arXiv subjects

Xiangyuan Liu

Publications and source records attributed to Xiangyuan Liu.

4 recordsLinked to original sources

arXiv2026

Towards Path-Creative Navigation: Robot Navigation through Embodied Interaction

Autonomous navigation in cluttered and constrained environments typically assumes a fixed environment and searches only for paths within existing free space. However, a route can be blocked by an articulated structure, a movable object, or a pedestrian, and reaching the goal may therefore require appropriate embodied interaction with the environment. This paper formulates Path-Creative Navigation (PCN), a navigation paradigm in which the robot recovers free space by coordinating locomotion and embodied interaction, and addresses one class of PCN tasks with a mapless framework. The vision-LiDAR-odometry framework integrates local observations, obstacle geometry, and robot-state estimates through a unified navigation system, providing stable semantic and geometric information for navigation and interaction. The traversability-aware decision method utilizes visual and LiDAR distance information to determine whether a blockage is actionable and whether it can be safely bypassed, enabling the robot to interact only when necessary while supporting articulated structure pushing, movable object pushing, obstacle avoidance, and pedestrian requests. We design simulation scenarios and evaluate different methods in both simulation and two real-world tasks that cannot be completed by conventional navigation alone without embodied interaction. These results demonstrate that our framework achieves higher task completion than the baseline methods by coordinating navigation and interaction in cluttered and constrained environments.

cs.RO↗

arXiv2026

LongCat-DeepResearch Technical Report

We present LongCat-DeepResearch, a deep research system that combines an enhanced LongCat model with a multi-agent workflow for producing comprehensive, evidence-grounded reports. The workflow separates global planning from detailed investigation and coordinates revision at the section level. Multiple planning agents first explore external sources and refine an actionable research plan, termed ResearchSpec. Research agents then investigate and draft their assigned sections in parallel, gathering additional evidence in separate contexts as their analyses develop. Once the sections are assembled, global review guides targeted local revisions, reducing reliance on repeated full-report rewriting. This workflow also supports the construction of research tasks and trajectories for the mid-training and post-training of LongCat's general-purpose models. LongCat-DeepResearch achieves 55.25 on DeepResearchBench, 51.35 on DeepResearchBench II, and 79.83 on ResearchRubrics. On an in-house benchmark, it scores 76.04, ranking second among four compared systems. Development-set analyses show benefits from combining planning perspectives, while further planning refinement has mixed effects. Additional editing improves average automatic readability preference across two benchmarks, with different trends on each.

cs.AI↗

arXiv2026

Dual Modality Prompted Diffusion Priors for Zero Shot Hyperspectral Pansharpening

Hyperspectral pansharpening aims to reconstruct a high resolution hyperspectral (HRHS) image from a panchromatic (PAN) image and a low resolution hyperspectral (LRHS) image while preserving both spatial details and spectral fidelity. Recent diffusion based methods exploit pretrained image priors by generating a low dimensional representation and subsequently mapping it to the hyperspectral domain. However, the observed panchromatic and hyperspectral images are typically imposed only through external reconstruction objectives, limiting their direct interaction with the diffusion prior. To address this issue, we propose dual-modality image-prompted diffusion model (DIDM) for zero shot hyperspectral pansharpening. DIDM encodes the low resolution hyperspectral and panchromatic observations into spectral and spatial prompt tokens, respectively, and injects them into intermediate features of a frozen remote sensing diffusion model through cross attention, allowing complementary spectral and spatial information to directly guide diffusion feature evolution. In addition, we introduce a panchromatic guided weighted pixel aware total variation regularizer that combines low resolution hyperspectral degradation fidelity and panchromatic response fidelity with gradient adaptive structural regularization, thereby preserving structural discontinuities while suppressing spurious variations in homogeneous regions. Extensive experiments on Pavia, Chikusei, and Houston under reduced resolution protocols show that DIDM achieves the best performance across all evaluated metrics, while full resolution evaluation on FR1 yields the highest HQNR among the compared methods. These results demonstrate that internal dual modality prompting and panchromatic guided structural regularization provide an effective balance between spatial detail enhancement and spectral preservation.

cs.CV↗

arXiv2023

Improving Implicit Feedback-Based Recommendation through Multi-Behavior Alignment

Recommender systems that learn from implicit feedback often use large volumes of a single type of implicit user feedback, such as clicks, to enhance the prediction of sparse target behavior such as purchases. Using multiple types of implicit user feedback for such target behavior prediction purposes is still an open question. Existing studies that attempted to learn from multiple types of user behavior often fail to: (i) learn universal and accurate user preferences from different behavioral data distributions, and (ii) overcome the noise and bias in observed implicit user feedback. To address the above problems, we propose multi-behavior alignment (MBA), a novel recommendation framework that learns from implicit feedback by using multiple types of behavioral data. We conjecture that multiple types of behavior from the same user (e.g., clicks and purchases) should reflect similar preferences of that user. To this end, we regard the underlying universal user preferences as a latent variable. The variable is inferred by maximizing the likelihood of multiple observed behavioral data distributions and, at the same time, minimizing the Kullback-Leibler divergence (KL-divergence) between user models learned from auxiliary behavior (such as clicks or views) and the target behavior separately. MBA infers universal user preferences from multi-behavior data and performs data denoising to enable effective knowledge transfer. We conduct experiments on three datasets, including a dataset collected from an operational e-commerce platform. Empirical results demonstrate the effectiveness of our proposed method in utilizing multiple types of behavioral data to enhance the prediction of the target behavior.

cs.IR↗