arXiv subjects

Tao Yu

Publications and source records attributed to Tao Yu.

At least 127 records · Page 7Linked to original sources

arXiv2025

A Model-Data Dual-Driven Resource Allocation Scheme for IREE Oriented 6G Networks

The rapid and substantial fluctuations in wireless network capacity and traffic demand, driven by the emergence of 6G technologies, have exacerbated the issue of traffic-capacity mismatch, raising concerns about wireless network energy consumption. To address this challenge, we propose a model-data dual-driven resource allocation (MDDRA) algorithm aimed at maximizing the integrated relative energy efficiency (IREE) metric under dynamic traffic conditions. Unlike conventional model-driven or data-driven schemes, the proposed MDDRA framework employs a model-driven Lyapunov queue to accumulate long-term historical mismatch information and a data-driven Graph Radial bAsis Fourier (GRAF) network to predict the traffic variations under incomplete data, and hence eliminates the reliance on high-precision models and complete spatial-temporal traffic data. We establish the universal approximation property of the proposed GRAF network and provide convergence and complexity analysis for the MDDRA algorithm. Numerical experiments validate the performance gains achieved through the data-driven and model-driven components. By analyzing IREE and EE curves under diverse traffic conditions, we recommend that network operators shall spend more efforts to balance the traffic demand and the network capacity distribution to ensure the network performance, particularly in scenarios with large speed limits and higher driving visibility.

cs.NI↗

arXiv2025

Quantum traces for $SL_n$-skein algebras

We establish the existence of several quantum trace maps. The simplest one is an algebra map between two quantizations of the algebra of regular functions on the $SL_n$-character variety of a surface $\mathfrak{S}$ equipped with an ideal triangulation $λ$. The first is the (stated) $SL_n$-skein algebra $\mathscr{S}(\mathfrak{S})$. The second $\overline{\mathcal{X}}(\mathfrak{S},λ)$ is the Fock and Goncharov's quantization of their $X$-moduli space. The quantum trace is an algebra homomorphism $\bar{tr}^X:\overline{\mathscr{S}}(\mathfrak{S})\to\overline{\mathcal{X}}(\mathfrak{S},λ)$ where the reduced skein algebra $\overline{\mathscr{S}}(\mathfrak{S})$ is a quotient of $\mathscr{S}(\mathfrak{S})$. When the quantum parameter is 1, the quantum trace $\bar{tr}^X$ coincides with the classical Fock-Goncharov homomorphism. This is a generalization of the Bonahon-Wong quantum trace map for the case $n=2$. We then define the extended Fock-Goncharov algebra $\mathcal{X}(\mathfrak{S},λ)$ and show that $\bar{tr}^X$ can be lifted to $tr^X:\mathscr{S}(\mathfrak{S})\to\mathcal{X}(\mathfrak{S},λ)$. We show that both $\bar{tr}^X$ and $tr^X$ are natural with respect to the change of triangulations. When each connected component of $\mathfrak{S}$ has non-empty boundary and no interior ideal point, we define a quantization of the Fock-Goncharov $A$-moduli space $\overline{\mathcal{A}}(\mathfrak{S},λ)$ and its extension $\mathcal{A}(\mathfrak{S},λ)$. We then show that there exist quantum traces $\bar{tr}^A:\overline{\mathscr{S}}(\mathfrak{S})\to\overline{\mathcal{A}}(\mathfrak{S},λ)$ and $tr^A:\mathscr{S}(\mathfrak{S})\hookrightarrow\mathcal{A}(\mathfrak{S},λ)$, where the second map is injective, while the first is injective at least when $\mathfrak{S}$ is a polygon. They are equivalent to the $X$-versions but have better algebraic properties.

math.GT↗

arXiv2025

A Cooperative Aerial System of A Payload Drone Equipped with Dexterous Rappelling End Droid for Cluttered Space Pickup

In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative aerial system is proposed, which consists of a payload drone and a dexterous rappelling end droid. The two ends are linked via a Kevlar tether cable. The end droid is actuated by four propellers, which enable mid-air dexterous adjustment of clawing angle and guidance of cable movement. To avoid tanglement and rappelling obstacles, a trajectory optimization method that integrates cable length constraints and dynamic feasibility is developed, which guarantees safe pickup. A tether cable dynamic model is established to evaluate real-time cable status, considering both taut and sagging conditions. Simulation and real-world experiments are conducted to demonstrate that the proposed system is capable of picking up payload in cluttered spaces. As a result, the end droid can reach the target point successfully under cable constraints and achieve passive retrieval during the lifting phase without propulsion, which enables effective and efficient aerial manipulation.

cs.RO↗

arXiv2025

MuGrid-v2: A novel scintillator detector for multidisciplinary applications

Muography, traditionally recognized as a potent instrument for imaging the internal structure of gigantic objects, has initialized various interdisciplinary applications. As the financial and labor costs of muography detector development hinder their massive applications, we develop a novel muon detector called MuGrid by coupling a monolithic plastic scintillator with the light guide array in order to achieve competitive spatial resolution while substantially reducing production costs. For a prototype detector in 30 cm $\times$ 30 cm, the intrinsic spatial resolution has been optimized toward a millimeter scale. An outdoor field muography experiment was conducted to monitor two buildings for validation purposes. The test successfully resolved the geometric influence of architectural features based on the attenuation of muon flux in a good agreement between experimental results and the simulation prediction.

physics.ins-det↗

arXiv2025

Attacking Vision-Language Computer Agents via Pop-ups

Autonomous agents powered by large vision and language models (VLM) have demonstrated significant potential in completing daily computer tasks, such as browsing the web to book travel and operating desktop software, which requires agents to understand these interfaces. Despite such visual inputs becoming more integrated into agentic applications, what types of risks and attacks exist around them still remain unclear. In this work, we demonstrate that VLM agents can be easily attacked by a set of carefully designed adversarial pop-ups, which human users would typically recognize and ignore. This distraction leads agents to click these pop-ups instead of performing their tasks as usual. Integrating these pop-ups into existing agent testing environments like OSWorld and VisualWebArena leads to an attack success rate (the frequency of the agent clicking the pop-ups) of 86% on average and decreases the task success rate by 47%. Basic defense techniques, such as asking the agent to ignore pop-ups or including an advertisement notice, are ineffective against the attack.

cs.CL↗

arXiv2025

Ultra-strong coupling of two ferromagnets via Meissner currents

In this work, we study the magnetization dynamics in a ferromagnet/insulator/ferromagnet trilayer sandwiched between two superconductors (S/F/I/F/S heterostructure). It is well-known that a conceptually similar S/F/S system is a platform for implementing ultra-strong magnon-photon coupling. Here, we demonstrate that in such S/F/I/F/S heterostructure, ultra-strong magnon-magnon coupling between the two F layers also appears. The strength of this interaction is many times greater than the strength of the usual dipole-dipole interaction. It is mediated via Meissner currents excited in the superconductor layers by the magnon stray fields. The strength of the magnon-magnon coupling is anisotropic, and its anisotropy is opposite to the anisotropy of the magnon-photon coupling, which allows them to be separated. Both couplings become much stronger when the temperature drops below the critical temperature of the superconductor layers. It enables the implementation of an efficient tuning of the wavenumber in the S/F/I/F/S heterostructures controlled by temperature in a wide range of frequencies. Overall, the rich and tunable spectrum of S/F/I/F/S multilayers opens broad prospects for their application in magnonics.

cond-mat.supr-con↗

arXiv2025

Multi-Agent Reinforcement Learning-based Cooperative Autonomous Driving in Smart Intersections

Unsignalized intersections pose significant safety and efficiency challenges due to complex traffic flows. This paper proposes a novel roadside unit (RSU)-centric cooperative driving system leveraging global perception and vehicle-to-infrastructure (V2I) communication. The core of the system is an RSU-based decision-making module using a two-stage hybrid reinforcement learning (RL) framework. At first, policies are pre-trained offline using conservative Q-learning (CQL) combined with behavior cloning (BC) on collected dataset. Subsequently, these policies are fine-tuned in the simulation using multi-agent proximal policy optimization (MAPPO), aligned with a self-attention mechanism to effectively solve inter-agent dependencies. RSUs perform real-time inference based on the trained models to realize vehicle control via V2I communications. Extensive experiments in CARLA environment demonstrate high effectiveness of the proposed system, by: \textit{(i)} achieving failure rates below 0.03\% in coordinating three connected and autonomous vehicles (CAVs) through complex intersection scenarios, significantly outperforming the traditional Autoware control method, and \textit{(ii)} exhibiting strong robustness across varying numbers of controlled agents and shows promising generalization capabilities on other maps.

cs.RO↗

arXiv2025

Pangu Ultra MoE: How to Train Your Big MoE on Ascend NPUs

Sparse large language models (LLMs) with Mixture of Experts (MoE) and close to a trillion parameters are dominating the realm of most capable language models. However, the massive model scale poses significant challenges for the underlying software and hardware systems. In this paper, we aim to uncover a recipe to harness such scale on Ascend NPUs. The key goals are better usage of the computing resources under the dynamic sparse model structures and materializing the expected performance gain on the actual hardware. To select model configurations suitable for Ascend NPUs without repeatedly running the expensive experiments, we leverage simulation to compare the trade-off of various model hyperparameters. This study led to Pangu Ultra MoE, a sparse LLM with 718 billion parameters, and we conducted experiments on the model to verify the simulation results. On the system side, we dig into Expert Parallelism to optimize the communication between NPU devices to reduce the synchronization overhead. We also optimize the memory efficiency within the devices to further reduce the parameter and activation management overhead. In the end, we achieve an MFU of 30.0% when training Pangu Ultra MoE, with performance comparable to that of DeepSeek R1, on 6K Ascend NPUs, and demonstrate that the Ascend system is capable of harnessing all the training stages of the state-of-the-art language models. Extensive experiments indicate that our recipe can lead to efficient training of large-scale sparse language models with MoE. We also study the behaviors of such models for future reference.

cs.CL↗

arXiv2025

Aguvis: Unified Pure Vision Agents for Autonomous GUI Interaction

Automating GUI tasks remains challenging due to reliance on textual representations, platform-specific action spaces, and limited reasoning capabilities. We introduce Aguvis, a unified vision-based framework for autonomous GUI agents that directly operates on screen images, standardizes cross-platform interactions and incorporates structured reasoning via inner monologue. To enable this, we construct Aguvis Data Collection, a large-scale dataset with multimodal grounding and reasoning annotations, and develop a two-stage training pipeline that separates GUI grounding from planning and reasoning. Experiments show that Aguvis achieves state-of-the-art performance across offline and real-world online benchmarks, marking the first fully autonomous vision-based GUI agent that operates without closed-source models. We open-source all datasets, models, and training recipes at https://aguvis-project.github.io to advance future research.

cs.CL↗

arXiv2025

A Unified QoS-Aware Multiplexing Framework for Next Generation Immersive Communication with Legacy Wireless Applications

Immersive communication, including emerging augmented reality, virtual reality, and holographic telepresence, has been identified as a key service for enabling next-generation wireless applications. To align with legacy wireless applications, such as enhanced mobile broadband or ultra-reliable low-latency communication, network slicing has been widely adopted. However, attempting to statistically isolate the above types of wireless applications through different network slices may lead to throughput degradation and increased queue backlog. To address these challenges, we establish a unified QoS-aware framework that supports immersive communication and legacy wireless applications simultaneously. Based on the Lyapunov drift theorem, we transform the original long-term throughput maximization problem into an equivalent short-term throughput maximization weighted by virtual queue length. Moreover, to cope with the challenges introduced by the interaction between large-timescale network slicing and short-timescale resource allocation, we propose an adaptive adversarial slicing (Ad2S) scheme for networks with invarying channel statistics. To track the network channel variations, we also propose a measurement extrapolation-Kalman filter (ME-KF)-based method and refine our scheme into Ad2S-non-stationary refinement (Ad2S-NR). Through extended numerical examples, we demonstrate that our proposed schemes achieve 3.86 Mbps throughput improvement and 63.96% latency reduction with 24.36% convergence time reduction. Within our framework, the trade-off between total throughput and user service experience can be achieved by tuning systematic parameters.

cs.NI↗

arXiv2025

Digital Twin-Empowered Cooperative Autonomous Car-sharing Services: Proof-of-Concept

This paper presents a digital twin-empowered real-time optimal delivery system specifically validated through a proof-of-concept (PoC) demonstration of a real-world autonomous car-sharing service. This study integrates real-time data from roadside units (RSUs) and connected and autonomous vehicles (CAVs) within a digital twin of a campus environment to address the dynamic challenges of urban traffic. The proposed system leverages the Age of Information (AoI) metric to optimize vehicle routing by maintaining data freshness and dynamically adapting to real-time traffic conditions. Experimental results from the PoC demonstrate a 22% improvement in delivery efficiency compared to conventional shortest-path methods that do not consider information freshness. Furthermore, digital twin-based simulation results demonstrate that this proposed system improves overall delivery efficiency by 12% and effectively reduces the peak average AoI by 23% compared to the conventional method, where each vehicle selects the shortest route without considering information freshness. This study confirms the practical feasibility of cooperative driving systems, highlighting their potential to enhance smart mobility solutions through scalable digital twin deployments in complex urban environments.

cs.OH↗

arXiv2025

Nonuniversal Equation of State of a Quasi-2D Bose Gas in Dimensional Crossover

Equation of state (EOS) for a pure two-dimensional (2D) Bose gas exhibits a logarithmic dependence on the s-wave scattering length [L. Salasnich, Phys. Rev. Lett. 118, 130402 (2017)]. The pronounced disparity between the EOS of a 2D Bose gas and its 3D counterpart underscores the significance of exploring the dimensional crossover between these two distinct dimensions. In this work, we are motivated to deduce nonuniversal corrections to EOS for an optically trapped Bose gas along the dimensional crossover from 3D to 2D, incorporating the finite-range effects of the interatomic potential. Employing the framework of effective field theory, we derive the analytical expressions for both the ground state energy and quantum depletion. The introduction of the lattice induces a transition from a 3D to a quasi-2D regime. In particular, we systematically analyze the asymptotic behaviors of both the 2D and 3D aspects of the model system, with a specific focus on the nonuniversal effects on the EOS arising from finite-range interactions. The nonuniversal effects proposed in this study along the dimensional crossover represent a significant stride toward unraveling the intricate interplay between dimensionality and quantum fluctuations.

cond-mat.quant-gas↗

arXiv2025

Development of portable cosmic-ray muon detector array for muography

As the multidisciplinary applications of cosmic-ray muons expand to large-scale and wide-area scenarios, the construction of cosmic-ray muon detector arrays has become a key solution to overcome the hardware limitations of individual detector. For muography, the array-based detector design enables fast-scanning of large target objects, allowing for rapid identification of density variation regions, which can improve the efficiency of tomography. This paper integrates scintillator detector technology with Internet of things (IoT) technology, proposing a novel array networking model for nationwide deployment. The model enables long-distance data collection and distribution, laying the foundation for future multidisciplinary applications such as muography and other fields.

physics.ins-det↗

arXiv2025

BRIGHT: A Realistic and Challenging Benchmark for Reasoning-Intensive Retrieval

Existing retrieval benchmarks primarily consist of information-seeking queries (e.g., aggregated questions from search engines) where keyword or semantic-based retrieval is usually sufficient. However, many complex real-world queries require in-depth reasoning to identify relevant documents that go beyond surface form matching. For example, finding documentation for a coding question requires understanding the logic and syntax of the functions involved. To better benchmark retrieval on such challenging queries, we introduce BRIGHT, the first text retrieval benchmark that requires intensive reasoning to retrieve relevant documents. Our dataset consists of 1,384 real-world queries spanning diverse domains, such as economics, psychology, mathematics, and coding. These queries are drawn from naturally occurring and carefully curated human data. Extensive evaluation reveals that even state-of-the-art retrieval models perform poorly on BRIGHT. The leading model on the MTEB leaderboard (Muennighoff et al., 2023) SFR-Embedding-Mistral (Meng et al., 2024), which achieves a score of 59.0 nDCG@10,1 produces a score of nDCG@10 of 18.3 on BRIGHT. We show that incorporating explicit reasoning about the query improves retrieval performance by up to 12.2 points. Moreover, incorporating retrieved documents from the top-performing retriever boosts question-answering performance. We believe that BRIGHT paves the way for future research on retrieval systems in more realistic and challenging settings.

cs.CL↗

arXiv2025

Aligning Multimodal LLM with Human Preference: A Survey

Large language models (LLMs) can handle a wide variety of general tasks with simple prompts, without the need for task-specific training. Multimodal Large Language Models (MLLMs), built upon LLMs, have demonstrated impressive potential in tackling complex tasks involving visual, auditory, and textual data. However, critical issues related to truthfulness, safety, o1-like reasoning, and alignment with human preference remain insufficiently addressed. This gap has spurred the emergence of various alignment algorithms, each targeting different application scenarios and optimization goals. Recent studies have shown that alignment algorithms are a powerful approach to resolving the aforementioned challenges. In this paper, we aim to provide a comprehensive and systematic review of alignment algorithms for MLLMs. Specifically, we explore four key aspects: (1) the application scenarios covered by alignment algorithms, including general image understanding, multi-image, video, and audio, and extended multimodal applications; (2) the core factors in constructing alignment datasets, including data sources, model responses, and preference annotations; (3) the benchmarks used to evaluate alignment algorithms; and (4) a discussion of potential future directions for the development of alignment algorithms. This work seeks to help researchers organize current advancements in the field and inspire better alignment methods. The project page of this paper is available at https://github.com/BradyFU/Awesome-Multimodal-Large-Language-Models/tree/Alignment.

cs.CV↗

arXiv2025

GUI-Xplore: Empowering Generalizable GUI Agents with One Exploration

GUI agents hold significant potential to enhance the experience and efficiency of human-device interaction. However, current methods face challenges in generalizing across applications (apps) and tasks, primarily due to two fundamental limitations in existing datasets. First, these datasets overlook developer-induced structural variations among apps, limiting the transferability of knowledge across diverse software environments. Second, many of them focus solely on navigation tasks, which restricts their capacity to represent comprehensive software architectures and complex user interactions. To address these challenges, we introduce GUI-Xplore, a dataset meticulously designed to enhance cross-application and cross-task generalization via an exploration-and-reasoning framework. GUI-Xplore integrates pre-recorded exploration videos providing contextual insights, alongside five hierarchically structured downstream tasks designed to comprehensively evaluate GUI agent capabilities. To fully exploit GUI-Xplore's unique features, we propose Xplore-Agent, a GUI agent framework that combines Action-aware GUI Modeling with Graph-Guided Environment Reasoning. Further experiments indicate that Xplore-Agent achieves a 10% improvement over existing methods in unfamiliar environments, yet there remains significant potential for further enhancement towards truly generalizable GUI agents.

cs.CV↗

arXiv2025

Spider 2.0: Evaluating Language Models on Real-World Enterprise Text-to-SQL Workflows

Real-world enterprise text-to-SQL workflows often involve complex cloud or local data across various database systems, multiple SQL queries in various dialects, and diverse operations from data transformation to analytics. We introduce Spider 2.0, an evaluation framework comprising 632 real-world text-to-SQL workflow problems derived from enterprise-level database use cases. The databases in Spider 2.0 are sourced from real data applications, often containing over 1,000 columns and stored in local or cloud database systems such as BigQuery and Snowflake. We show that solving problems in Spider 2.0 frequently requires understanding and searching through database metadata, dialect documentation, and even project-level codebases. This challenge calls for models to interact with complex SQL workflow environments, process extremely long contexts, perform intricate reasoning, and generate multiple SQL queries with diverse operations, often exceeding 100 lines, which goes far beyond traditional text-to-SQL challenges. Our evaluations indicate that based on o1-preview, our code agent framework successfully solves only 21.3% of the tasks, compared with 91.2% on Spider 1.0 and 73.0% on BIRD. Our results on Spider 2.0 show that while language models have demonstrated remarkable performance in code generation -- especially in prior text-to-SQL benchmarks -- they require significant improvement in order to achieve adequate performance for real-world enterprise usage. Progress on Spider 2.0 represents crucial steps towards developing intelligent, autonomous, code agents for real-world enterprise settings. Our code, baseline models, and data are available at https://spider2-sql.github.io

cs.CL↗

arXiv2025

Agents Play Thousands of 3D Video Games

We present PORTAL, a novel framework for developing artificial intelligence agents capable of playing thousands of 3D video games through language-guided policy generation. By transforming decision-making problems into language modeling tasks, our approach leverages large language models (LLMs) to generate behavior trees represented in domain-specific language (DSL). This method eliminates the computational burden associated with traditional reinforcement learning approaches while preserving strategic depth and rapid adaptability. Our framework introduces a hybrid policy structure that combines rule-based nodes with neural network components, enabling both high-level strategic reasoning and precise low-level control. A dual-feedback mechanism incorporating quantitative game metrics and vision-language model analysis facilitates iterative policy improvement at both tactical and strategic levels. The resulting policies are instantaneously deployable, human-interpretable, and capable of generalizing across diverse gaming environments. Experimental results demonstrate PORTAL's effectiveness across thousands of first-person shooter (FPS) games, showcasing significant improvements in development efficiency, policy generalization, and behavior diversity compared to traditional approaches. PORTAL represents a significant advancement in game AI development, offering a practical solution for creating sophisticated agents that can operate across thousands of commercial video games with minimal development overhead. Experiment results on the 3D video games are best viewed on https://zhongwen.one/projects/portal .

cs.LG↗