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Tao Yu

Publications and source records attributed to Tao Yu.

At least 55 records · Page 3Linked to original sources
arXiv2026

MotionPRO: Exploring the Role of Pressure in Human MoCap and Beyond

Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer from issues such as timing drift and jitter, spatial problems like sliding and penetration, and poor global trajectory accuracy. In this paper, we revisit human MoCap from the perspective of interaction between human body and physical world by exploring the role of pressure. Firstly, we construct a large-scale human Motion capture dataset with Pressure, RGB and Optical sensors (named MotionPRO), which comprises 70 volunteers performing 400 types of motion, encompassing a total of 12.4M pose frames. Secondly, we examine both the necessity and effectiveness of the pressure signal through two challenging tasks: (1) pose and trajectory estimation based solely on pressure: We propose a network that incorporates a small kernel decoder and a long-short-term attention module, and proof that pressure could provide accurate global trajectory and plausible lower body pose. (2) pose and trajectory estimation by fusing pressure and RGB: We impose constraints on orthographic similarity along the camera axis and whole-body contact along the vertical axis to enhance the cross-attention strategy to fuse pressure and RGB feature maps. Experiments demonstrate that fusing pressure with RGB features not only significantly improves performance in terms of objective metrics, but also plausibly drives virtual humans (SMPL) in 3D scene. Furthermore, we demonstrate that incorporating physical perception enables humanoid robots to perform more precise and stable actions, which is highly beneficial for the development of embodied artificial intelligence. Project page is available at: https://nju-cite-mocaphumanoid.github.io/MotionPRO/

cs.CV↗
arXiv2026

V2V3D: View-to-View Denoised 3D Reconstruction for Light-Field Microscopy

Light field microscopy (LFM) has gained significant attention due to its ability to capture snapshot-based, large-scale 3D fluorescence images. However, existing LFM reconstruction algorithms are highly sensitive to sensor noise or require hard-to-get ground-truth annotated data for training. To address these challenges, this paper introduces V2V3D, an unsupervised view2view-based framework that establishes a new paradigm for joint optimization of image denoising and 3D reconstruction in a unified architecture. We assume that the LF images are derived from a consistent 3D signal, with the noise in each view being independent. This enables V2V3D to incorporate the principle of noise2noise for effective denoising. To enhance the recovery of high-frequency details, we propose a novel wave-optics-based feature alignment technique, which transforms the point spread function, used for forward propagation in wave optics, into convolution kernels specifically designed for feature alignment. Moreover, we introduce an LFM dataset containing LF images and their corresponding 3D intensity volumes. Extensive experiments demonstrate that our approach achieves high computational efficiency and outperforms the other state-of-the-art methods. These advancements position V2V3D as a promising solution for 3D imaging under challenging conditions.

cs.CV↗
arXiv2026

DirectFisheye-GS: Enabling Native Fisheye Input in Gaussian Splatting with Cross-View Joint Optimization

3D Gaussian Splatting (3DGS) has enabled efficient 3D scene reconstruction from everyday images with real-time, high-fidelity rendering, greatly advancing VR/AR applications. Fisheye cameras, with their wider field of view (FOV), promise high-quality reconstructions from fewer inputs and have recently attracted much attention. However, since 3DGS relies on rasterization, most subsequent works involving fisheye camera inputs first undistort images before training, which introduces two problems: 1) Black borders at image edges cause information loss and negate the fisheye's large FOV advantage; 2) Undistortion's stretch-and-interpolate resampling spreads each pixel's value over a larger area, diluting detail density -- causes 3DGS overfitting these low-frequency zones, producing blur and floating artifacts. In this work, we integrate fisheye camera model into the original 3DGS framework, enabling native fisheye image input for training without preprocessing. Despite correct modeling, we observed that the reconstructed scenes still exhibit floaters at image edges: Distortion increases toward the periphery, and 3DGS's original per-iteration random-selecting-view optimization ignores the cross-view correlations of a Gaussian, leading to extreme shapes (e.g., oversized or elongated) that degrade reconstruction quality. To address this, we introduce a feature-overlap-driven cross-view joint optimization strategy that establishes consistent geometric and photometric constraints across views-a technique equally applicable to existing pinhole-camera-based pipelines. Our DirectFisheye-GS matches or surpasses state-of-the-art performance on public datasets. Project Page: https://yzxqh.github.io/DirectFisheye-GS/ .

cs.CV↗
arXiv2026

LaPA$^2$: Length-Aware Prefix and Prompt Attention Augmentation for Long-Form Controllable Text Generation

Prefix-based methods have emerged as a promising paradigm for Controllable Text Generation (CTG) due to their parameter efficiency. However, while effective in short sequences, their controllability tends to diminish as the generated sequence grows. In this paper, we identify Attention Dilution as a key factor behind this phenomenon: as the sequence length increases, the attention allocated to the control signal naturally decays due to the softmax mechanism, leading to a "fading" control effect. To address this, we propose LaPA$^2$ (Length-aware Prefix and Prompt Attention Augmentation), a training-free and model-agnostic framework designed to sustain robust control in long contexts. Specifically, LaPA$^2$ employs Length-Aware Logarithmic Scaling to dynamically amplify prefix attention weights, mathematically counteracting the dilution effect, while an optional Contextual Anchor Reinforcement applies synchronized augmentation to prompt tokens, preserving semantic coherence when strong attribute control risks overshadowing the original prompt. LaPA$^2$ is versatile, supporting both soft prefixes (continuous embeddings) and hard prefixes (discrete instructions). Experiments on multiple CTG tasks demonstrate that LaPA$^2$ consistently improves the performance of various prefix-based methods in long-form settings, leading to superior attribute controllability while preserving content relevance and fluency. Our code and data are publicly available at https://github.com/jiabingyang01/LaPA2.

cs.CL↗
arXiv2026

Non-Relativistic Spin-Orbit Interaction in Triplet Superconductors: Edelstein Effect and Spin Pumping by Electric Fields

Non-relativistic momentum-dependent spin splitting, as observed in collinear altermagnets and non-collinear $p$-wave magnets, provides exciting avenues for controlling spin dynamics. Here, we reveal a distinct form of non-relativistic ``spin-orbit coupling" in triplet superconductors by demonstrating that the triplet order parameter induces a wave-vector-dependent spin texture of Bogoliubov quasiparticles, thereby entangling their orbital and spin motions. Even in the absence of relativistic spin-orbit coupling, this intertwining of spin and orbital motion allows an electric field to generate spin polarization in a $p$-wave superconductor -- that is, an Edelstein effect. Building on this mechanism, we propose an efficient scheme for the nonlinear generation of a DC spin current via electric near fields, driven by AC spin polarization and electron velocity. This general principle offers a powerful route for generating and manipulating spin currents in unconventional superconductors.

cond-mat.supr-con↗
arXiv2026

Anisotropic Surface Spin Waves as Signature of A-type Altermagnets

Altermagnets have attracted intense interest because they have the advantages of both ferromagnets and antiferromagnets. However, their experimental identification remains challenging, in particular for the A-type altermagnets that account for a large group of material candidates. Here, we discover a kind of anisotropic surface spin waves in A-type altermagnets, which is absent in ferromagnets and conventional antiferromagnets. The anisotropic surface spin waves arise directly from the nature of altermagnets, i.e., the spin-opposite sublattices cannot be related by translation or inversion, which breaks the combined spatial-inversion and time-reversal symmetry, leading to the anisotropic surface spin waves with two properties, the chirality-dependent top-bottom positions and chiral split constant frequency contours. We further show that these two properties can be measured experimentally from the stray field and by resonance absorption spectrum, respectively. Our results provide a signature for detecting altermagnets and will inspire spin-based logic and information-storage devices.

cond-mat.mes-hall↗
arXiv2026

BioHuman: Learning Biomechanical Human Representations from Video

Understanding human motion beyond surface kinematics is crucial for motion analysis, rehabilitation, and injury risk assessment. However, progress in this domain is limited by the lack of large-scale datasets with biomechanical annotations, and by existing approaches that cannot directly infer internal biomechanical states from visual observations. In this paper, we introduce a simulation-based framework for estimating muscle activations from existing motion capture datasets, resulting in BioHuman10M, a large-scale dataset with synchronized video, motion, and activations. Building on BioHuman10M, we propose BioHuman, an end-to-end model that takes monocular video as input and jointly predicts human motion and muscle activations, effectively bridging visual observations and internal biomechanical states. Extensive experiments demonstrate that BioHuman enables accurate reconstruction of both kinematic motion and muscle activity, and generalizes across diverse subjects and motions. We believe our approach establishes a new benchmark for video-based biomechanical understanding and opens up new possibilities for physically grounded human modeling.

cs.CV↗
arXiv2026

Scaling Laws Meet Model Architecture: Toward Inference-Efficient LLMs

Scaling the number of parameters and the size of training data has proven to be an effective strategy for improving large language model (LLM) performance. Yet, as these models grow increasingly powerful and widely deployed, the cost of inference has become a pressing concern. Despite its importance, the trade-off between model accuracy and inference efficiency remains underexplored. In this work, we examine how key architectural factors, hidden size, the allocation of parameters between MLP and attention (mlp-to-attention ratio), and grouped-query attention (GQA), influence both inference cost and accuracy. We introduce a conditional scaling law that augments the Chinchilla framework with architectural information, along with a search framework for identifying architectures that are simultaneously inference-efficient and accurate. To validate our approach, we train more than 200 models spanning 80M to 3B parameters and 8B to 100B training tokens, and fit the proposed conditional scaling law. Our results show that the conditional scaling law reliably predicts optimal architectural choices and that the resulting models outperform existing open-source baselines. Under the same training budget, optimized architectures achieve up to 2.1% higher accuracy and 42% greater inference throughput compared to LLaMA-3.2.

cs.LG↗
arXiv2026

Beyond the All-in-One Agent: Benchmarking Role-Specialized Multi-Agent Collaboration in Enterprise Workflows

Large language model (LLM) agents are increasingly expected to operate in enterprise environments, where work is distributed across specialized roles, permission-controlled systems, and cross-departmental procedures. However, existing enterprise benchmarks largely evaluate single agents with broad tool access, while existing multi-agent benchmarks rarely capture realistic enterprise constraints such as role specialization, access control, stateful business systems, and policy-based approvals. We introduce \textsc{EntCollabBench}, a benchmark for evaluating enterprise multi-agent collaboration. \textsc{EntCollabBench} simulates a permission-isolated organization with 11 role-specialized agents across six departments and contains two evaluation subsets: a Workflow subset, where agents collaboratively modify enterprise system states, and an Approval subset, where agents make policy-grounded decisions. Evaluation is based on execution traces, database state verification, and deterministic policy adjudication rather than natural-language response judging. Experiments with representative LLM agents show that current models still struggle with end-to-end enterprise collaboration, especially in delegation, context transfer, parameter grounding, workflow closure, and decision commitment. \textsc{EntCollabBench} provides a reproducible testbed for measuring and improving agent systems intended for realistic organizational environments.

cs.MA↗
arXiv2026

Omni-DeepSearch: A Benchmark for Audio-Driven Omni-Modal Deep Search

Current omni-modal benchmarks mainly evaluate models under settings where multiple modalities are provided simultaneously, while the ability to start from audio alone and actively search for cross-modal evidence remains underexplored. In this paper, we introduce \textbf{Omni-DeepSearch}, a benchmark for audio-driven omni-modal deep search. Given one or more audio clips and a related question, models must infer useful clues from audio, invoke text, image, and video search tools, and perform multi-hop reasoning to produce a short, objective, and verifiable answer. Omni-DeepSearch contains 640 samples across 15 fine-grained categories, covering four retrieval target modalities and four audio content types. A multi-stage filtering pipeline ensures audio dependence, retrieval necessity, visual modality necessity, and answer uniqueness. Experiments on recent closed-source and open-source omni-modal models show that this task remains highly challenging: the strongest evaluated model, Gemini-3-Pro, achieves only 43.44\% average accuracy. Further analyses illustrate key bottlenecks in audio entity inference, query formulation, tool-use reliability, multi-hop retrieval, and cross-modal verification. These results highlight audio-driven omni-modal deep search as an important and underexplored direction for future multimodal agents.

cs.SD↗
arXiv2026

ReST-KV: Robust KV Cache Eviction with Layer-wise Output Reconstruction and Spatial-Temporal Smoothing

Large language models (LLMs) face growing challenges in efficient generative inference due to the increasing memory demands of Key-Value (KV) caches, especially for long sequences. Existing eviction methods typically retain KV pairs with high attention weights but overlook the impact of attention redistribution caused by token removal, as well as the spatial-temporal dynamics in KV selection. In this paper, we propose ReST-KV, a robust KV eviction method that combines layer-wise output Reconstruction and Spatial-Temporal smoothing to provide a more comprehensive perspective for the KV cache eviction task. Specifically, ReST-KV formulates KV cache eviction as an optimization problem that minimizes output discrepancies through efficient layer-wise reconstruction. By directly modeling how each token's removal affects the model output, our method naturally captures attention redistribution effects, going beyond simplistic reliance on raw attention weights. To further enhance robustness, we design exponential moving average smoothing to handle temporal variations and an adaptive window-based mechanism to capture spatial patterns. Our method, ReST-KV, significantly advances performance on long-context benchmarks. It surpasses state-of-the-art baselines by 2.58% on LongBench and 15.2% on RULER. Additionally, ReST-KV consistently outperforms existing methods on Needle-in-a-Haystack and InfiniteBench, all while achieving a remarkable 10.61$\times$ reduction in decoding latency at 128k context length. The code is publicly available at https://github.com/an-yongqi/rest-kv to facilitate reproducibility and further research.

cs.CL↗
arXiv2026

Caracal: Causal Architecture via Spectral Mixing

The scalability of Large Language Models to long sequences is hindered by the quadratic cost of attention and the limitations of positional encodings. To address these, we introduce Caracal, a novel architecture that replaces attention with a parameter-efficient, O(L log(L)) Multi-Head Fourier (MHF) module. Our contributions are threefold: (1) We leverage the Fast Fourier Transform (FFT) for sequence mixing, inherently addressing both bottlenecks mentioned above. (2) We apply a frequency-domain causal masking technique that enforces autoregressive capabilities via asymmetric padding and truncation, overcoming a critical barrier for Fourier-based generative models. (3) Unlike efficient models relying on hardware-specific implementations (e.g., Mamba), we uses standard library operators. This ensures robust portability, eliminating common deployment barriers. Evaluations demonstrate that Caracal performs competitively with Transformer and SSM baselines, offering a scalable and simple pathway for efficient long-sequence modeling. Code is available in Appendix.

cs.LG↗
arXiv2026

Uno-Orchestra: Parsimonious Agent Routing via Selective Delegation

Large language model (LLM) multi-agent systems typically rely on rigid orchestration, committing either to flat per-query routing or to hand-engineered task decomposition, so decomposition depth, worker choice, and inference budget are not jointly optimized under one objective. We introduce Uno-Orchestra, a unified orchestration policy that selectively decomposes a task and dispatches each subtask to an admissible (model, primitive) pair, with both decisions learned together from curated RL trajectories grounded in real worker interactions. Against 22 baselines on a 13-benchmark suite spanning math, code, knowledge, long-context, and agentic tool-use, Uno-Orchestra reaches 77.0% macro pass@1, roughly 16% above the strongest workflow baseline, at roughly an order of magnitude lower per-query cost, advancing the accuracy-efficiency frontier of selective delegation.

cs.AI↗
arXiv2026

HY-Himmel Technical Report: Hierarchical Interleaved Multi-stream Motion Encoding for Long Video Understanding

Long-video understanding with multimodal language models suffers from three compounding bottlenecks: heavy decode cost to obtain dense RGB frames, quadratic token growth with frame count, and weak motion perception under sparse keyframe sampling. We present HY-Himmel, a hierarchical video-language framework that allocates semantic and motion capacity separately. A small set of sparse anchor I-frames is routed to the expensive host ViT to ground object identity and scene layout, while the far denser inter-frame intervals are encoded by a lightweight compressed-domain tri-stream adapter that distils motion evidence from motion-vector maps, residual maps, and I-frame context into aligned motion tokens. These tokens are injected into the LLM via a differentiable placeholder mechanism after a dedicated Stage-1 contrastive alignment that places the motion representation in a geometry compatible with the frozen visual backbone. On Video-MME, HY-Himmel surpasses the dense 32-frame baseline by +2.3 pp (61.2 to 63.5%) while using 3.6x fewer context tokens. Extensive ablations over stream composition, motion encoder family, fusion mode, alignment objective, anchor count, LoRA rank, and video duration confirm that the full tri-stream is necessary and sufficient for the observed gains.

cs.CV↗
arXiv2026

Vector Magnonics: Electrical Injection and Control of Spin Flow in Altermagnets

Altermagnets host chirally split magnons that promise unique functionalities for information processing. However, their distinctive transport signatures, crucial for experimental identification and manipulation, remain elusive. Here, we predict that a spin accumulation electrically injects a ``vector" or multidirectional magnon spin current into an altermagnet, comprising both longitudinal and sizable transverse components. Notably, this transverse current exhibits a sign reversal away from the source and can be switched on or off by reorienting the Néel vector. While such a transverse current is found to be not forbidden even in conventional antiferromagnets, we demonstrate through quantum-kinetic calculations that in altermagnets, the transverse response is enhanced by two orders of magnitude due to broken parity-time symmetry. This giant enhancement provides a decisive transport fingerprint for detecting magnon spin splitting and Néel-vector orientation, offering a clear criterion to experimentally distinguish altermagnets from conventional antiferromagnets.

cond-mat.mes-hall↗
arXiv2026

Diffusion Models for Solving Inverse Problems via Posterior Sampling with Piecewise Guidance

Diffusion models are powerful tools for sampling from high-dimensional distributions by progressively transforming pure noise into structured data through a denoising process. When equipped with a guidance mechanism, these models can also generate samples from conditional distributions. In this paper, a novel diffusion-based framework is introduced for solving inverse problems using a piecewise guidance scheme. The guidance term is defined as a piecewise function of the diffusion timestep, facilitating the use of different approximations during high-noise and low-noise phases. This design is shown to effectively balance computational efficiency with the accuracy of the guidance term. Unlike task-specific approaches that require retraining for each problem, the proposed method is problem-agnostic and readily adaptable to a variety of inverse problems. Additionally, it explicitly incorporates measurement noise into the reconstruction process. The effectiveness of the proposed framework is demonstrated through extensive experiments on image restoration tasks, specifically image inpainting and super-resolution. Using a class conditional diffusion model for recovery, compared to the \blue{pseudoinverse-guided diffusion model (\textrm{\(Π\)}GDM) baseline}, the proposed framework achieves a reduction in inference time of \(25\%\) for inpainting with both random and center masks, and \(23\%\) and \(24\%\) for \(4\times\) and \(8\times\) super-resolution tasks, respectively, while incurring only negligible loss in PSNR and SSIM.

cs.LG↗
arXiv2026

A semiparametric two-sample homogeneity test with nonignorable nonresponse using callback data

Testing the homogeneity of two distributions is fundamental in statistics, but classical procedures may fail under nonignorable nonresponse. In many surveys, callback data record repeated contact attempts and provide auxiliary information about the response mechanism. We develop a semiparametric framework for two-sample homogeneity testing that explicitly incorporates such information. The response mechanism is modeled by a flexible semiparametric callback model, while the two population distributions are linked through a density ratio model. Within this unified framework, we propose an empirical likelihood ratio test for distributional homogeneity and show that, under the null hypothesis, it has a Wilks-type chi-square limit. To facilitate computation, we develop an efficient expectation-maximization-type algorithm. Simulation results show that the proposed method controls type I error well and achieves substantially higher power than existing methods that ignore nonignorable missingness. An application to real survey income data illustrates its practical value.

stat.ME↗
arXiv2026

Transformer Architecture with Minimal Inference Latency for Multi-Modal Wireless Networks

Next-generation wireless networks are expected to leverage multi-modal data sources to execute various wireless communication tasks such as beamforming and blockage prediction with situational-awareness. To do so, multi-modal transformers emerged as an effective tool, however, existing transformer-based approaches suffer from high inference latency and large memory footprints when processing multi-modal data. Hence, such existing solutions cannot handle wireless communication tasks that require fast inference to track a dynamically changing environment with moving vehicles and blockages. One major bottleneck is the reliance on attention mechanisms whose complexity grows quadratically with respect to the number of tokens. Hence, in this paper, a novel, fast multi-modal transformer inference framework is designed to practically support wireless communication tasks by processing only important tokens. To this end, an optimization problem is formulated to find the optimal number of tokens under a target FLOPs for a given wireless communication task while maintaining the task accuracy. To solve this problem, modality-specific tokenizers are first designed to project each modality into the same embedding dimension. Then, a token router is introduced to learn the importance of each token and process only important tokens. Subsequently, a trainable keep ratio is introduced to learn how many tokens to process for each layer under the target FLOPs. Simulation results show that, on DeepSense 6G beamforming tasks, we can reduce the inference latency, GPU memory, and FLOPs by 86.2% 35%, and 80%, respectively, with negligible accuracy loss. To validate the feasibility for real-world deployments, a multi-modal handover dataset is developed using a real-world testbed. Emulation results on the developed dataset show that the proposed framework can proactively initiate handover before blockage.

eess.SY↗