arXiv subjects

Ruilin Yan

Publications and source records attributed to Ruilin Yan.

4 recordsLinked to original sources

arXiv2026

EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos

Steerability is a defining capability of generalist robot policies, yet remains largely absent in dexterous-hand systems for lack of large-scale, language-aligned, and action-accurate demonstration data. To address this bottleneck, we present a full-stack system that scales dexterous VLA pre-training from egocentric human videos and enables data-efficient real-robot post-training. It integrates EgoSmith, a data pipeline that curates in-the-wild egocentric videos into 9.6K hours of high-quality pre-training data with 9x higher throughput and better accuracy than prior SOTA; a unified robot stack for teleoperation and human-in-the-loop correction; and EgoSteer, a world-model-enhanced VLA trained on optimized infrastructure. Human-data pre-training equips EgoSteer with language-guided manipulation priors, which are grounded through robot post-training and improved by DAgger refinement. Empirically, EgoSteer robustly executes free-form instructions across 40+ diverse tasks, demonstrating failure recovery, dexterity, and generalization. The pre-trained model also few-shot adapts to complex long-horizon tasks, including box folding, on two embodiments with 75+% success. We open-source the system, data, and model at https://egosteer.github.io/.

cs.RO↗

arXiv2026

System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games

Long-horizon tabletop games pose a distinct systems challenge for robotics: small perceptual or execution errors can invalidate accumulated task state, propagate across decision-making modules, and ultimately derail interaction. This paper studies how to maintain internal state consistency in turn-based, multi-human robotic tabletop games through deliberate system design rather than isolated component improvement. Using Mahjong as a representative long-horizon setting, we present an integrated architecture that explicitly maintains perceptual, execution, and interaction state, partitions high-level semantic reasoning from time-critical perception and control, and incorporates verified action primitives with tactile-triggered recovery to prevent premature state corruption. We further introduce interaction-level monitoring mechanisms to detect turn violations and hidden-information breaches that threaten execution assumptions. Beyond demonstrating complete-game operation, we provide an empirical characterization of failure modes, recovery effectiveness, cross-module error propagation, and hardware-algorithm trade-offs observed during deployment. Our results show that explicit partitioning, monitored state transitions, and recovery mechanisms are critical for sustaining executable consistency over extended play, whereas monolithic or unverified pipelines lead to measurable degradation in end-to-end reliability. The proposed system serves as an empirical platform for studying system-level design principles in long-horizon, turn-based interaction.

cs.RO↗

arXiv2025

Generative Evaluation of Complex Reasoning in Large Language Models

With powerful large language models (LLMs) demonstrating superhuman reasoning capabilities, a critical question arises: Do LLMs genuinely reason, or do they merely recall answers from their extensive, web-scraped training datasets? Publicly released benchmarks inevitably become contaminated once incorporated into subsequent LLM training sets, undermining their reliability as faithful assessments. To address this, we introduce KUMO, a generative evaluation framework designed specifically for assessing reasoning in LLMs. KUMO synergistically combines LLMs with symbolic engines to dynamically produce diverse, multi-turn reasoning tasks that are partially observable and adjustable in difficulty. Through an automated pipeline, KUMO continuously generates novel tasks across open-ended domains, compelling models to demonstrate genuine generalization rather than memorization. We evaluated 23 state-of-the-art LLMs on 5,000 tasks across 100 domains created by KUMO, benchmarking their reasoning abilities against university students. Our findings reveal that many LLMs have outperformed university-level performance on easy reasoning tasks, and reasoning-scaled LLMs reach university-level performance on complex reasoning challenges. Moreover, LLM performance on KUMO tasks correlates strongly with results on newly released real-world reasoning benchmarks, underscoring KUMO's value as a robust, enduring assessment tool for genuine LLM reasoning capabilities.

cs.CL↗

arXiv2022

Emergent grain boundary phases in stressed polycrystalline thin films

The grain boundary (GB) microstructure influences and is influenced by the development of residual stresses during synthesis of polycrystalline thin films. Recent studies have shown that the frustration between the preferred growth direction and rotations of abutting crystals to local cusps in GB energies leads to internal stresses localized within nanoscopic surface layers around the valleys and ridges that form at emergent boundaries (eGBs). Using a combination of continuum frameworks, numerical analyses and all-atom simulations of bicrystal $\langle 111\rangle$ copper films, we show that eGBs tune their surface morphology and rotation extent in response to external strains. Compression favors rotation to and growth of low energy GB phases (complexions) at eGB valleys while tension favors the transitions at eGB ridges, a reflection of the stress-induced mass efflux/influx that changes the energetic balance between interfacial and deformation energies. Molecular dynamics simulations of strained and growing bicrystal films reveal that the eGB phase transition is coupled to island formation at the surface triple junctions, providing a direct link between eGB phases and surface step flow. The interplay between eGB structure, morphology and mechanics emerges as a crucial ingredient for predictive understanding of stress and morphological evolution during film growth, with broad implications for multifunctional response of polycrystalline surfaces in a diverse range of surface phenomena such as surface mediated deformation, interfacial embrittlement, thermal grooving, stress corrosion, surface catalysis and topological conduction.

cond-mat.mtrl-sci↗