resulting in a single-node bottleneck of quantum simulator. To overcome this limitation, this paper introduces a novel Distributed Shared Layered Storage Quantum Simulator (DSLSQS). By leveraging an innovative distributed architecture in which multiple computational nodes share data storage directly, together with De-TCP/IP networking technology, DSLSQS effectively eliminates East-West data flow in distributed systems. This approach mitigates the bottleneck of distributed quantum simulation clusters and enhances the scalability. Moreover, the system employs layered storage technology, which reduces usage of expensive high-performance memory and substantially lowers simulation costs. Furthermore, this paper systematically analyzes the performance and cost constraints of distributed quantum simulator cluster, identifying distributed networking as the primary performance bottleneck and highlighting that minimizing storage costs is crucial to reducing the total cost. Finally, experimental evaluations with a 27-qubit simulation confirm the successful implementation of layered storage within the quantum simulator. DSLSQS significantly enhances simulation efficiency, yielding a performance improvement of over 350% compared to existing distributed technologies. These results underscore the superior performance and scalability of the proposed architecture in managing complex quantum computing tasks. This paper provides crucial insights for the practical deployment of quantum computing and presents an effective framework for the development of distributed quantum simulation clusters.

cs.ET↗

arXiv2025

QVecOpt: An Efficient Storage and Computing Opti-mization Framework for Large-scale Quantum State Simulation

In response to the challenges in large-scale quantum state simulation on classical computing platforms, including memory limits, frequent disk I/O, and high computational complexity, this study builds upon a previously proposed hierarchical storage-based quantum simulation system and introduces an optimization framework, the Quantum Vector Optimization Framework (QVecOpt). QVecOpt integrates four strategies: amplitude pairing, cache optimization, block storage optimization, and parallel optimization. These collectively enhance state vector storage and computational scheduling. The amplitude pairing mechanism locates relevant amplitude pairs via bitwise XOR, reducing traversal complexity of single-qubit gates from $O(2^n)$ to $O(1)$. Cache optimization pre-allocates buffers and loads only required data, cutting disk I/O. Block storage optimization partitions the state vector for on-demand loading and local updates, reducing redundant access. Parallel optimization distributes the state vector across nodes for collaborative computation, achieving near-linear speedup. Complexity analysis shows that, compared with hierarchical storage simulation, the method reduces state vector traversals for single-qubit gates from $2^n$ to 1, removing the main bottleneck. It also lowers computational and I/O complexity from $O(2^n)$ to $O(2^n/C)$ and $O(2^n/B)$. In simulations of 16-29 qubits, efficiency improves nearly tenfold, breaking the memory bottleneck of existing tools and enabling high-bit quantum circuit simulations beyond traditional methods. This work provides an efficient, scalable solution for classical simulation of large-scale quantum computation with significant academic and practical value.

cs.ET↗

arXiv2025

Towards Measuring and Modeling Geometric Structures in Time Series Forecasting via Image Modality

Time Series forecasting is critical in diverse domains such as weather forecasting, financial investment, and traffic management. While traditional numerical metrics like mean squared error (MSE) can quantify point-wise accuracy, they fail to evaluate the geometric structure of time series data, which is essential to understand temporal dynamics. To address this issue, we propose the time series Geometric Structure Index (TGSI), a novel evaluation metric that transforms time series into images to leverage their inherent two-dimensional geometric representations. However, since the image transformation process is non-differentiable, TGSI cannot be directly integrated as a training loss. We further introduce the Shape-Aware Temporal Loss (SATL), a multi-component loss function operating in the time series modality to bridge this gap and enhance structure modeling during training. SATL combines three components: a first-order difference loss that measures structural consistency through the MSE between first-order differences, a frequency domain loss that captures essential periodic patterns using the Fast Fourier Transform while minimizing noise, and a perceptual feature loss that measures geometric structure difference in time-series by aligning temporal features with geometric structure features through a pre-trained temporal feature extractor and time-series image autoencoder. Experiments across multiple datasets demonstrate that models trained with SATL achieve superior performance in both MSE and the proposed TGSI metrics compared to baseline methods, without additional computational cost during inference.

cs.CV↗

arXiv2025

Learning Spectral Diffusion Prior for Hyperspectral Image Reconstruction

Hyperspectral image (HSI) reconstruction aims to recover 3D HSI from its degraded 2D measurements. Recently great progress has been made in deep learning-based methods, however, these methods often struggle to accurately capture high-frequency details of the HSI. To address this issue, this paper proposes a Spectral Diffusion Prior (SDP) that is implicitly learned from hyperspectral images using a diffusion model. Leveraging the powerful ability of the diffusion model to reconstruct details, this learned prior can significantly improve the performance when injected into the HSI model. To further improve the effectiveness of the learned prior, we also propose the Spectral Prior Injector Module (SPIM) to dynamically guide the model to recover the HSI details. We evaluate our method on two representative HSI methods: MST and BISRNet. Experimental results show that our method outperforms existing networks by about 0.5 dB, effectively improving the performance of HSI reconstruction.

cs.CV↗

arXiv2025

Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining

Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way remains a significant challenge. In this work, we introduce a cross-embodiment imitation learning system for quadrupedal manipulation, leveraging data collected from both humans and LocoMan, a quadruped equipped with multiple manipulation modes. Specifically, we develop a teleoperation and data collection pipeline, which unifies and modularizes the observation and action spaces of the human and the robot. To effectively leverage the collected data, we propose an efficient modularized architecture that supports co-training and pretraining on structured modality-aligned data across different embodiments. Additionally, we construct the first manipulation dataset for the LocoMan robot, covering various household tasks in both unimanual and bimanual modes, supplemented by a corresponding human dataset. We validate our system on six real-world manipulation tasks, where it achieves an average success rate improvement of 41.9% overall and 79.7% under out-of-distribution (OOD) settings compared to the baseline. Pretraining with human data contributes a 38.6% success rate improvement overall and 82.7% under OOD settings, enabling consistently better performance with only half the amount of robot data. Our code, hardware, and data are open-sourced at: https://human2bots.github.io.

cs.RO↗

arXiv2025

LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing

Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must be precisely sensed and controlled. To bridge this gap, we present LocoTouch, a system that equips quadrupedal robots with tactile sensing to address a particularly challenging task in this category: long-distance transport of unsecured cylindrical objects, which typically requires custom mounting or fastening mechanisms to maintain stability. For efficient large-area tactile sensing, we design a high-density distributed tactile sensor that covers the entire back of the robot. To effectively leverage tactile feedback for robot control, we develop a simulation environment with high-fidelity tactile signals, and train tactile-aware transport policies using a two-stage learning pipeline. Furthermore, we design a novel reward function to promote robust, symmetric, and frequency-adaptive locomotion gaits. After training in simulation, LocoTouch transfers zero-shot to the real world, reliably transporting a wide range of unsecured cylindrical objects with diverse sizes, weights, and surface properties. Moreover, it remains robust over long distances, on uneven terrain, and under severe perturbations.

cs.RO↗

arXiv2025

Optimizing stellarators with hidden symmetry

Stellarators confine fusion plasmas using three-dimensional magnetic fields composed of nested toroidal magnetic surfaces. In generic stellarators, trapped particles can drift across these surfaces and degrade plasma confinement. Certain topological properties of the magnetic field strength can suppress these drifts. However, conventional stellarator design approaches typically enforce restrictive constraints to realize such properties, thereby segmenting and limiting the accessible configuration space. In this work, we reformulate the conditions for efficient confinement as constraints on a homeomorphic straightening transformation of the field contours. Within this framework, the various families of stellarator magnetic fields optimized for plasma confinement arise naturally as specific realizations of a unified mapping. This new perspective provides a significantly more comprehensive description of viable stellarator configurations, enabling systematic exploration of trade-offs among confinement quality, geometric complexity, and engineering requirements. We illustrate this approach by presenting a highly compact stellarator design that nevertheless achieves plasma performance comparable to that of leading reactor-scale designs with much larger aspect ratios.

physics.plasm-ph↗