arXiv subjects

Xinyu Cao

Publications and source records attributed to Xinyu Cao.

12 recordsLinked to original sources

arXiv2026

MANIGUARD: A Benchmark and Data Suite for Specification-Grounded Safety Evaluation and Improvement of Robotic Manipulation

Foundation-model policies for robotic manipulation are advancing rapidly on task success, but rigorous evaluation of whether they succeed safely is still lacking. We introduce ManiGuard, a specification-grounded framework for evaluating and improving the safety of foundation-model manipulation, comprising the ManiGuard-Bench task suite and a paired safety-annotated trajectory-generation pipeline. ManiGuard-Bench organizes six contact-rich household task families into 200 locked base tasks along a skill $\times$ constraint taxonomy, with safety specified independently of task success. Each task is evaluated under one in-distribution and four single-axis out-of-distribution perturbations that hold the safety specification fixed, giving 1,000 locked scenarios. Every rollout is runtime-checked by LTL$_f$-grounded automaton monitors over physics-grounded predicates rather than learned classifiers or LLM judges, in simulation and on a physical Franka platform. The pipeline pairs an automated motion-planning generator with human teleoperation, annotated by the same per-step monitor, and directly supports safety-aware fine-tuning; we release 8,000 safety-annotated demonstrations, 40 per base task. Benchmarking zero-shot and fine-tuned VLAs across more than 23,000 rollouts, we find: (i) safety must be evaluated independently of task success, as 6-21% of successful rollouts violate the specification; (ii) fine-tuning on our suite raises safe task completion from near zero to 7.5-29.8% and engaged-and-safe behavior from 16-40% to 51-72%; but (iii) a gap remains that scaling demonstrations does not close, with 21-42% of engaged rollouts still violating, two of six families below 2% safe success for every policy, and these failures persisting under distribution shift and on hardware.

cs.RO↗

arXiv2026

Stabilizer Design for Policy Iteration in Stochastic Linear Quadratic Control: A Spectrum-Assignment Approach

Policy iteration (PI) is an important reinforcement learning tool for solving optimal control problems which includes an initialization stage, i.e., the search for an initial stabilizing controller. However, the initialization stage typically relies on complete model information, thereby imposing substantial constraints on the initialization of model-free PI. For stochastic systems with multiplicative noise dependent on state and control, the stability is not ensured by Hurwitz conditions as in the deterministic case, but rather by a Lyapunov-type inequality that incorporates both drift and diffusion terms. Therefore, the corresponding model-free PI initialization problem is more challenging. To this end, a novel spectrum assignment method is proposed to obtain an initial stabilizer for PI in continuous-time indefinite stochastic linear quadratic control. With the help of the Lyapunov-type operator's spectrum, the original system is gradually approximated from the stable auxiliary system by adjusting a cumulative factor, thereby obtaining a stabilizing control gain. Furthermore, by leveraging system data and adjusting the cumulative factor, we design a model-free algorithm that does not rely on an initial stabilizing policy and can achieve optimal control. Finally, simulation results are provided to validate the effectiveness of the proposed methods.

math.OC↗

arXiv2026

Benchmarking and Enhancing LLMs for Rule-Intensive Review of National Standard Documents

Large language models (LLMs) increasingly support complex professional tasks, yet their capabilities in rule-intensive document review remain insufficiently evaluated. National standard documents, such as China GB/T standards, offer a representative testbed: they are lengthy, highly structured, and governed by explicit rules for scope, terminology, normative wording, and cross-section consistency. Existing benchmarks focus on domain knowledge and question answering, largely overlooking intrinsic quality review for professional documents. Such reviews rely heavily on human experts, making them costly and difficult to scale. To bridge this gap, we introduce GB/T-Bench, the first benchmark for the structured review of national standard documents. Its GB/T Review Taxonomy is a hierarchical schema covering document structure, scope alignment, normative modality, terminology consistency, and normative references, with 25 diagnosable error types. A controllable counterexample generation mechanism combines deterministic rules and constrained LLM rewriting to process 488 documents into 7,306 traceable review error instances for evaluation. We also develop a diagnosis-oriented evaluation protocol requiring exact matches on error location, review dimension, and error type, plus document-level coverage metrics. We further propose GB/T-Reviewer, a multi-agent framework that converts review knowledge into specialized skills and coordinates global inspection, targeted diagnosis, rule scanning, and result verification. Experiments with 14 mainstream LLMs reveal a substantial human-LLM gap: the strongest model achieves only 0.3280 CMCS versus 0.6640 for experts. GB/T-Reviewer raises the best CMCS to 0.5094, showing the value of structured skill coordination for rule-intensive document review. This work paves the way for trustworthy AI in standardization and other high-stakes document domains.

cs.CL↗

arXiv2025

SENTINEL: A Multi-Level Formal Framework for Safety Evaluation of Foundation Model-based Embodied Agents

We present SENTINEL, a framework for formally evaluating the physical safety of foundation model (FM)-based embodied agents. SENTINEL is the first to provide multi-level safety evaluation across semantic interpretation, plan generation, and physical execution within a unified formal framework. Unlike prior methods that rely on heuristic rules or subjective FM judgments, SENTINEL grounds practical safety requirements in formal temporal logic (TL) semantics that can precisely specify state invariants, temporal dependencies, and timing constraints. It employs a multi-level verification pipeline where (i) at the semantic level, intuitive natural language safety requirements are formalized into TL formulas and the agent's understanding of these requirements is probed for alignment with the TL formulas; (ii) at the plan level, high-level action plans and subgoals generated by the agent are verified against the TL formulas to detect unsafe plans before execution; and (iii) at the trajectory level, multiple execution trajectories are merged into a computation tree and efficiently verified against physically-detailed TL specifications for a final safety check. We apply SENTINEL in VirtualHome and AI2-THOR, and formally evaluate multiple FM-based embodied agents against diverse safety requirements. Our experiments show that by grounding physical safety in temporal logic and applying verification methods across multiple levels, SENTINEL provides a rigorous foundation for systematically evaluating the safety of FM-based embodied agents in simulation-based physical environments, and can effectively expose potential safety violations in interpreting, planning, and executing the tasks.

cs.AI↗

arXiv2025

An Adversarial-Driven Experimental Study on Deep Learning for RF Fingerprinting

Radio frequency (RF) fingerprinting, which extracts unique hardware imperfections of radio devices, has emerged as a promising physical-layer device identification mechanism in zero trust architectures and beyond 5G networks. In particular, deep learning (DL) methods have demonstrated state-of-the-art performance in this domain. However, existing approaches have primarily focused on enhancing system robustness against temporal and spatial variations in wireless environments, while the security vulnerabilities of these DL-based approaches have often been overlooked. In this work, we systematically investigate the security risks of DL-based RF fingerprinting systems through an adversarial-driven experimental analysis. We observe a consistent misclassification behavior for DL models under domain shifts, where a device is frequently misclassified as another specific one. Our analysis based on extensive real-world experiments demonstrates that this behavior can be exploited as an effective backdoor to enable external attackers to intrude into the system. Furthermore, we show that training DL models on raw received signals causes the models to entangle RF fingerprints with environmental and signal-pattern features, creating additional attack vectors that cannot be mitigated solely through post-processing security methods such as confidence thresholds.

cs.CR↗

arXiv2025

NTIRE 2025 Challenge on Cross-Domain Few-Shot Object Detection: Methods and Results

Cross-Domain Few-Shot Object Detection (CD-FSOD) poses significant challenges to existing object detection and few-shot detection models when applied across domains. In conjunction with NTIRE 2025, we organized the 1st CD-FSOD Challenge, aiming to advance the performance of current object detectors on entirely novel target domains with only limited labeled data. The challenge attracted 152 registered participants, received submissions from 42 teams, and concluded with 13 teams making valid final submissions. Participants approached the task from diverse perspectives, proposing novel models that achieved new state-of-the-art (SOTA) results under both open-source and closed-source settings. In this report, we present an overview of the 1st NTIRE 2025 CD-FSOD Challenge, highlighting the proposed solutions and summarizing the results submitted by the participants.

cs.CV↗

arXiv2023

Nearly-room-temperature ferromagnetism and tunable anomalous Hall effect in atomically thin Fe4CoGeTe2

Itinerant ferromagnetism at room temperature is a key ingredient for spin transport and manipulation. Here, we report the realization of nearly-room-temperature itinerant ferromagnetism in Co doped Fe5GeTe2 thin flakes. The ferromagnetic transition temperature TC (~ 323 K - 337 K) is almost unchanged when thickness is down to 12 nm and is still about 284 K at 2 nm (bilayer thickness). Theoretical calculations further indicate that the ferromagnetism persists in monolayer Fe4CoGeTe2. In addition to the robust ferromagnetism down to the ultrathin limit, Fe4CoGeTe2 exhibits an unusual temperature- and thickness-dependent intrinsic anomalous Hall effect. We propose that it could be ascribed to the dependence of band structure on thickness that changes the Berry curvature near the Fermi energy level subtly. The nearly-room-temperature ferromagnetism and tunable anomalous Hall effect in atomically thin Fe4CoGeTe2 provide opportunities to understand the exotic transport properties of two-dimensional van der Waals magnetic materials and explore their potential applications in spintronics.

cond-mat.mtrl-sci↗

arXiv2022

Learning Fine-Grained Segmentation of 3D Shapes without Part Labels

Learning-based 3D shape segmentation is usually formulated as a semantic labeling problem, assuming that all parts of training shapes are annotated with a given set of tags. This assumption, however, is impractical for learning fine-grained segmentation. Although most off-the-shelf CAD models are, by construction, composed of fine-grained parts, they usually miss semantic tags and labeling those fine-grained parts is extremely tedious. We approach the problem with deep clustering, where the key idea is to learn part priors from a shape dataset with fine-grained segmentation but no part labels. Given point sampled 3D shapes, we model the clustering priors of points with a similarity matrix and achieve part segmentation through minimizing a novel low rank loss. To handle highly densely sampled point sets, we adopt a divide-and-conquer strategy. We partition the large point set into a number of blocks. Each block is segmented using a deep-clustering-based part prior network trained in a category-agnostic manner. We then train a graph convolution network to merge the segments of all blocks to form the final segmentation result. Our method is evaluated with a challenging benchmark of fine-grained segmentation, showing state-of-the-art performance.

cs.CV↗

arXiv2021

Evolution of ultra-flat band in van der Waals kagome semiconductor Pd3P2(S1-xSex)8

We investigate the evolutions of structural parameters, optical properties, and electronic structures of van der Waals kagome semiconductor Pd3P2S8 with Se doping. When the doping level of Se increases, the bandgaps of Pd3P2(S1-xSex)8 single crystals decrease gradually, accompanying with the expanded unit cells. The first-principles calculations show that there is a flat band (FB) near the Fermi level in bulk Pd3P2S8. This FB mainly originates from the dz2-like orbitals of Pd atoms in the Pd kagome lattice, which has a finite interlayer electron hopping perpendicular to the PdS4 square plane. The interlayer hopping can be reinforced with the Se doping, inducing a stronger interlayer coupling via the chalcogen atoms at apical sites, which reduces the bandgap and enhances the cleavage energy. In contrast, the vanishing interlayer hopping in the two-dimensional limit results in the formation of ultra-FB in the monolayers of these compounds. The easy exfoliation and the existence of unique ultra-FB near EF make Pd3P2(S1-xSex)8 a model system to explore the exotic physics of FB in two-dimensional kagome lattice.

cond-mat.mtrl-sci↗

arXiv2021

Antisymmetric magnetoresistance due to domain wall tilting in perpendicular magnetized films

We report the observation of the antisymmetric magnetoresistance (MR) in perpendicular magnetized CoTb films with inhomogeneous magnetization distribution driven by gradient magnetic field. By synchronously charactering the domain pattern evolution during transport measurements, we demonstrate that the nonequilibrium currents in the vicinity of tilting domain walls give rise to such anomalous MR. Moreover, theoretical calculation and analysis reveal that the geometry factor of the multidomain texture plays a dominant role in generating the nonequilibrium current. The explicitly established interplay between the anomalous transport behaviors and the particular domain wall geometry is essential to deepening understanding of the antisymmetric MR, and pave a new way for designing novel domain wall electronic devices.

cond-mat.mtrl-sci↗

arXiv2021

Millimetre-scale magnetocardiography of living rats using a solid-state quantum sensor

A key challenge in cardiology is the non-invasive imaging of electric current propagation occurring in the cardiovascular system at an intra-cardiac scale. A promising approach for directly mapping the current dynamics is to monitor the associated stray magnetic field. However, in this magnetic field approach, the spatial resolution deteriorates significantly as the standoff distance between the target and the sensor increases. Existing sensors usually remain relatively far from the target and provide only centimetre-scale resolution because their operating temperature is not biocompatible. Here we demonstrate millimetre-scale magnetocardiography of living rats using a solid-state quantum sensor based on nitrogen-vacancy centres in diamond. The essence of the method is a millimetre proximity from the sensor to heart surface, which enhances the cardiac magnetic field to greater than nanoteslas and allows the mapping of these signals with intra-cardiac resolution. From the acquired magnetic images, we also estimate the source electric current vector, flowing from the right atria base via the Purkinje fibre bundle to the left ventricular apex. Our results establish the solid-state quantum sensor's capability to probe cardiac magnetic signals from mammalian animals and reveal their intra-cardiac electrodynamics. This technique will enable the study of the origin and progression of myriad cardiac arrhythmias including flutter, fibrillation, and tachycardia.

physics.med-ph↗

arXiv2021

Self-Supervised Learning of Part Mobility from Point Cloud Sequence

Part mobility analysis is a significant aspect required to achieve a functional understanding of 3D objects. It would be natural to obtain part mobility from the continuous part motion of 3D objects. In this study, we introduce a self-supervised method for segmenting motion parts and predicting their motion attributes from a point cloud sequence representing a dynamic object. To sufficiently utilize spatiotemporal information from the point cloud sequence, we generate trajectories by using correlations among successive frames of the sequence instead of directly processing the point clouds. We propose a novel neural network architecture called PointRNN to learn feature representations of trajectories along with their part rigid motions. We evaluate our method on various tasks including motion part segmentation, motion axis prediction and motion range estimation. The results demonstrate that our method outperforms previous techniques on both synthetic and real datasets. Moreover, our method has the ability to generalize to new and unseen objects. It is important to emphasize that it is not required to know any prior shape structure, prior shape category information, or shape orientation. To the best of our knowledge, this is the first study on deep learning to extract part mobility from point cloud sequence of a dynamic object.

cs.CV↗