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Qinyang Xu

Publications and source records attributed to Qinyang Xu.

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Stored in Optimizer State, Valued by Later Training: A Causal Account of Subliminal Trait Transfer

Subliminal trait transfer allows a student model to acquire behavioral dispositions from teacher-generated data in which the trait is not semantically expressed. Recent work explains how such signals enter gradients, but not how they survive source removal or acquire different signs under later training. We treat parameters and optimizer moments as a single trainer state and derive an exact transport-valuation identity separating observer-independent propagation of the source perturbation from the value assigned by a future continuation and behavioral readout. State surgery identifies the first moment as a causal carrier. Transplanting it alone leaves parameters, hidden states, and outputs unchanged at the cut, yet source-free updates generate growing parameter and hidden-state differences; transplanting parameters with the first moment recovers the terminal behavioral response. Sending the same source-induced difference through matched futures produces negative, near-zero, and positive Qwen effects (-0.658, +0.008, and +0.658 seed means). This ordering recurs in all 12 Llama-3.2-1B seeds after eight updates, while state-difference norms remain nearly equal across routes. Both contrasts grow in every paired seed when the continuation extends to sixteen updates. A full-horizon costate predicts all 42 Qwen route-mean signs and all 21 resolved Llama ordinary-route signs. Observer-independent transport also replicates across Qwen, SmolLM2, and Llama, while the complete-state recurrence predicts physical, hidden, and fixed-head responses in non-LoRA MNIST systems, including CNNs trained with AdamW and momentum SGD. Together, these results identify a two-stage mechanism for subliminal trait transfer: optimizer state transports the source perturbation, and later training determines its behavioral value.

cs.LG

Whisker-based Active Tactile Perception for Contour Reconstruction

Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the whisker sensor to continuously follow and maintain an appropriate relative touch pose on the surface. This is especially important for localization based on tip contact, which has a low tolerance for sharp surfaces and must avoid slipping into tangential contact. In this paper, we first construct a magnetically transduced whisker sensor featuring a compact and robust suspension system composed of three flexible spiral arms. We develop a method that leverages a characterized whisker deflection profile to directly extract the tip contact position using gradient descent, with a Bayesian filter applied to reduce fluctuations. We then propose an active motion control policy to maintain the optimal relative pose of the whisker sensor against the object surface. A B-Spline curve is employed to predict the local surface curvature and determine the sensor orientation. Results demonstrate that our algorithm can effectively track objects and reconstruct contours with sub-millimeter accuracy. Finally, we validate the method in simulations and real-world experiments where a robot arm drives the whisker sensor to follow the surfaces of three different objects.

cs.RO