arXiv subjects

Mingyang Yu

Publications and source records attributed to Mingyang Yu.

21 records · Page 2Linked to original sources

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

Efficiently Laser Driven Terahertz Surface Plasmon Polaritons on Long Metal Wire

We experimentally demonstrate a novel scheme for efficiently generating intense terahertz (THz) surface plasmon polaritons (SPPs) on a sub-wavelength-diameter meter-long metal wire. Driven by a subrelativistic femtosecond laser (a0=0.3, 3 mJ) focused at the wire's midpoint, single-cycle ten-megawatt THz SPPs are excited and propagating bidirectionally along it over 25 cm. The measured laser-to-SPPs energy conversion efficiency is reaching up to ~2.4%, which is the highest value at present. It is proved that the THz SPPs are excited by coherent transition radiation of the subrelativistic laser produced escaping electrons. Particle-in-cell together with CST simulations confirm the experimental observations. Our scheme of using readily available subrelativistic laser should thus be useful to applications requiring terawatt level single-cycle THz SPPs.

physics.optics↗

arXiv2019

Distribution Context Aware Loss for Person Re-identification

To learn the optimal similarity function between probe and gallery images in Person re-identification, effective deep metric learning methods have been extensively explored to obtain discriminative feature embedding. However, existing metric loss like triplet loss and its variants always emphasize pair-wise relations but ignore the distribution context in feature space, leading to inconsistency and sub-optimal. In fact, the similarity of one pair not only decides the match of this pair, but also has potential impacts on other sample pairs. In this paper, we propose a novel Distribution Context Aware (DCA) loss based on triplet loss to combine both numerical similarity and relation similarity in feature space for better clustering. Extensive experiments on three benchmarks including Market-1501, DukeMTMC-reID and MSMT17, evidence the favorable performance of our method against the corresponding baseline and other state-of-the-art methods.

cs.CV↗