arXiv subjects

Xiaohan Yan

Publications and source records attributed to Xiaohan Yan.

17 recordsLinked to original sources

arXiv2026

CIDER: Continual Interactive Distillation for Embodied Reinforcement Learning

Human-in-the-loop real-world reinforcement learning enables rapid acquisition of effective robotic manipulation policies for individual tasks, often within tens of minutes. Yet it remains unclear how to extend this paradigm to continual learning, where a single policy must acquire new skills without losing previously learned behaviors. Existing real-world continual learning methods do not explicitly constrain prior behaviors, leading to severe catastrophic forgetting. We introduce Continual Interactive Distillation for Embodied Reinforcement Learning (CIDER), a continual reinforcement learning framework that freezes the accumulated historical policy as a teacher before learning each new task and interleaves task learning with distillation-based retention. We further introduce gradient routing to separate the gradients used for acquiring new tasks from those used for preserving prior behaviors. We evaluate our method with a single shared actor on six real-world household and industrial manipulation tasks. Interactive Distillation maintains high measured success on previously learned tasks across our six-task real-robot sequence while acquiring each new task in 10 to 20 minutes, whereas every baseline forgets at least one previous task. Additional ablations reveal the key design choices that govern the tradeoff between stability and plasticity in real-world continual reinforcement learning.

cs.RO↗

arXiv2026

VINE: Taming Generative Control Policies for Reinforcement Learning

Flow-matching policies have emerged as an effective policy parameterization for robot learning. They iteratively generate actions from noise, enabling highly expressive modeling of complex and multimodal action distributions. However, prior works observed that scaling these policies with value-gradient reinforcement learning (RL) often leads to training instability. Existing methods attribute this instability to iterative generation and therefore avoid end-to-end value-gradient optimization by sacrificing iterative generation, high expressiveness, or value-gradient optimization. Contrary to prior belief, we show the instability does not stem from iterative generation itself, but from the vanilla sampling strategy originally designed for behavior cloning, which becomes brittle under value-gradient RL. Motivated by this insight, we propose VINE, an RL-oriented sampling method that enables stable end-to-end value-gradient optimization for flow-matching policies. Instead of following a single flow trajectory, VINE reconstructs a new interpolation state at every denoising step, creating a stable differentiable path for value-gradient propagation while remaining compatible with the original flow-matching denoising process. As a result, VINE preserves the expressiveness and iterative generation of flow-matching without sacrificing end-to-end value-gradient optimization. Despite performing end-to-end backpropagation through all ten denoising steps, VINE achieves stable policy improvement and consistently outperforms state-of-the-art RL methods on the OGBench offline RL benchmark and real-world robotic manipulation task. Videos are available on our website: https://agibottech.github.io/vine.

cs.RO↗

arXiv2026

ALOE: Action-Level Off-Policy Evaluation for Vision-Language-Action Model Post-Training

We study how to improve large foundation vision-language-action (VLA) systems through human-in-the-loop reinforcement learning (RL) in real-world environments. A key challenge is learning reliable value functions from heterogeneous real-world experience, as value estimation provides the primary learning signal for VLA training. In practice, replay buffers contain trajectories collected from historical policies, online rollouts, demonstrations, and intermittent human interventions. Because replay buffers mix trajectories generated by different behaviors, the observed returns can be mismatched with the quality of the current policy. Prior VLA post-training methods often rely on progress-style value signals, which reflect the average quality of historical behaviors, leading to mismatched learning signals for the current policy. In this paper, we propose ALOE, an off-policy evaluation framework whose value function directly evaluates current-policy behavior for each iteration. Specifically, ALOE combines chunked temporal-difference bootstrapping and conservative value aggregation to perform stable current-policy evaluation, then uses these estimates for advantage-weighted policy improvement. This design improves credit assignment to critical action chunks under sparse rewards and supports stable policy improvement. We evaluate ALOE on four real-world manipulation tasks encompassing long-horizon and high-precision scenarios: smartphone packing, laundry folding, multi-object sorting, and phone assembly. Across all tasks, ALOE outperforms other VLA post-training methods, highlighting the benefit of off-policy value estimates for real-world VLA post-training. Videos are available at our project website https://rooshy-yang.github.io/aloe.

cs.RO↗

arXiv2025

CorBenchX: Large-Scale Chest X-Ray Error Dataset and Vision-Language Model Benchmark for Report Error Correction

AI-driven models have shown great promise in detecting errors in radiology reports, yet the field lacks a unified benchmark for rigorous evaluation of error detection and further correction. To address this gap, we introduce CorBenchX, a comprehensive suite for automated error detection and correction in chest X-ray reports, designed to advance AI-assisted quality control in clinical practice. We first synthesize a large-scale dataset of 26,326 chest X-ray error reports by injecting clinically common errors via prompting DeepSeek-R1, with each corrupted report paired with its original text, error type, and human-readable description. Leveraging this dataset, we benchmark both open- and closed-source vision-language models,(e.g., InternVL, Qwen-VL, GPT-4o, o4-mini, and Claude-3.7) for error detection and correction under zero-shot prompting. Among these models, o4-mini achieves the best performance, with 50.6 % detection accuracy and correction scores of BLEU 0.853, ROUGE 0.924, BERTScore 0.981, SembScore 0.865, and CheXbertF1 0.954, remaining below clinical-level accuracy, highlighting the challenge of precise report correction. To advance the state of the art, we propose a multi-step reinforcement learning (MSRL) framework that optimizes a multi-objective reward combining format compliance, error-type accuracy, and BLEU similarity. We apply MSRL to QwenVL2.5-7B, the top open-source model in our benchmark, achieving an improvement of 38.3% in single-error detection precision and 5.2% in single-error correction over the zero-shot baseline.

cs.AI↗

arXiv2024

Hot electron lifetime exceeds 300 nanoseconds in quantum dots with high quantum efficiency

Hot electrons are theoretically predicted to be long-lived in strongly confined quantum dots, which could play vital roles in quantum dot-based optoelectronics; however, existing photoexcitation transient spectroscopy investigations reveal that their lifetime is less than 1 ps in well-passivated quantum dots because of the ultrafast electron-hole Auger-assisted cooling. Therefore, they are generally considered absent in quantum dot optoelectronic devices. Here, by using our newly developed electrically excited transient absorption spectroscopy, we surprisingly observed abundant hot electrons in both II-VI and III-VI compound quantum dot light-emitting diodes at elevated bias (>4 V), of which the lifetimes reach 59 to 371 ns, lengthened by more than 5 orders of magnitude compared with the photoexcited hot electrons. These results experimentally prove the presence of a strong phonon bottleneck effect, refreshing our understanding of the role of hot electrons in quantum dot optoelectronics.

cond-mat.mes-hall↗

arXiv2024

A correspondence between the quantum K theory and quantum cohomology of Grassmannians

We utilize physics arguments, and the nonabelian/abelian correspondence, to relate the Givental and Lee's quantum K theory ring of Grassmannians to a twisted variant of the quantum cohomology ring. Furthermore, the quantum K pairing is related to correlators arising from supersymmetric localization. We state some mathematical conjectures, which we illustrate in several examples.

hep-th↗

arXiv2024

Chow ring of the stack of plane nodal curves

We compute the rational Chow ring of the moduli stack of planar nodal curves of fixed degree and express it in terms of tautological classes. Along the way, we extend Vial's results on Chow groups of Brauer-Severi varieties to $G$-equivariant settings.

math.AG↗

arXiv2024

Anatomical Structure-Guided Medical Vision-Language Pre-training

Learning medical visual representations through vision-language pre-training has reached remarkable progress. Despite the promising performance, it still faces challenges, i.e., local alignment lacks interpretability and clinical relevance, and the insufficient internal and external representation learning of image-report pairs. To address these issues, we propose an Anatomical Structure-Guided (ASG) framework. Specifically, we parse raw reports into triplets , and fully utilize each element as supervision to enhance representation learning. For anatomical region, we design an automatic anatomical region-sentence alignment paradigm in collaboration with radiologists, considering them as the minimum semantic units to explore fine-grained local alignment. For finding and existence, we regard them as image tags, applying an image-tag recognition decoder to associate image features with their respective tags within each sample and constructing soft labels for contrastive learning to improve the semantic association of different image-report pairs. We evaluate the proposed ASG framework on two downstream tasks, including five public benchmarks. Experimental results demonstrate that our method outperforms the state-of-the-art methods.

cs.CV↗

arXiv2024

Loop Space Formalism and K-Theoretic Quantum Serre Duality

In this paper, we prove the quantum Serre duality for genus-zero K-theoretic permutation-invariant Gromov-Witten theory. The formulation of the theorem relies on an extension to the formalism of loop spaces and big $\mathcal{J}$-functions more intrinsic to quantum K-theory. With the extended formalism, we also arrive at a re-interpretation of the level structures in terms of twisted quantum K-theories. We discuss the torus-equivariant theory in the end, and as an application generalize the K-theoretic quantum Serre duality to non-primitive vector bundles over flag varieties.

math.AG↗

arXiv2021

Quantum K-theory of flag varieties via non-abelian localization

In this paper, we reconstruct explicitly the generating function of genus-zero K-theoretic permutation-invariant Gromov-Witten invariants, known as the big $\mathcal{J}$-function, for any partial flag variety. The reconstruction may start with any Weyl-group-invariant value of the well-understood big $\mathcal{J}$-function of an associated toric variety. We generalize the recursive method \cite{Givental:perm2}, based on torus fixed point localization, to deal with non-isolated one-dimensional toric orbits, through incorporating ``balanced broken orbits'' into consideration and subsequently proving a vanishing result of their contribution. Furthermore, we extend the study to twisted generating functions of the flag variety, and demonstrate properties including a non-abelian quantum Lefschetz theorem and a duality between level structures. In the end, we construct a K-theoretic mirror in terms of Jackson-type integrals.

math.AG↗

arXiv2021

Quantum K-theory of grassmannians and non-abelian localization

In the example of complex grassmannians, we demonstrate various techniques available for computing genus-0 K-theoretic GW-invariants of flag manifolds and more general quiver varieties. In particular, we address explicit reconstruction of all such invariants using finite-difference operators, the role of the q-hypergeometric series arising in the context of quasimap compactifications of spaces of rational curves in such varieties, the theory of twisted GW-invariants including level structures, as well as the Jackson-type integrals playing the role of equivariant K-theoretic mirrors.

math.AG↗

arXiv2020

An Improved Online Penalty Parameter Selection Procedure for $\ell_1$-Penalized Autoregressive with Exogenous Variables

Many recent developments in the high-dimensional statistical time series literature have centered around time-dependent applications that can be adapted to regularized least squares. Of particular interest is the lasso, which both serves to regularize and provide feature selection. The lasso requires the specification of a penalty parameter that determines the degree of sparsity to impose. The most popular penalty parameter selection approaches that respect time dependence are very computationally intensive and are not appropriate for modeling certain classes of time series. We propose enhancing a canonical time series model, the autoregressive model with exogenous variables, with a novel online penalty parameter selection procedure that takes advantage of the sequential nature of time series data to improve both computational performance and forecast accuracy relative to existing methods in both a simulation and empirical application involving macroeconomic indicators.

stat.ME↗

arXiv2020

On a Bernoulli Autoregression Framework for Link Discovery and Prediction

We present a dynamic prediction framework for binary sequences that is based on a Bernoulli generalization of the auto-regressive process. Our approach lends itself easily to variants of the standard link prediction problem for a sequence of time dependent networks. Focusing on this dynamic network link prediction/recommendation task, we propose a novel problem that exploits additional information via a much larger sequence of auxiliary networks and has important real-world relevance. To allow discovery of links that do not exist in the available data, our model estimation framework introduces a regularization term that presents a trade-off between the conventional link prediction and this discovery task. In contrast to existing work our stochastic gradient based estimation approach is highly efficient and can scale to networks with millions of nodes. We show extensive empirical results on both actual product-usage based time dependent networks and also present results on a Reddit based data set of time dependent sentiment sequences.

stat.ML↗

arXiv2018

Testing for Conditional Mean Independence with Covariates through Martingale Difference Divergence

As a crucial problem in statistics is to decide whether additional variables are needed in a regression model. We propose a new multivariate test to investigate the conditional mean independence of Y given X conditioning on some known effect Z, i.e., E(Y|X, Z) = E(Y|Z). Assuming that E(Y|Z) and Z are linearly related, we reformulate an equivalent notion of conditional mean independence through transformation, which is approximated in practice. We apply the martingale difference divergence (Shao and Zhang, 2014) to measure conditional mean dependence, and show that the estimation error from approximation is negligible, as it has no impact on the asymptotic distribution of the test statistic under some regularity assumptions. The implementation of our test is demonstrated by both simulations and a financial data example.

math.ST↗

arXiv2018

Rare Feature Selection in High Dimensions

It is common in modern prediction problems for many predictor variables to be counts of rarely occurring events. This leads to design matrices in which many columns are highly sparse. The challenge posed by such "rare features" has received little attention despite its prevalence in diverse areas, ranging from natural language processing (e.g., rare words) to biology (e.g., rare species). We show, both theoretically and empirically, that not explicitly accounting for the rareness of features can greatly reduce the effectiveness of an analysis. We next propose a framework for aggregating rare features into denser features in a flexible manner that creates better predictors of the response. Our strategy leverages side information in the form of a tree that encodes feature similarity. We apply our method to data from TripAdvisor, in which we predict the numerical rating of a hotel based on the text of the associated review. Our method achieves high accuracy by making effective use of rare words; by contrast, the lasso is unable to identify highly predictive words if they are too rare. A companion R package, called rare, implements our new estimator, using the alternating direction method of multipliers.

stat.ME↗

arXiv2017

Hierarchical Sparse Modeling: A Choice of Two Group Lasso Formulations

Demanding sparsity in estimated models has become a routine practice in statistics. In many situations, we wish to require that the sparsity patterns attained honor certain problem-specific constraints. Hierarchical sparse modeling (HSM) refers to situations in which these constraints specify that one set of parameters be set to zero whenever another is set to zero. In recent years, numerous papers have developed convex regularizers for this form of sparsity structure, which arises in many areas of statistics including interaction modeling, time series analysis, and covariance estimation. In this paper, we observe that these methods fall into two frameworks, the group lasso (GL) and latent overlapping group lasso (LOG), which have not been systematically compared in the context of HSM. The purpose of this paper is to provide a side-by-side comparison of these two frameworks for HSM in terms of their statistical properties and computational efficiency. We call special attention to GL's more aggressive shrinkage of parameters deep in the hierarchy, a property not shared by LOG. In terms of computation, we introduce a finite-step algorithm that exactly solves the proximal operator of LOG for a certain simple HSM structure; we later exploit this to develop a novel path-based block coordinate descent scheme for general HSM structures. Both algorithms greatly improve the computational performance of LOG. Finally, we compare the two methods in the context of covariance estimation, where we introduce a new sparsely-banded estimator using LOG, which we show achieves the statistical advantages of an existing GL-based method but is simpler to express and more efficient to compute.

stat.ME↗

arXiv2016

Relative Morse Categorification Theory

In this paper, we define a relative Morse complex for manifold with boundary using the handlebody decomposition of the manifold. We prove that the homology of the relative Morse complex is isomorphic to the relative singular homology. Furthermore, we construct $A_\infty$-category structure on the relative Morse complex by counting the trajectory trees among the critical points of different Morse functions. Our result generalizes Fukaya's construction on closed manifold and Manabu's construction of absolute homology on manifold with boundary.

math.SG↗