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Shiyu Feng

Publications and source records attributed to Shiyu Feng.

18 recordsLinked to original sources

RareLens: Towards End-to-End Rare Disease Care via Aligning Divergent Large Language Model Reasoning

Rare diseases represent one of the most challenging settings for clinical decision-making, where heterogeneous presentations, sparse evidence and limited expertise create persistent uncertainty throughout the care pathway. Although artificial intelligence could help, existing systems largely address isolated tasks, particularly diagnosis, and usually rely on downstream investigations rather than information available at initial presentation. Here we show that clinical AI performance under uncertainty can be improved not by scaling a single model, but by exploiting the diversity of multiple imperfect reasoning systems. Across heterogeneous large language models, we identify divergent reasoning trajectories with complementary error patterns and develop RareLens, which learns to reconcile these perspectives into actionable decisions across four stages of rare disease care: risk screening, diagnosis, treatment planning and prognosis prediction. Built on RarelensBench, a real-world dataset of 157,525 cases spanning all 33 Orphanet categories and more than 7,000 conditions, RareLens outperformed every frontier model tested, including GPT-5, DeepSeek-R1, Claude-3.7-Sonnet and Gemini-2.5-Pro, across all stages. It achieved an area under the curve of 0.917 for screening and top-1 accuracies of 65.5% and 89.8% for diagnosis and treatment. In an external evaluation involving 1,287 cases and 23 physicians, autonomous RareLens and physicians assisted by RareLens both outperformed unaided physicians, while demonstrating that effective human-AI collaboration requires more than simply providing model outputs. These findings establish divergent model reasoning as an exploitable source of information and suggest a general strategy for building AI systems that operate reliably under high clinical uncertainty.

cs.AI

Tellurium sublattice instability driven amorphization in the chalcogenide AgSbTe2 under pressure

Pressure provides a powerful thermodynamic route to access hidden structural states in functional materials, yet the microscopic origin of pressure-induced amorphization remains elusive in many complex chalcogenides. Here we report a detailed high-pressure structural study of AgSbTe2,combining synchrotron X-ray diffraction with density functional theory and molecular dynamics calculations up to 60 GPa. We uncover a pressure-driven transformation from the ambient R-3m phase to a fully disordered cubic Im3m phase, through an extended intermediate amorphous state. Enthalpy calculations reveal a near-degeneracy between the R3m and Im3m structures over a broad pressure range, dictating amorphization. Contrary to previously speculated cation vacancies, the amorphization is governed by a pronounced displacement instability of the Te sublattice. Remarkably, the time dependent decompression pathway controls the final structural state, resulting in either amorphous (slow decompression) or fully crystalline (fast decompression) states, indicative of a strong counterintuitive kinetic effect.

cond-mat.mtrl-sci

LACE-SVD: Loss-Aware SVD with Cumulative Error Correction for LLM Compression

The rapid growth in the parameter scale of large language models (LLMs) has created a strong demand for efficient compression techniques. As a hardware-agnostic and highly compatible approach, low-rank compression has been widely adopted to reduce both memory footprint and computational cost. However, existing SVD-based methods are still largely driven by local reconstruction objectives, overlooking two critical limitations: rank budgets are often allocated without explicitly considering layer-wise loss sensitivity, and local approximation errors can propagate and accumulate through the residual stream, leading to amplified global deviations from the original model. To address these issues, we propose LACE-SVD, a Loss-Aware SVD framework with Cumulative Error correction for LLM compression. LACE-SVD first estimates the calibration negative-log-likelihood increase induced by candidate layer-wise compression ratios and solves a budget-constrained allocation problem to assign rank budgets. It then refines the compressed model with closed-form local updates and introduces a propagation-aware correction for residual-stream output modules, reducing layer-output discrepancy as a proxy for cumulative error propagation. Experimental results demonstrate that at a high compression ratio (0.6), the WikiText-2 PPL of our method on LLaMA-7B (32.57) is significantly better than that of Dobi-SVD (46.18).

cs.LG

RareAlert: Aligning heterogeneous large language model reasoning for early rare disease risk screening

Missed and delayed diagnosis remains a major challenge in rare disease care. At the initial clinical encounters, physicians assess rare disease risk using only limited information under high uncertainty. When high-risk patients are not recognised at this stage, targeted diagnostic testing is often not initiated, resulting in missed diagnosis. Existing primary care triage processes are structurally insufficient to reliably identify patients with rare diseases at initial clinical presentation and universal screening is needed to reduce diagnostic delay. Here we present RareAlert, an early screening system which predict patient-level rare disease risk from routinely available primary-visit information. RareAlert integrates reasoning generated by ten LLMs, calibrates and weights these signals using machine learning, and distils the aligned reasoning into a single locally deployable model. To develop and evaluate RareAlert, we curated RareBench, a real-world dataset of 158,666 cases covering 33 Orphanet disease categories and more than 7,000 rare conditions, including both rare and non-rare presentations. The results showed that rare disease identification can be reconceptualised as a universal uncertainty resolution process applied to the general patient population. On an independent test set, RareAlert, a Qwen3-4B based model trained with calibrated reasoning signals, achieved an AUC of 0.917, outperforming the best machine learning ensemble and all evaluated LLMs, including GPT-5, DeepSeek-R1, Claude-3.7-Sonnet, o3-mini, Gemini-2.5-Pro, and Qwen3-235B. These findings demonstrate the diversity in LLM medical reasoning and the effectiveness of aligning such reasoning in highly uncertain clinical tasks. By incorporating calibrated reasoning into a single model, RareAlert enables accurate, privacy-preserving, and scalable rare disease risk screening suitable for large-scale local deployment.

cs.AI

High-pressure structural and lattice-dynamics study of Yttria-Stabilized Zirconia

The structural evolution of two selected compositions of Yttria-Stabilized Zirconia (YSZ), with 3mol% (3YSZ) and 8mol% (8YSZ) of Y2O3, have been investigated under pressure using in-situ synchrotron X-ray diffraction (XRD) and Raman spectroscopy in a diamond anvil cell up to 40 GPa (at room temperature).The close crystallographic relation between the observed structures and the relatively large difference in the atomic numbers of Y/Zr and O, imposes the simultaneous study using both techniques, aiming to fully elucidate the structural evolution under pressure. The results, by combining both techniques, reveal that for both 3YSZ and 8YSZ, pressure promotes higher-symmetry structures. Under initial compression, the minority at ambient conditions monoclinic phase (m-phase) gradually transforms towards t-phase, a transition that is concluded for both 3YSZ/8YSZ at ~10 GPa. At higher pressures, the solely remaining t-phase of 3YSZ transforms to the t'', that in turns transforms to the c-phase above 28 GPa. Likewise, for 8YSZ the coexistence of t- and t''-phases continue up to 31 GPa, where both transforms towards c-phase, that remains stable up to the highest pressure of this study. Upon pressure release, all observed transitions are fully reversible with negligible hysteresis, with the exception of the practical disappearance of the monoclinic phase at ambient conditions. Our study underscores the significance of simultaneously performing and analyzing the results of both XRD and Raman spectroscopy studies in relevant crystallographic systems. Moreover, it provides a route towards a ``structural purification'' of YSZ through the elimination of the m-phase aiming to improve material properties.

cond-mat.mtrl-sci

High pressure lattice dynamics study of few layer-$\alpha$-In$_2$Se$_3$

Few-layer $\alpha$-In$_2$Se$_3$ has been studied under pressure using Raman spectroscopy in a diamond anvil cell up to 60 GPa (at room temperature). A combination of AFM and Raman was used to estimate the thickness of the specimens. While few-layer $\alpha$-In$_2$Se$_3$ shows identical structural evolution with the one of the bulk powder-like form of $\alpha$-In$_2$Se$_3$ ( $\alpha$ $\rightarrow$ $\beta^{'}$ $\rightarrow$ IV ), an abrupt $\beta^{'}$ $\rightarrow$ IV phase transition (at 45 GPa) was observed, in contrast with the case of the bulk specimen where the two phases coexist over a wide pressure range. This is attributed to the difference in specimens morphology, $i.e.$ single crystal and powder in the case of few-layer and bulk $\alpha$-In$_2$Se$_3$, respectively. This study documents the significance of specimens morphology on the observed pressure-induced phase transitions. The methodology developed in this study for performing high-pressure Raman measurements can be applied to other nanodimensional layered materials.

cond-mat.mtrl-sci

Comparative high-pressure structural and electrical transport properties study of thermoelectric (Bi1-xSbx)2Te3 compounds

Thermoelectric (Bi1-x Sbx)2Te3 (BST-x) compounds with x=0.2, 0.7 and 0.9 have been studied using synchrotron angle-dispersive powder x-ray diffraction in a diamond anvil cell up to 25 GPa (at room temperature). The results clearly indicate that all compounds of this study follow a similar structural evolution with the one of pure Bi2Te3 and Sb2Te3 under pressure. From the comparison between the critical pressures of the corresponding phase transitions, a clear trend of increasing critical pressure for the transition to the disordered solid-solution BCC phase was observed with the increase of Sb concentration. In the case of the BST-0.7, an extended stability of the solid-solution BCC phase up to, at least, 180 GPa was observed. Finally, electrical transport properties measurements under pressure for BST-0.7, document a reversible pressure-induced metallization above 12 GPa.

cond-mat.mtrl-sci

High pressure structural and lattice dynamics study of {\alpha}-In$_2$Se$_3$

Layered $\alpha$-In$_2$Se$_3$has been studied using a concomitant in-situ synchrotron angle dispersive powder x-ray diffraction and Raman spectroscopy study in a diamond anvil cell up to 60+ GPa, at room temperature. Helium, that remains fairly hydrostatic up to the highest pressure in this study, was used as the pressure-transmitting medium. The results from both experimental methods reveal a pressure-induced structural phase transition from $\alpha$-In$_2$Se$_3$ to a monoclinic $\beta$'-In2Se3 structure at $\approx$1 GPa, in agreement with previous studies. Based on our detailed measurements using both experimental techniques and F-f formalism, the $\beta$'-In$_2$Se$_3$ structure remains stable up to 45 GPa, without a clear indication of a phase transition towards the previously reported $\beta$-In2Se3 phase. Above this pressure, In$_2$Se$_3$ adopts a disordered solid-solution-like orthorhombic structure, phase IV. The results are discussed in comparison with the relevant previous studies of $\alpha$-In$_2$Se$_3$ under pressure.

cond-mat.mtrl-sci

Task-driven SLAM Benchmarking For Robot Navigation

A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world deployments. To address this gap, we propose a task-driven approach to SLAM benchmarking, TaskSLAM-Bench. It employs precision as a key metric, accounts for SLAM's mapping capabilities, and has easy-to-meet implementation requirements. Simulated and real-world testing scenarios of SLAM methods provide insights into the navigation performance properties of modern visual and LiDAR SLAM solutions. The outcomes show that passive stereo SLAM operates at a level of precision comparable to LiDAR SLAM in typical indoor environments. TaskSLAM-Bench complements existing benchmarks and offers richer assessment of SLAM performance in navigation-focused scenarios. Publicly available code permits in-situ SLAM testing in custom environments with properly equipped robots.

cs.RO

LFIC-DRASC: Deep Light Field Image Compression Using Disentangled Representation and Asymmetrical Strip Convolution

Light-Field (LF) image is emerging 4D data of light rays that is capable of realistically presenting spatial and angular information of 3D scene. However, the large data volume of LF images becomes the most challenging issue in real-time processing, transmission, and storage. In this paper, we propose an end-to-end deep LF Image Compression method Using Disentangled Representation and Asymmetrical Strip Convolution (LFIC-DRASC) to improve coding efficiency. Firstly, we formulate the LF image compression problem as learning a disentangled LF representation network and an image encoding-decoding network. Secondly, we propose two novel feature extractors that leverage the structural prior of LF data by integrating features across different dimensions. Meanwhile, disentangled LF representation network is proposed to enhance the LF feature disentangling and decoupling. Thirdly, we propose the LFIC-DRASC for LF image compression, where two Asymmetrical Strip Convolution (ASC) operators, i.e. horizontal and vertical, are proposed to capture long-range correlation in LF feature space. These two ASC operators can be combined with the square convolution to further decouple LF features, which enhances the model ability in representing intricate spatial relationships. Experimental results demonstrate that the proposed LFIC-DRASC achieves an average of 20.5\% bit rate reductions comparing with the state-of-the-art methods.

eess.IV

Observation of surface Fermi arcs in altermagnetic Weyl semimetal CrSb

As a special type of collinear antiferromagnetism (AFM), altermagnetism has garnered significant research interest recently. Altermagnets exhibit broken parity-time symmetry and zero net magnetization in real space, leading to substantial band splitting in momentum space even in the absence of spin-orbit coupling. Meanwhile, parity-time symmetry breaking always induce nontrivial band topology such as Weyl nodes. While Weyl semimetal states and nodal lines have been theoretically proposed in altermagnets, rare reports of experimental observation have been made up to this point. Using ARPES and first-principles calculations, we systematically studied the electronic structure of the room-temperature altermagnet candidate CrSb. At generic locations in momentum space, we clearly observed band spin splitting. Furthermore, we identified discrete surface Fermi arcs on the (100) cleaved side surface close to the Fermi level originating from bulk band topology. Our results imply that CrSb contains interesting nontrivial topological Weyl physics, in addition to being an excellent room temperature altermagnet.

cond-mat.mtrl-sci

Observation of Giant Spin Splitting and d-wave Spin Texture in Room Temperature Altermagnet RuO2

Recently, a novel magnetic phase called altermagnetism has been proposed, ushering in a third distinct magnetic phase beyond ferromagnetism and antiferromagnetism. It is expected that this groundbreaking phase exhibits unique physical properties such as C-paired spin-valley locking, anomalous Hall effect, nontrivial Berry phase, and giant magnetoresistance, etc. Among all the predicted candidates, several room temperature altermagnets are suggested to host significant potential applications in the near future. Nevertheless, direct evidence about the spin pattern of the room temperature altermagnet is still unrevealed. Previous studies found that RuO2 is identified as the most promising candidate for room temperature d-wave altermagnetism, exhibiting a substantial spin splitting of up to 1.4 eV. In this study, utilizing angle-resolved photoemission spectroscopy (ARPES), we report experimental observation of the spin splitting in RuO2. Furthermore, employing spin-ARPES, we directly observed the d-wave spin pattern. Our results unequivocally show that RuO2 is a perfect d-wave altermagnet with great potential for upcoming spintronic applications.

cond-mat.mtrl-sci

Observation of Flat Band and Van Hove Singularity in Non-superconducting Nitrogen-doped Lutetium Hydride

Hydrogen-rich materials offer a compelling avenue towards room temperature superconductivity, albeit under ultra-high pressure. However, the experimental investigation of the electronic band structure remains elusive, due to the inherent instability of most of the hydrogen-rich materials upon pressure release. Very recently, nitrogen-doped lutetium hydride was claimed to host room temperature superconductivity under near ambient pressure but was disproven by following works. Upon decompression, nitrogen doped lutetium hydride manifests a stable metallic phase with dark blue color. Moreover, high temperature superconductivity has been reported in lutetium hydrides Lu4H23 (~71 K) under around 200 GPa. These properties engender an unprecedented opportunity, allowing for the experimental investigation of the electronic band structure intrinsic to hydrogen-rich material. In this work, using angle resolved photoemission spectroscopy to investigate the non-superconducting nitrogen doped lutetium hydride, we observed significant flat band and Van Hove singularity marginally below the Fermi level. These salient features, identified as critical elements, proffer potential amplifiers for the realization of heightened superconductivity, as evidenced by prior research. Our results not only unveil a confluence of potent strong correlation effects and anisotropy within the Lu-H-N compound, but also provide a prospect for engineering high temperature superconductivity through the strategic manipulation of flat band and the VHS, effectively tailoring their alignment with the Fermi energy.

cond-mat.supr-con

Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments

This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap analysis and trajectory optimization to achieve collision avoidance with respect to the predicted trajectories of dynamic agents within the sensing and planning horizon and with robustness to agent uncertainty. To address uncertainty over the planning horizon and real-time safety, a fast reactive safe set algorithm (SSA) is adopted, which monitors and modifies the unsafe control during trajectory tracking. Compared to other existing methods, our approach offers theoretical guarantees of safety and achieves collision-free navigation with higher probability in uncertain environments, as demonstrated in scenarios with 20 and 50 dynamic agents. Project website: https://hychen-naza.github.io/projects/HDAGap/.

cs.RO

Safer Gap: A Gap-based Local Planner for Safe Navigation with Nonholonomic Mobile Robots

This paper extends the gap-based navigation technique in Potential Gap by guaranteeing safety for nonholonomic robots for all tiers of the local planner hierarchy, so called Safer Gap. The first tier generates a Bezier-based collision-free path through gaps. A subset of navigable free-space from the robot through a gap, called the keyhole, is defined to be the union of the largest collision-free disc centered on the robot and a trapezoidal region directed through the gap. It is encoded by a shallow neural network zeroing barrier function (ZBF). Nonlinear model predictive control (NMPC), with Keyhole ZBF constraints and output tracking of the Bezier path, synthesizes a safe kinematically-feasible trajectory. Low-level use of the Keyhole ZBF within a point-wise optimization-based safe control synthesis module serves as a final safety layer. Simulation and experimental validation of Safer Gap confirm its collision-free navigation properties.

cs.RO

Potential Gap: Using Reactive Policies to Guarantee Safe Navigation

This paper considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module for hierarchical navigation systems that has provable collision-free properties. Given that APF theory applies to idealized robot models, the provable properties are lost when applied to more realistic models. We describe a set of algorithm modifications that correct for these errors and enhance robustness to non-ideal models. Central to the construction of the local planner is the use of sensory-derived local free-space models that detect gaps and use them for the synthesis of the APF. Modifications are given for a nonholonomic robot model. Integration of the local planner, called potential gap, into a hierarchical navigation system provides the local goals and trajectories needed for collision-free navigation through unknown environments. Monte Carlo experiments in benchmark worlds confirm the asserted safety and robustness properties by testing under various robot models.

cs.RO

Image-Based Trajectory Tracking through Unknown Environments without Absolute Positioning

This paper describes a stereo image-based visual servoing system for trajectory tracking by a non-holonomic robot without externally derived pose information nor a known visual map of the environment. It is called trajectory servoing. The critical component is a feature-based, indirect Simultaneous Localization And Mapping (SLAM) method to provide a pool of available features with estimated depth, so that they may be propagated forward in time to generate image feature trajectories for visual servoing. Short and long distance experiments show the benefits of trajectory servoing for navigating unknown areas without absolute positioning. Empirically, trajectory servoing has better trajectory tracking performance than pose-based feedback when both rely on the same underlying SLAM system.

cs.RO

Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion

Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow footprint associated with these motion strategies is well-suited to traversal of confined spaces and narrow pathways. Navigation and path planning in the absence of global sensing, however, remains a pivotal challenge to be addressed prior to practical deployment of these robotic mechanisms. Several challenges related to visual processing and localization need to be resolved to to enable navigation. As a first pass in this direction, we equip a wireless, monocular color camera to the head of a robotic snake. Visiual odometry and mapping from ORB-SLAM permits self-localization in planar, obstacle-strewn environments. Ground plane traversability segmentation in conjunction with perception-space collision detection permits path planning for navigation. A previously presented dynamical reduction of rectilinear snake locomotion to a non-holonomic kinematic vehicle informs both SLAM and planning. The simplified motion model is then applied to track planned trajectories through an obstacle configuration. This navigational framework enables a snake-like robotic platform to autonomously navigate and traverse unknown scenarios with only monocular vision.

cs.RO