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Xiangyu Li

Publications and source records attributed to Xiangyu Li.

At least 55 records · Page 3Linked to original sources

STRIDE: Strategic Trajectory Reasoning via Discriminative Estimation for Verifiable Reinforcement Learning

Reinforcement Learning with Verifiable Rewards (RLVR) has become an effective post-training paradigm for improving the reasoning abilities of large language models. However, existing RLVR methods typically rely on final-answer correctness to assign trajectory-level rewards, providing sparse supervision and treating all tokens uniformly regardless of their actual contribution to reasoning. Although recent studies introduce intermediate signals such as process rewards, high-entropy tokens, and semantic uncertainty, these signals are often not inherently verifiable and may fail to distinguish beneficial strategic patterns from harmful ones. To address this limitation, we propose STRIDE (Strategic Trajectory Reasoning with Discriminative Estimation), a fine-grained RLVR framework that derives strategic reasoning supervision from verifiable outcomes. STRIDE contrasts successful and failed trajectories within each response group to estimate the outcome-discriminative preference of each $n$-gram strategic pattern, and further combines this signal with reasoning saliency entropy to identify decision-relevant strategic patterns. These patterns are assigned differentiated advantage values during RL optimization, enabling more precise credit assignment while preserving the verifiability of RLVR. Extensive experiments demonstrate that STRIDE consistently improves reasoning performance across diverse models, tasks, and extended settings, including VLMs and agent-based systems.

cs.AI↗

Fundamentals of NOMA in Low-Earth Orbit Coordinated Multi-Satellite Networks

Coordinated multi-satellite (CoMS) transmission and non-orthogonal multiple access (NOMA) are envisioned to jointly enhance coverage, capacity, and spectrum efficiency for satellite networks. Their integration into a unified CoMS-NOMA framework will allow more efficient, reliable, and energy-efficient multi-user access. This paper investigates the downlink performance of CoMS-NOMA networks from a system-level perspective, in which multiple satellites cooperatively serve multiple users via NOMA. Leveraging tools from stochastic geometry, related angles and distances in CoMS-NOMA are first derived as intermediate results. Then, we obtain the combined signal power distributions and analyze coverage and spectrum performance under both inter- and intra-satellite interference, accounting for potential imperfect successive interference cancellation (SIC). The analytical model is validated across a range of system parameters, including the number of satellites, service region angle, error-propagation factor, and power allocation coefficients. Numerical results indicate that increasing the number of cooperative satellites does not always improve coverage and spectrum efficiency. Additionally, while a higher main-lobe gain improves coverage, a near-perfect SIC provides only slightly greater benefits than a reasonably good SIC. With properly selected power allocation coefficients, CoMS-NOMA achieves up to a 270% improvement in coverage and a 56% gain in sum spectral efficiency, compared with conventional orthogonal and single-satellite schemes, indicating potential for green, energy-efficient satellite networking.

eess.SP↗

Explore From Sketch: Accelerating UAV Exploration in Large-scale Environments with Prior Maps

Autonomous exploration with UAVs in large-scale, topologically complex environments often suffers from low efficiency due to suboptimal scheduling and detours. Prior maps (e.g., construction drawings), although usually imprecise and flawed, are readily available in many scenarios and have the potential to provide global structural guidance. This paper presents a novel exploration framework that leverages sparse, unaligned, and even discrepant 2D prior maps for LiDAR-based UAV exploration. First, a robust 2D-3D point cloud registration pipeline is proposed to align LiDAR observations with prior maps. The registration pipeline combines a GeoContext descriptor for single-frame candidate retrieval, a multi-frame verification mechanism for coarse transformation estimation with outlier rejection, and a Scale-ICP algorithm for refinement. The registration module can handle map discrepancies and provide multiple hypotheses when geometric ambiguities arise. To effectively utilize the registration results for exploration planning, we further develop a hierarchical viewpoint planning strategy under localization uncertainties. The hierarchical strategy first spatially attaches local viewpoints to prior guidepoints and adopts a Monte Carlo Tree Search solver to determine their traversal sequence under each registration hypothesis. To mitigate registration uncertainty, a risk-aware selector evaluates prior sequences using confidence-weighted travel risk, and a fixed-endpoint traveling salesman problem is formulated to generate an efficient local coverage path under the selected prior guidance. Benchmark evaluations reveal up to 34.2% improvement in exploration efficiency and 37.9% reduction in flight distance compared to state-of-the-art methods, while extensive simulations and field experiments further demonstrate robustness to prior map incompleteness and deformations.

cs.RO↗

RankGLU: Residual Gated Score Formation for Cross-Sectional Stock Prediction

Cross-sectional stock prediction is closer to a ranking problem than to ordinary return-magnitude regression, since portfolio decisions depend on the relative ordering of assets within each trading date. Existing temporal, graph-based, and market-conditioned attention models have improved stock representation learning, yet the final prediction head is often treated as a minor implementation detail. This paper argues that, under information-coefficient-oriented evaluation, score formation is a critical bottleneck: an over-flexible head can fit unstable return magnitude, whereas an overly linear head may underuse cross-feature interactions. We therefore develop RankGLU, a residual bottleneck gated linear unit for cross-sectional stock ranking. RankGLU keeps a direct linear scoring path and adds a bounded multiplicative branch, thereby preserving a stable ordering route while allowing controlled nonlinear interactions. The method is evaluated on CSI300 and CSI800 under a unified protocol with cross-sectional score normalization and an IC-augmented objective. Multi-seed experiments show that, on CSI300, RankGLU achieves the strongest mean IC among the internally controlled variants, improving from 0.0654+/-0.0052 for the original backbone and 0.0697+/-0.0030 for the ranking-aware backbone to 0.0727+/-0.0037, a gain that is consistent across all five seeds. Its best-seed result also exceeds the corresponding baselines. Ablation results further indicate that removing the GLU prediction head causes the clearest degradation among the tested component changes. Additional relation-path calibrations can produce high single-seed peaks, but their multi-seed behavior is less stable. The evidence suggests that ranking-aware stock models benefit most reliably from bounded residual score formation rather than from indiscriminate architectural expansion.

cs.CE↗

ActProbe: Action-Space Probe for Early Failure Detection of Generative Robot Policies

Generative robot policies fail unpredictably at deployment: they hesitate at critical moments, drift off-task, or commit to unrecoverable actions. Existing online failure detectors either require white-box access to policy internals or add runtime overhead through resampling and observation-side signals. Our empirical analysis shows that emitted action chunks themselves already carry strong predictive signal for impending failures in generative robot policies. Motivated by this observation, we introduce ActProbe, a lightweight, pure action-space detector that uses two compact signals available from a single forward pass: Temporal Consistency Error (TCE) between consecutive action chunks and Action Chunk Magnitude (ACM) of the current chunk. ActProbe maps these signals to per-step failure probabilities with a task-conditioned LSTM-MLP architecture. Across a diverse suite of generative robot policies and benchmarks, ActProbe raises alerts before failures become visually recognizable, improving the accuracy (F1)-timeliness Pareto frontier of failure detection by an average hypervolume gain of +12.7% over both internal- and external-feature baselines, with a +9.0% early-detection ROC-AUC lead on unseen tasks. ActProbe further transfers to deployment, predicting failures on unseen real-robot pick tasks and accelerating RL fine-tuning (PPO) with 2.9x fewer environment interactions.

cs.RO↗

Satellite NOMA for Direct-to-Cell Communications: Fundamentals, Protocols, and Opportunities

Direct-to-cell (DTC) satellite communication is regarded as one of the most recent technologies that provides global connectivity. However, with the growing number of wireless users and devices, the design of DTC communications must satisfy the requirements of high-scale capabilities and efficient spectrum utilization. To this end, integrating satellite communications with advanced multiple-access techniques, such as non-orthogonal multiple access (NOMA), has attracted considerable interest in developing NOMA-DTC communications. In this article, we first introduce the fundamentals of NOMA-DTC communications, including architectural fundamentals, system design aspects, and potential applications. Given the various cooperative modes and the still-evolving satellite network (SatNet) architectures, such as cooperative SatNets and multi-tier SatNets, we explore protocols that suit future SatNets and enhance system performance. Furthermore, a case study is conducted to investigate the benefits of NOMA schemes for DTC communications and to compare them with OMA schemes. Finally, to inspire further research, several opportunities for NOMA-DTC communications are presented.

eess.SP↗

DBPnet: Damper Characteristics-Based Bayesian Physics-Informed Neural Network for Wheel Load Estimation

Advanced driver assistance systems (ADAS) play an important role in modern automotive intelligence, significantly enhancing vehicle safety and stability. The performance of ADAS critically relies on accurate and reliable vehicle state estimation, particularly from vehicle dynamic sensors. Among these signals, wheel load is a key variable for chassis control and safety-critical functions, yet it remains difficult to estimate robustly due to complex suspension geometry, nonlinear dynamics, and measurement noise. To address this issue, we propose DBPnet, a Bayesian physics-informed neural network (PINN) with a physics-aware embedding module inspired by damper characteristics. First, this paper presents a suspension linkage-level modeling (SLLM) approach that constructs a nonlinear instantaneous dynamic model by explicitly considering the complex geometric structure of the suspension. Building upon SLLM, Bayesian inference is integrated into the PINN to effectively cope with noise and uncertainty in the vehicle chassis system, thereby improving the model's robustness. Then, a physics-informed loss function is employed to ensure consistency with fundamental physical principles, while the damper characteristics-inspired embedding module extracts temporal variation features of input signals and incorporates them into each layer of the PINN, ensuring that physical observations guide the neural network without being constrained by fixed physical models. Extensive evaluations on high-fidelity simulations and real-world experiments demonstrate that our DBPnet consistently achieves lower RMSE and MaxError than baseline methods. These results highlight the potential of our DBPnet to advance wheel load estimation and contribute to the development of more reliable ADAS actuator functions.

eess.SY↗

StepAudio 2.5 Technical Report

Unified audio-language modeling has emerged as a prominent trend in modern speech systems, promising to bring the reasoning capabilities of large language models to auditory tasks. However, existing unified foundations often struggle to match the depth of specialized systems across automatic speech recognition (ASR), text-to-speech synthesis (TTS), and realtime spoken interaction. Bridging this gap remains an open challenge. This report presents StepAudio 2.5, a unified audio-language foundation model that matches or exceeds specialized systems across all three capabilities. Rather than treating these tasks as architecturally distinct, we operate on the premise that once text and audio share a multimodal representational space, task specialization becomes a matter of operational regimes: data construction, optimization targets, and decoding constraints. Guided by this insight, we advance the post-training paradigm from standard supervised learning to task-tailored Reinforcement Learning from Human Feedback (RLHF), using it as the primary mechanism to define complex optimization targets. We leverage this RLHF-centric alignment, alongside specialized decoding, to shape a shared backbone into three distinct operational modes. Concretely, the ASR branch advances transcription efficiency via verifiable multi-token decoding; the TTS branch achieves controllable, expressive synthesis through preference-based RLHF and context-rich supervision; and the Realtime branch realizes low-latency, persona-consistent dialogue via generative reward modeling within an RLHF framework. On standard benchmarks, StepAudio 2.5 achieves state-of-the-art results across ASR, TTS, and Realtime, demonstrating that a singular audio-language foundation can successfully internalize the distinct deployment objectives of speech understanding, generation, and live interaction.

eess.AS↗

AwareVLN: Reasoning with Self-awareness for Vision-Language Navigation

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for end-to-end action prediction, they often lack an explicit and explainable understanding of the relationships between the agent, the instruction, and the scene. Conversely, explicitly building a scene map for heuristic planning is intuitively appealing but relies on additional 3D sensors and hinders large-scale vision-language pre-training. To bridge this gap, we propose AwareVLN, a novel framework that equips the navigation model with a self-aware reasoning mechanism, enabling it to understand the agent's state and task progress in a fully end-to-end and data-driven manner. Our approach features two key innovations: (1) a structural reasoning module that fosters spatial and task-oriented self-awareness, and (2) an automatic data engine with progress division for effective training. Extensive experiments on various datasets in Habitat simulator show our AwareVLN significantly outperforms previous state-of-the-art vision-language navigation methods. Project page: https://gwxuan.github.io/AwareVLN/.

cs.RO↗

Spatial Blindness in Whole-Slide Multiple Instance Learning

Whole-slide MIL models are often called context-aware once graphs, Transform ers, or state-space modules are placed above patch embeddings. We show that this label can be deceptive. On pathology tasks where tissue architecture is part of the diagnostic signal, several strong MIL baselines retain nearly unchanged slide level AUC after patch coordinates are permuted. Their predictions are accurate, but largely compositional. We refer to this failure mode as spatial blindness. Our explanation is optimization-based: dense appearance statistics are learned early under slide-level supervision, leaving weak gradients for sparse spatial relations. ResTopoMIL addresses the issue by first fitting a permutation-invariant prototype histogram and then freezing it while a lightweight graph branch learns the residual under a coordinate-shuffling constraint. The architecture is simple by design; the intervention is in how the spatial branch is trained. Across 9 public WSI bench marks, ResTopoMIL improves classification and survival prediction with 1.15M parameters, restores sensitivity to coordinate perturbation, and gives stronger lo calization evidence on CAMELYON-16.

cs.CV↗

GCE-MIL: Faithful and Recoverable Evidence for Multiple Instance Learning in Whole-Slide Imaging

Multiple instance learning (MIL) is the standard approach for whole-slide image (WSI) classification and survival prediction, where attention-based models ag gregate patch features into slide-level predictions. These models treat attention weights as evidence for their predictions, but attention is optimized for classi fication, not for identifying which patches actually support the diagnosis. This conflation leads to three failures: selected patches are insufficient (keeping them alone drops Macro-F1 by 0.078), unnecessary (removing them barely changes the prediction), and unrecoverable (continuous attention scores disagree with discrete patch subsets used at inference). The central premise is that evidence quality should be optimized directly through explicit criteria- Sufficiency, Necessity, and Recov erability (S/N/R)- rather than inherited as a byproduct of classification. GCE-MIL is a backbone-agnostic wrapper implemented through three injection modes and three evidence components: a grounding mechanism that aligns selection with domain-specific concepts, noisy-OR coverage that acts as a differentiable proxy for interventional evidence search, and threshold-plus-repair recovery that converts continuous selectors into discrete subsets through marginal-guided repair. Across 9 backbones and 9 datasets (81 configurations), GCE-MIL improves average Macro-F1 by 0.024 and C-index by 0.014, reduces the continuous-discrete gap by 4-7, and increases complement degradation by 2-4. With optional tile prefiltering after discrete recovery, inference runs up to 5 faster while retaining 0.989 full-bag utility.

cs.CV↗

Temporal Sampling Frequency Matters: A Capacity-Aware Study of End-to-End Driving Trajectory Prediction

End to end (E2E) autonomous driving trajectory prediction is often trained with camera frames sampled at the highest available temporal frequency, assuming that denser sampling improves performance. We question this assumption by treating temporal sampling frequency as an explicit training set design variable. Starting from high frequency E2E driving datasets, we construct frequency sweep training sets by temporally subsampling camera frames along each trajectory. For each model dataset pair, we train and evaluate the same model under a fixed protocol, so the frequency response reflects how prediction performance changes with sampling frequency. We analyze this response from a capacity aware perspective. Sparse sampling may miss driving relevant cues, while dense sampling may add redundant visual content and off manifold noise. For finite capacity models, this can create a driving irrelevant capacity burden. We evaluate three smaller E2E models and a larger VLA style AutoVLA model on Waymo, nuScenes, and PAVE. Results show model and dataset dependent frequency responses. Smaller E2E models often show non monotonic or near plateau trends and achieve their best 3 second ADE at lower or intermediate frequencies. In contrast, AutoVLA achieves its best 3 second ADE and FDE at the highest evaluated frequency on all three datasets. Iteration matched controls suggest that the advantage of lower or intermediate frequencies for smaller models is not explained only by unequal training update counts. These findings show that temporal sampling frequency should be reported and tuned, rather than fixed to the highest available value.

cs.CV↗

FID Magnetometer Based on Paraffin-Coated Planar Reflective Multipass Cells

We demonstrate a paraffin-coated planar reflective multipass vapor cell for compact optical atomic magnetometry. The cell has an internal volume of $12 \times 12 \times 8~\mathrm{mm}^3$ and supports 20 optical passes with a total transmittance exceeding $65\%$, while maintaining a longitudinal spin-relaxation time of $^{87}\mathrm{Rb}$ longer than $1~\mathrm{s}$. The planar geometry provides spatially separated input and output beams, enabling compact optical integration. A single-cell free-induction-decay (FID) magnetometer reaches $10~\mathrm{pT}/\sqrt{\mathrm{Hz}}$ in the geomagnetic-field range, presently limited by current-source noise in the field coils. A two-cell differential configuration achieves a sensitivity of $\sim 28~\mathrm{fT}/\sqrt{\mathrm{Hz}}$ over the $1$--$15~\mathrm{Hz}$ band for bias fields of $0.3$--$0.7~\mathrm{G}$. These results establish that paraffin-coated planar multipass cells offer high optical depth, long coherence times, and an integration-friendly platform for ultrasensitive magnetometry.

physics.optics↗

Making Sense of Scams: Understanding Scam Conversations Through Multi-Level Alignment

Online scams often unfold gradually through interaction, yet existing detection systems predominantly rely on snapshot-based signals and interruptive warnings, revealing two research gaps in the lack of signals that represent scam risk within conversational dynamics and the underexplored design of non-interruptive interaction. To address these gaps, we introduce multi-level alignment-based hints, informed by the Interactive Alignment Model, as a new detection signal for supporting sensemaking in scam-related conversations. These hints operationalize low-level lexical and syntactic alignments and high-level semantic and situation-model alignments between conversational participants, making conversational dynamics visible to users. We first conduct a preliminary evaluation on real-life scam dialogues, showing that as conversations approach scam attempts, low-level alignment scores remain stable while high-level alignment scores systematically decline, revealing a consistent cross-level pattern indicative of scam progression. Building on this insight, we conduct a user study with thirty participants, indicating that relative to the no-hint baseline, multi-level alignment-based hints increase precision by 0.25, recall by 0.16, and F1 score by 0.21, yielding substantially larger gains than the marginal improvements achieved by keyword-triggered alerts. Statistical analyses reveal that the proposed hints support earlier and more stable confidence formation over time, with ablation results further highlighting the effectiveness of combining alignment hints across levels in achieving these advantages.

cs.HC↗

Robust Angles-Only Initial Relative Orbit Determination Using Polynomial Optimization

This paper develops a robust angles-only IROD method based on polynomial optimization for arbitrary nonlinear dynamics. First, the relative motion is approximated by high-order Taylor polynomials within the differential algebra framework, and the resulting cross-product-residual minimization problem is solved through a recursive polynomial optimization procedure. Second, a reduced-order weighting strategy is introduced by projecting the residual onto the two-dimensional tangent subspace of the line of sight, thereby structurally removing the intrinsic singularity of conventional three-dimensional weighting. Third, a zero-solution-avoidance constraint together with an adaptive threshold-selection mechanism is developed to improve robustness against poor initialization, strong measurement noise, and unfavorable observation geometries. Numerical simulations show that the proposed method improves IROD accuracy by about three orders of magnitude relative to the baseline methods, while also reducing the downstream orbit-refinement burden. The reduced-order weighting strategy further improves accuracy by about 43% in the nominal case and remains stable under large-noise conditions, outperforming the conventional three-dimensional weighting by about 81%.

astro-ph.IM↗

Vec-LUT: Vector Table Lookup for Parallel Ultra-Low-Bit LLM Inference on Edge Devices

Large language models (LLMs) are increasingly deployed on edge devices. To meet strict resource constraints, real-world deployment has pushed LLM quantization from 8-bit to 4-bit, 2-bit, and now 1.58-bit. Combined with lookup table (LUT)-based inference, CPUs run these ultra-low-bit LLMs even faster than NPUs, opening new opportunities for ubiquitous on-device intelligence. However, this paper identifies that LUT-based inference underutilizes memory bandwidth during parallel inference, which is required for prefilling, test-time scaling, and other multi-token scenarios. The root cause is the scalar LUT paradigm, which performs repetitive and non-contiguous memory accesses for each token. To solve the issue, we propose vector LUT, a new lookup paradigm that constructs a unified LUT across parallel tokens, and performs a single $1 \rightarrow N$ lookup per index. To realize it efficiently, we further introduce (1) Vector LUT-Centric Tensor Layout, and (2) Cache-Aware Streamed Lookup techniques. Evaluations on 5 edge devices across 3 LLMs show that Vec-LUT outperforms state-of-the-art baselines by up to $4.2\times$. Our implementation is integrated into llama.cpp. The code is available at https://github.com/OpenBitSys/vlut.cpp.

cs.DC↗

DeFakeQ: Enabling Real-Time Deepfake Detection on Edge Devices via Adaptive Bidirectional Quantization

Deepfake detection has become a fundamental component of modern media forensics. Despite significant progress in detection accuracy, most existing methods remain computationally intensive and parameter-heavy, limiting their deployment on resource-constrained edge devices that require real-time, on-site inference. This limitation is particularly critical in an era where mobile devices are extensively used for media-centric applications, including online payments, virtual meetings, and social networking. Meanwhile, due to the unique requirement of capturing extremely subtle forgery artifacts for deepfake detection, state-of-the-art quantization techniques usually underperform for such a challenging task. These fine-grained cues are highly sensitive to model compression and can be easily degraded during quantization, leading to noticeable performance drops. This challenge highlights the need for quantization strategies specifically designed to preserve the discriminative features essential for reliable deepfake detection. To address this gap, we propose DefakeQ, the first quantization framework tailored for deepfake detectors, enabling real-time deployment on edge devices. Our approach introduces a novel adaptive bidirectional compression strategy that simultaneously leverages feature correlations and eliminates redundancy, achieving an effective balance between model compactness and detection performance. Extensive experiments across five benchmark datasets and eleven state-of-the-art backbone detectors demonstrate that DeFakeQ consistently surpasses existing quantization and model compression baselines. Furthermore, we deploy DefakeQ on mobile devices in real-world scenarios, demonstrating its capability for real-time deepfake detection and its practical applicability in edge environments.

cs.CV↗

KG-CMI: Knowledge graph enhanced cross-Mamba interaction for medical visual question answering

Medical visual question answering (Med-VQA) is a crucial multimodal task in clinical decision support and telemedicine. Recent methods fail to fully leverage domain-specific medical knowledge, making it difficult to accurately associate lesion features in medical images with key diagnostic criteria. Additionally, classification-based approaches typically rely on predefined answer sets. Treating Med-VQA as a simple classification problem limits its ability to adapt to the diversity of free-form answers and may overlook detailed semantic information in those answers. To address these challenges, we propose a knowledge graph enhanced cross-Mamba interaction (KG-CMI) framework, which consists of a fine-grained cross-modal feature alignment (FCFA) module, a knowledge graph embedding (KGE) module, a cross-modal interaction representation (CMIR) module, and a free-form answer enhanced multi-task learning (FAMT) module. The KG-CMI learns cross-modal feature representations for images and texts by effectively integrating professional medical knowledge through a graph, establishing associations between lesion features and disease knowledge. Moreover, FAMT leverages auxiliary knowledge from open-ended questions, improving the model's capability for open-ended Med-VQA. Experimental results demonstrate that KG-CMI outperforms existing state-of-the-art methods on three Med-VQA datasets, i.e., VQA-RAD, SLAKE, and OVQA. Additionally, we conduct interpretability experiments to further validate the framework's effectiveness.

cs.CV↗