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Tianyu Zhou

Publications and source records attributed to Tianyu Zhou.

At least 19 recordsLinked to original sources

Looped GPT-BERT: Trading Parameters for Computation in Small Language Modeling

When training data are limited, increasing parameter count is not the only way to improve language-model performance. A small parameter set, when repeatedly applied, can also deliver comparable performance. We study Looped GPT-BERT in the BabyLM 2026 Strict-small setting, combining GPT-BERT's masked next-token and causal language-modeling objectives with depth-wise parameter sharing. We train on a preprocessed 7.48M-word English corpus and compare objective ratios, non-looped and looped architectures, and loop counts. Our final $4\times12$ model uses four physical layers for twelve recurrent traversals and contains 12.18M parameters. The BabyLM 2026 leaderboard reports an Overall Average of 35.42 and an NLP Average of 48.48. Compared with public BabyLM 10M Strict-small GPT-2 and GPT-BERT baselines, it achieves comparable performance on selected linguistic and downstream metrics, including BLiMP and GLUE, with fewer parameters. The loop ablations show that additional recurrent computation can improve training and preserve strong performance on selected linguistic tasks, whereas poorer performance on other tasks may reveal an inherent limitation of the looped design: using only a few physical layers restricts the model's representational space.

cs.CL

A 3DGS-Driven Dynamic Viewpoint and Vibrotactile Framework for Subsea Teleoperation Validated via fNIRS

Teleoperating remotely operated vehicles (ROVs) in flooded, cluttered infrastructure is fundamentally limited by narrow 2D egocentric views and subsea communication latency. We present a multimodal teleoperation architecture built on a ROS-Unity framework that decouples proactive spatial planning from reactive boundary avoidance. The system replaces static camera feeds with a Dynamic Adaptive Viewpoint System (DAVS), which uses continuous optimization and real-time 3D Gaussian Splatting (3DGS) to synthesize an occlusion-free exocentric viewpoint from onboard state estimation. To further reduce sensory workload, a torso-mounted vibrotactile suit maps local obstacle clearance to intuitive haptic proximity cues. The architecture was evaluated in a controlled human-subject study (N = 30) using a BlueROV2 navigating a complex simulated underwater facility. A 3 x 4 repeated-measures design compared three interaction modalities (Egocentric, Haptic, Exocentric) under four communication delays (0.0-1.0 s). Performance was quantified using behavioral measures and functional near-infrared spectroscopy (fNIRS) to assess task-evoked prefrontal activation. Results show that reactive haptic feedback improves path adherence under minimal delay, whereas the 3DGS-driven exocentric visualization provides superior resilience under severe latency (0.5-1.0 s), significantly outperforming the other modalities. fNIRS further revealed a cognitive disengagement effect: increasing latency during conventional egocentric teleoperation overloaded working memory and reduced prefrontal activation, whereas the proactive spatial context provided by DAVS sustained executive control. These findings demonstrate that spatially grounded, multimodal assistance can substantially improve operator performance and cognitive endurance during latency-degraded underwater teleoperation.

cs.RO

Sensing of Low-Frequency Electric Fields Using Rydberg EIT within the Fisher Information Framework

Rydberg atoms, which possess exceptionally large electric dipole moments, offer a promising route for electric field sensing as well as metrology traceable to the International System of Units (SI); however, current research predominantly focuses on the microwave (MW) regime, leaving the quasi-direct current (quasi-DC) and low-frequency bands, ubiquitous in power systems, largely unexplored. In this paper, we present a theoretical investigation into low-frequency electric field detection. To this end, we establish a comprehensive modeling framework incorporating Fisher information (FI) and the Cramér-Rao lower bound (CRLB) to quantify the fundamental precision limits of electromagnetically induced transparency (EIT) readouts. Building upon this framework, we propose a linearized sensing strategy utilizing a DC-biased two-point differential measurement. Numerical validations demonstrate that this approach effectively mitigates the weak-field insensitivity for both DC and AC fields, achieving a CRLB-limited sensitivity bound of approximately $1\times 10^{-4}$ V/m/$\sqrt{\text{Hz}}$. Furthermore, to surpass the single-pass sensitivity limit, we introduce a Fabry-Pérot (FP) cavity-enhanced configuration. This architecture leverages intracavity phase modulation to significantly steepen the transmission slope, boosting the FI by over two orders of magnitude compared to standard free-space configurations. This work provides a rigorous theoretical basis and design guidance for the high-precision quantum monitoring of electromagnetic environments in smart grids.

quant-ph

Online Intention Prediction via Control-Informed Learning

This paper presents an online intention prediction framework for estimating the goal state of autonomous systems in real time, even when intention is time-varying, and system dynamics or objectives include unknown parameters. The problem is formulated as an inverse optimal control / inverse reinforcement learning task, with the intention treated as a parameter in the objective. A shifting horizon strategy discounts outdated information, while online control-informed learning enables efficient gradient computation and online parameter updates. Simulations under varying noise levels and hardware experiments on a quadrotor drone demonstrate that the proposed approach achieves accurate, adaptive intention prediction in complex environments.

cs.RO

TEGA: A Tactile-Enhanced Grasping Assistant for Assistive Robotics via Sensor Fusion and Closed-Loop Haptic Feedback

Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger positioning is essential, it often overlooks the equally critical task of grasp force modulation, vital for handling objects of diverse hardness, texture, and shape. This limitation poses a significant challenge for users, especially individuals with upper limb disabilities who lack natural tactile feedback and rely on indirect cues to infer appropriate force levels. To address this gap, We present the tactile enhanced grasping assistant (TEGA), a closed loop assistive teleoperation framework that fuses EMG based intent2force inference with visuotactile sensing mapped into real time vibrotactile feedback via a wearable haptic vest, enabling intuitive, proportional force adjustment during manipulation. A wearable haptic vest delivers real time tactile feedback, allowing users to dynamically refine grasp force during manipulation. User studies confirm that the system substantially improves grasp stability and task success, underscoring its potential for assistive robotic applications.

cs.RO

Safe Online Control-Informed Learning

This paper proposes a Safe Online Control-Informed Learning framework for safety-critical autonomous systems. The framework unifies optimal control, parameter estimation, and safety constraints into an online learning process. It employs an extended Kalman filter to incrementally update system parameters in real time, enabling robust and data-efficient adaptation under uncertainty. A softplus barrier function enforces constraint satisfaction during learning and control while eliminating the dependence on high-quality initial guesses. Theoretical analysis establishes convergence and safety guarantees, and the framework's effectiveness is demonstrated on cart-pole and robot-arm systems.

eess.SY

LDP: Parameter-Efficient Fine-Tuning of Multimodal LLM for Medical Report Generation

Colonoscopic polyp diagnosis is pivotal for early colorectal cancer detection, yet traditional automated reporting suffers from inconsistencies and hallucinations due to the scarcity of high-quality multimodal medical data. To bridge this gap, we propose LDP, a novel framework leveraging multimodal large language models (MLLMs) for professional polyp diagnosis report generation. Specifically, we curate MMEndo, a multimodal endoscopic dataset comprising expert-annotated colonoscopy image-text pairs. We fine-tune the Qwen2-VL-7B backbone using Parameter-Efficient Fine-Tuning (LoRA) and align it with clinical standards via Direct Preference Optimization (DPO). Extensive experiments show that our LDP outperforms existing baselines on both automated metrics and rigorous clinical expert evaluations (achieving a Physician Score of 7.2/10), significantly reducing training computational costs by 833x compared to full fine-tuning. The proposed solution offers a scalable, clinically viable path for primary healthcare, with additional validation on the IU-XRay dataset confirming its robustness.

cs.CV

DEFT-LLM: Disentangled Expert Feature Tuning for Micro-Expression Recognition

Micro expression recognition (MER) is crucial for inferring genuine emotion. Applying a multimodal large language model (MLLM) to this task enables spatio-temporal analysis of facial motion and provides interpretable descriptions. However, there are still two core challenges: (1) The entanglement of static appearance and dynamic motion cues prevents the model from focusing on subtle motion; (2) Textual labels in existing MER datasets do not fully correspond to underlying facial muscle movements, creating a semantic gap between text supervision and physical motion. To address these issues, we propose DEFT-LLM, which achieves motion semantic alignment by multi-expert disentanglement. We first introduce Uni-MER, a motion-driven instruction dataset designed to align text with local facial motion. Its construction leverages dual constraints from optical flow and Action Unit (AU) labels to ensure spatio-temporal consistency and reasonable correspondence to the movements. We then design an architecture with three experts to decouple facial dynamics into independent and interpretable representations (structure, dynamic textures, and motion-semantics). By integrating the instruction-aligned knowledge from Uni-MER into DEFT-LLM, our method injects effective physical priors for micro expressions while also leveraging the cross modal reasoning ability of large language models, thus enabling precise capture of subtle emotional cues. Experiments on multiple challenging MER benchmarks demonstrate state-of-the-art performance, as well as a particular advantage in interpretable modeling of local facial motion.

cs.CV

Every Step Evolves: Scaling Reinforcement Learning for Trillion-Scale Thinking Model

We present Ring-1T, the first open-source, state-of-the-art thinking model with a trillion-scale parameter. It features 1 trillion total parameters and activates approximately 50 billion per token. Training such models at a trillion-parameter scale introduces unprecedented challenges, including train-inference misalignment, inefficiencies in rollout processing, and bottlenecks in the RL system. To address these, we pioneer three interconnected innovations: (1) IcePop stabilizes RL training via token-level discrepancy masking and clipping, resolving instability from training-inference mismatches; (2) C3PO++ improves resource utilization for long rollouts under a token budget by dynamically partitioning them, thereby obtaining high time efficiency; and (3) ASystem, a high-performance RL framework designed to overcome the systemic bottlenecks that impede trillion-parameter model training. Ring-1T delivers breakthrough results across critical benchmarks: 93.4 on AIME-2025, 86.72 on HMMT-2025, 2088 on CodeForces, and 55.94 on ARC-AGI-1. Notably, it attains a silver medal-level result on the IMO-2025, underscoring its exceptional reasoning capabilities. By releasing the complete 1T parameter MoE model to the community, we provide the research community with direct access to cutting-edge reasoning capabilities. This contribution marks a significant milestone in democratizing large-scale reasoning intelligence and establishes a new baseline for open-source model performance.

cs.CL

Adaptive Policy Learning to Additional Tasks

This paper develops a policy learning method for tuning a pre-trained policy to adapt to additional tasks without altering the original task. A method named Adaptive Policy Gradient (APG) is proposed in this paper, which combines Bellman's principle of optimality with the policy gradient approach to improve the convergence rate. This paper provides theoretical analysis which guarantees the convergence rate and sample complexity of $\mathcal{O}(1/T)$ and $\mathcal{O}(1/ε)$, respectively, where $T$ denotes the number of iterations and $ε$ denotes the accuracy of the resulting stationary policy. Furthermore, several challenging numerical simulations, including cartpole, lunar lander, and robot arm, are provided to show that APG obtains similar performance compared to existing deterministic policy gradient methods while utilizing much less data and converging at a faster rate.

cs.LG

Reward-Based Collision-Free Algorithm for Trajectory Planning of Autonomous Robots

This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission time, and distance constraints. The formulation extends the prize-collecting traveling salesman problem. A tailored genetic algorithm evolves candidate solutions using a fitness function, crossover, and mutation, with constraint enforcement via a penalty method. Differential flatness and clothoid curves are employed to penalize infeasible trajectories efficiently, while the Euler spiral method ensures curvature-continuous trajectories with bounded curvature, enhancing dynamic feasibility and mitigating oscillations typical of minimum-jerk and snap parameterizations. Due to the discrete variable length optimization space, crossover is performed using a dynamic time-warping-based method and extended convex combination with projection. The algorithm's performance is validated through simulations and experiments with a ground vehicle, quadrotor, and quadruped, supported by benchmarking and time-complexity analysis.

cs.RO

Online Control-Informed Learning

This paper proposes an Online Control-Informed Learning (OCIL) framework, which employs the well-established optimal control and state estimation techniques in the field of control to solve a broad class of learning tasks in an online fashion. This novel integration effectively handles practical issues in machine learning such as noisy measurement data, online learning, and data efficiency. By considering any robot as a tunable optimal control system, we propose an online parameter estimator based on extended Kalman filter (EKF) to incrementally tune the system in an online fashion, enabling it to complete designated learning or control tasks. The proposed method also improves the robustness in learning by effectively managing noise in the data. Theoretical analysis is provided to demonstrate the convergence of OCIL. Three learning modes of OCIL, i.e. Online Imitation Learning, Online System Identification, and Policy Tuning On-the-fly, are investigated via experiments, which validate their effectiveness.

math.OC

Temporal Binding Foundation Model for Material Property Recognition via Tactile Sequence Perception

Robots engaged in complex manipulation tasks require robust material property recognition to ensure adaptability and precision. Traditionally, visual data has been the primary source for object perception; however, it often proves insufficient in scenarios where visibility is obstructed or detailed observation is needed. This gap highlights the necessity of tactile sensing as a complementary or primary input for material recognition. Tactile data becomes particularly essential in contact-rich, small-scale manipulations where subtle deformations and surface interactions cannot be accurately captured by vision alone. This letter presents a novel approach leveraging a temporal binding foundation model for tactile sequence understanding to enhance material property recognition. By processing tactile sensor data with a temporal focus, the proposed system captures the sequential nature of tactile interactions, similar to human fingertip perception. Additionally, this letter demonstrates that, through tailored and specific design, the foundation model can more effectively capture temporal information embedded in tactile sequences, advancing material property understanding. Experimental results validate the model's capability to capture these temporal patterns, confirming its utility for material property recognition in visually restricted scenarios. This work underscores the necessity of embedding advanced tactile data processing frameworks within robotic systems to achieve truly embodied and responsive manipulation capabilities.

cs.RO

Force-Based Robotic Imitation Learning: A Two-Phase Approach for Construction Assembly Tasks

The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which complicates robotic training. This paper proposes a two-phase system to improve robot learning, integrating human-derived force feedback. The first phase captures real-time data from operators using a robot arm linked with a virtual simulator via ROS-Sharp. In the second phase, this feedback is converted into robotic motion instructions, using a generative approach to incorporate force feedback into the learning process. This method's effectiveness is demonstrated through improved task completion times and success rates. The framework simulates realistic force-based interactions, enhancing the training data's quality for precise robotic manipulation in construction tasks.

cs.RO

FinRobot: AI Agent for Equity Research and Valuation with Large Language Models

As financial markets grow increasingly complex, there is a rising need for automated tools that can effectively assist human analysts in equity research, particularly within sell-side research. While Generative AI (GenAI) has attracted significant attention in this field, existing AI solutions often fall short due to their narrow focus on technical factors and limited capacity for discretionary judgment. These limitations hinder their ability to adapt to new data in real-time and accurately assess risks, which diminishes their practical value for investors. This paper presents FinRobot, the first AI agent framework specifically designed for equity research. FinRobot employs a multi-agent Chain of Thought (CoT) system, integrating both quantitative and qualitative analyses to emulate the comprehensive reasoning of a human analyst. The system is structured around three specialized agents: the Data-CoT Agent, which aggregates diverse data sources for robust financial integration; the Concept-CoT Agent, which mimics an analysts reasoning to generate actionable insights; and the Thesis-CoT Agent, which synthesizes these insights into a coherent investment thesis and report. FinRobot provides thorough company analysis supported by precise numerical data, industry-appropriate valuation metrics, and realistic risk assessments. Its dynamically updatable data pipeline ensures that research remains timely and relevant, adapting seamlessly to new financial information. Unlike existing automated research tools, such as CapitalCube and Wright Reports, FinRobot delivers insights comparable to those produced by major brokerage firms and fundamental research vendors. We open-source FinRobot at \url{https://github. com/AI4Finance-Foundation/FinRobot}.

q-fin.CP

FinRobot: An Open-Source AI Agent Platform for Financial Applications using Large Language Models

As financial institutions and professionals increasingly incorporate Large Language Models (LLMs) into their workflows, substantial barriers, including proprietary data and specialized knowledge, persist between the finance sector and the AI community. These challenges impede the AI community's ability to enhance financial tasks effectively. Acknowledging financial analysis's critical role, we aim to devise financial-specialized LLM-based toolchains and democratize access to them through open-source initiatives, promoting wider AI adoption in financial decision-making. In this paper, we introduce FinRobot, a novel open-source AI agent platform supporting multiple financially specialized AI agents, each powered by LLM. Specifically, the platform consists of four major layers: 1) the Financial AI Agents layer that formulates Financial Chain-of-Thought (CoT) by breaking sophisticated financial problems down into logical sequences; 2) the Financial LLM Algorithms layer dynamically configures appropriate model application strategies for specific tasks; 3) the LLMOps and DataOps layer produces accurate models by applying training/fine-tuning techniques and using task-relevant data; 4) the Multi-source LLM Foundation Models layer that integrates various LLMs and enables the above layers to access them directly. Finally, FinRobot provides hands-on for both professional-grade analysts and laypersons to utilize powerful AI techniques for advanced financial analysis. We open-source FinRobot at \url{https://github.com/AI4Finance-Foundation/FinRobot}.

q-fin.ST

Brain Functional Connectivity under Teleoperation Latency: a fNIRS Study

Objective: This study aims to understand the cognitive impact of latency in teleoperation and the related mitigation methods, using functional Near-Infrared Spectroscopy (fNIRS) to analyze functional connectivity. Background: Latency between command, execution, and feedback in teleoperation can impair performance and affect operators mental state. The neural underpinnings of these effects are not well understood. Method: A human subject experiment (n = 41) of a simulated remote robot manipulation task was performed. Three conditions were tested: no latency, with visual and haptic latency, with visual latency and no haptic latency. fNIRS and performance data were recorded and analyzed. Results: The presence of latency in teleoperation significantly increased functional connectivity within and between prefrontal and motor cortexes. Maintaining visual latency while providing real-time haptic feedback reduced the average functional connectivity in all cortical networks and showed a significantly different connectivity ratio within prefrontal and motor cortical networks. The performance results showed the worst performance in the all-delayed condition and best performance in no latency condition, which echoes the neural activity patterns. Conclusion: The study provides neurological evidence that latency in teleoperation increases cognitive load, anxiety, and challenges in motion planning and control. Real-time haptic feedback, however, positively influences neural pathways related to cognition, decision-making, and sensorimotor processes. Application: This research can inform the design of ergonomic teleoperation systems that mitigate the effects of latency.

cs.HC

Neural Dynamics of Delayed Feedback in Robot Teleoperation: Insights from fNIRS Analysis

As robot teleoperation increasingly becomes integral in executing tasks in distant, hazardous, or inaccessible environments, the challenge of operational delays remains a significant obstacle. These delays are inherent in signal transmission and processing and can adversely affect the operators performance, particularly in tasks requiring precision and timeliness. While current research has made strides in mitigating these delays through advanced control strategies and training methods, a crucial gap persists in understanding the neurofunctional impacts of these delays and the efficacy of countermeasures from a cognitive perspective. Our study narrows this gap by leveraging functional Near-Infrared Spectroscopy (fNIRS) to examine the neurofunctional implications of simulated haptic feedback on cognitive activity and motor coordination under delayed conditions. In a human-subject experiment (N=41), we manipulated sensory feedback to observe its influences on various brain regions of interest (ROIs) response during teleoperation tasks. The fNIRS data provided a detailed assessment of cerebral activity, particularly in ROIs implicated in time perception and the execution of precise movements. Our results reveal that certain conditions, which provided immediate simulated haptic feedback, significantly optimized neural functions related to time perception and motor coordination, and improved motor performance. These findings provide empirical evidence about the neurofunctional basis of the enhanced motor performance with simulated synthetic force feedback in the presence of teleoperation delays.

cs.HC