arXiv subjects

Wentao Yan

Publications and source records attributed to Wentao Yan.

7 recordsLinked to original sources

arXiv2026

NaviMaster: Learning a Unified Policy for GUI and Embodied Navigation Tasks

Recent advances in Graphical User Interface (GUI) and embodied navigation have driven progress, yet these domains have largely evolved in isolation, with disparate datasets and training paradigms. In this paper, we observe that both tasks can be formulated as Markov Decision Processes (MDP), suggesting a foundational principle for their unification. Hence, we present NaviMaster, the first unified agent capable of unifying GUI navigation and embodied navigation within a single framework. Specifically, NaviMaster (i) proposes a visual-target trajectory collection pipeline that generates trajectories for both GUI and embodied tasks using a single formulation. (ii) employs a unified reinforcement learning framework on the mix data to improve generalization. (iii) designs a novel distance-aware reward to ensure efficient learning from the trajectories. Through extensive experiments on out-of-domain benchmarks, NaviMaster is shown to outperform state-of-the-art agents in GUI navigation, spatial affordance prediction, and embodied navigation. Ablation studies further demonstrate the efficacy of our unified training strategy, data mixing strategy, and reward design. Our codes, data, and checkpoints are available at https://iron-boyy.github.io/navimaster-page/.

cs.RO↗

arXiv2026

ProMMSearchAgent: A Generalizable Multimodal Search Agent Trained with Process-Oriented Rewards

Training multimodal agents via reinforcement learning for knowledge-intensive visual reasoning is fundamentally hindered by the extreme sparsity of outcome-based supervision and the unpredictability of live web environments. To resolve these algorithmic and environmental bottlenecks, we introduce ProMMSearchAgent, establishing a novel Sim-to-Real training paradigm for multimodal search. We decouple policy learning into a deterministic, local static sandbox. Crucially, to learn effectively within this constrained environment, we propose an introspective process-oriented reward. By probing the agent's own parametric knowledge boundaries, we generate dense behavioral metadata that explicitly rewards the correct cognitive decision, initiating a multimodal or text search only when visually or factually uncertain. Extensive experiments demonstrate that our locally-trained policy transfers zero-shot to the live Google Search API. ProMMSearchAgent achieves new SOTA performance, outperforming MMSearch-R1 by +5.1% on FVQA-test, +6.3% on InfoSeek, and +11.3% on MMSearch.

cs.CV↗

arXiv2026

DR-MMSearchAgent: Deepening Reasoning in Multimodal Search Agents

Agentic multimodal models have garnered significant attention for their ability to leverage external tools to tackle complex tasks. However, it is observed that such agents often meet premature interaction collapse, caused by two primary reasons: 1) the terminal reward often appending on the last token prevents the advantage from distinguishing trajectories with exploratory behavior; 2) excessively redundant context hinders the agent from absorbing useful feedback. To address these issues, we propose the Deepening Reasoning MMSearchAgent, the framework leverages the structural proximity to derive advantage signals from the whole rollout trajectories in an entire batch, such that trajectories of different lengths are further encouraged to be generated, even when containing the same correct answer. Additionally, differentiated gaussian rewards are employed to dynamically calibrate interaction tolerance, thereby ensuring information reliability and reduce redundancy. To support multi-turn interaction training, we have constructed a multi-step deep-reasoning dataset including 3602 high-quality QA pair with at least 3 reasonning steps. Extensive experiments demonstrate that our method achieves state-of-the-art performance, outperforming the MMSearch-R1 by 8.4$\%$ on FVQA-test.

cs.CV↗

arXiv2026

Aeroacoustic signatures reveal fast transient dynamics of vapor-jet-driven cavity oscillations in metallic additive manufacturing

Aeroacoustic emissions from intense evaporation are widely measured yet often treated as noisy byproducts and used mainly in empirical monitoring. Here, we show that airborne sound encodes physics-governed sub-millisecond fingerprints of vapor-jet dynamics in excessive vaporization, exemplified by vapor keyholes in laser metal processing. From first principles, we develop a vapor-jet-cavity oscillation framework and incorporate it into an aeroacoustic formulation, thereby coupling measured sound to transient cavity depth and oscillation frequency. Reconciled with synchronized multimodal in-situ data, airborne acoustics enable accurate tracking of vapor-cavity properties within tens to hundreds of microseconds. Combined with newly discovered correlations, cavity-jet-acoustic theory recasts the transition from steady, pore-free to pore-shedding vaporizations as a critical-frequency event. Aeroacoustic emissions thus become scalable, physics-guided, and cost-efficient probes of rapidly evolving liquid-vapor systems.

physics.app-ph↗

arXiv2021

Mechanism of keyhole pore formation in metal additive manufacturing

Metal additive manufacturing has gained extensive attention from research institutes and companies to fabricate intricate parts and functionally graded materials. However, the porosity of the as-built part deteriorates the mechanical property and even hinders the further application of metal additive manufacturing. Particularly, the mechanisms of keyhole pores associated with the keyhole fluctuation are not fully understood. To reveal the mechanisms of the keyhole pores formation, we adopt a multiphysics thermal-fluid flow model incorporating heat transfer, liquid flow, metal evaporation, Marangoni effect, and Darcy's law to simulate the keyhole pore formation process, and the results are validated with the in-situ X-ray images. The simulation results present the instant bubble formation due to the keyhole instability and motion of the instant bubble when it pins on the solidification front. Moreover, the unevenly distributed recoil pressure on the keyhole surface is an important factor for keyhole collapse and penetration. Furthermore, comparing the keyhole pore formation under different laser scanning speeds shows that the keyhole pore is sensitive to the manufacturing parameters. The keyhole fluctuation features and energy absorptivity variation on the rear keyhole wall could be metrics to evaluate the likelihood of the keyhole pore formation. Additionally, the simulation under a low ambient pressure shows the feasibility of improving the keyhole stability to reduce and even avoid the formation of keyhole pores.

cond-mat.mtrl-sci↗

arXiv2021

Crystal plasticity model of residual stress in additive manufacturing

Selective laser melting is receiving increasing interest as an additive manufacturing technique. Residual stresses induced by the large temperature gradients and inhomogeneous cooling process can favour the generation of cracks. In this work, a crystal plasticity finite element model is developed to simulate the formation of residual stresses and to understand the correlation between plastic deformation, grain orientation and residual stresses in the additive manufacturing process. The temperature profile and grain structure from thermal-fluid flow and grain growth simulations are implemented into the crystal plasticity model. An element elimination and reactivation method is proposed to model the melting and solidification and to reinitialise state variables, such as the plastic deformation, in the reactivated elements. The accuracy of this method is judged against previous method based on the stiffness degradation of liquid regions by comparing the plastic deformation as a function of time induced by thermal stresses. The method is used to investigate residual stresses parallel and perpendicular to the laser scan direction, and the correlation with the maximum Schmid factor of the grains along those directions. The magnitude of the residual stress can be predicted as a function of the depth, grain orientation and position with respect to the molten pool.

cond-mat.mtrl-sci↗

arXiv2021

A multi-grid Cellular Automaton model for simulating dendrite growth and its application in additive manufacturing

The dendrite growth in casting and additive manufacturing is rather important and related to the formation of some defects. However, quantitatively simulating the growth of dendrites with arbitrary crystallographic orientations in 3-dimension(3D) is still very challenging. In the present work, we develop a multi-grid Cellular Automaton (CA) model for the dendrite growth. In this model, the interfacial area is further discretized into a child grid, on which the decentered octahedron growth algorithm is performed. The model is comprehensively and quantitatively verified by comparing with the prediction of analytical models and a published x-ray imaging observation result, proving that the model is quantitatively and morphologically accurate. After that, with the temperature gradient and cooling rate extracted from a finite-volume-method(FVM)-based thermal-fluid model, the model was applied in reproducing the dendrite growth process of nickel-based superalloy during a single-track electron beam melting process. The simulation results agree fairly well with the experimental observation, demonstrating the feasibility and effectiveness of using the model in additive manufacturing.

cond-mat.mtrl-sci↗