Searcharxiv⌕ Search

arXiv subjects

Xinyu Liu

Publications and source records attributed to Xinyu Liu.

At least 55 records · Page 3Linked to original sources
arXiv2026

A Confidence-Aware Multimodal Fusion Framework for Industrial Human-Robot Collaboration

A confidence-aware multimodal fusion framework (CAMF) is proposed to realize reliable human intention prediction for industrial human-robot collaboration. This framework fuses four heterogeneous modalities including object 6D pose, gaze, skeletal motion and IMU-based hand motion. It embeds a confidence-trend-driven dynamic fusion mechanism into BiLSTM to adaptively balance bidirectional temporal features according to real-time modality reliability. A confidence-guided balanced learning strategy combined with a confidence freezing mechanism is further adopted to adjust network gradients dynamically, suppress noise from low-quality modalities and mitigate cross-modal learning bias. A physical platform based on the UR3 collaborative robot is built for experimental validation. Comparative results show that the proposed method reaches an intention recognition accuracy of 91.86% and outperforms existing multimodal fusion approaches in overall performance and stability. It also maintains satisfactory accuracy under low light and partial occlusion interference. In practical assembly tasks, the framework enables proactive and stable human-robot cooperation with strong environmental adaptability.

cs.RO↗
arXiv2026

Knowledge-Guided Hierarchical Policy Learning for High-Precision Cylindrical Assembly under Tight Tolerances

A hybrid hierarchical learning framework is proposed to achieve high-precision assembly of 170mm cylindrical components with tolerance of 0.1mm. The lower-level network integrates expert experience through Behavior Cloning (BC), giving the robot human-like intuition, and incorporates the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm to enhance training stability and robustness. The upper-level network dynamically adjusts the lower-level decisions based on heuristic rules, ensuring flexibility in operations. A simulated model is constructed to learn before transferring to real world. An efficient and safe training is allowed. Comparisons show that the reward curve converges within 500 episodes, indicating high learning efficiency. It also demonstrates better adaptability to initial conditions and pose errors, achieving satisfactory success rates even under extreme conditions. Moreover, the method exhibits good stability under Gaussian noise interference. In the real world, the assembly trajectory of the cylindrical segment shows smoother motion and less fluctuation.

cs.RO↗
arXiv2026

Neutralizing Popularity Bias in LLM-based Recommendation via Counterfactual Reasoning Guidelines

In the era of generative AI, recommender systems are moving from precise prediction to trustworthy generation. Large language models (LLMs) support this shift by inferring user interests and producing natural-language explanations. However, LLM-based recommendation suffers from a fundamental obstacle: popularity bias. Through pre-training on massive corpora, LLMs tend to rely on global statistics and trend signals, yielding recommendations that follow popularity rather than genuine preference. As this bias is entangled in model parameters and is hard to remove directly, we propose Neutralizing Popularity Bias in LLM-based Recommendation via Counterfactual Reasoning Guidelines (NPRec), a model-agnostic framework that mitigates popularity bias through external semantic intervention. NPRec performs counterfactual refinement to causally separate intrinsic user interests from popularity-driven conformity, producing debiased textual guidelines that reflect actual user preferences. These guidelines are injected at inference time to shift the LLM from unconstrained generation to guided reasoning, without any parameter updates. Serving as explicit premises, they both ground faithful explanations and improve recommendation quality. Extensive experiments on three real-world datasets demonstrate that NPRec achieves promising performance in recommendation accuracy, explanation quality, and debiasing capability.

cs.AI↗
arXiv2026

Model Selection and Parameter Estimation of One-Dimensional Gaussian Mixture Models

In this paper, we study the problem of learning one-dimensional Gaussian mixture models (GMMs) with a specific focus on estimating both the model order and the mixing distribution from independent and identically distributed (i.i.d.) samples. This paper establishes the optimal sampling complexity for model order estimation in one-dimensional Gaussian mixture models. We prove a fundamental lower bound on the number of samples required to correctly identify the number of components with high probability, showing that this limit depends critically on the separation between component means and the total number of components. We then propose a Fourier-based approach to estimate both the model order and the mixing distribution. Our algorithm utilizes Fourier measurements constructed from the samples, and our analysis demonstrates that its sample complexity matches the established lower bound, thereby confirming its optimality. Numerical experiments further show that our method outperforms conventional techniques in terms of efficiency and accuracy.

stat.ML↗
arXiv2026

Model Selection and Parameter Estimation for Multidimensional Gaussian Mixture Models with a Common Covariance Matrix

We study model-order selection and component-mean estimation for multidimensional Gaussian mixture models with a known common covariance matrix. Using empirical characteristic-function measurements, we construct Fourier covariance matrices whose population counterparts have rank equal to the number of mixture components. We establish a minimax lower bound showing that distinguishing a separated $k$-component mixture from the class of $(k-1)$-component mixtures requires $Ω(Δ^{-(4k-4)})$ samples. We then develop an oracle spectral-thresholding estimator with a sufficient sample size of order $Δ^{-(8k-8)}$ for fixed $k$, together with a practical singular-value-ratio estimator. Given the model order, we estimate the component means by score-initialized gradient descent on a MUSIC-type projection objective. Under an explicit sample-size condition, a qualifying sample initialization lies in a certified attraction region with high probability, after which the iterates converge linearly. For fixed positive component separation, the resulting mean estimates achieve the parametric rate $\mathcal{O}_p(n^{-1/2})$. Numerical experiments demonstrate competitive accuracy and lower computational cost than expectation-maximization across a range of multidimensional settings.

stat.ML↗
arXiv2026

OISD: On-Policy Internal Self-Distillation of Language Models

Recent reinforcement learning (RL) post-training approaches primarily optimize the final output policy using sparse outcome-level rewards, while largely overlooking predictive signals encoded in intermediate representations. In this paper, we introduce a new paradigm called on-policy internal self-distillation and propose the OISD framework, which improves reasoning by transferring on-policy predictive signals from the final layer to intermediate representations. During rollout and Group Relative Policy Optimization (GRPO) optimization, the final layer acts as both the policy and a detached internal teacher for selected intermediate layers, which are guided to align with it through two complementary mechanisms: logit alignment, which transfers high-level reasoning behaviors (how to think), and attention alignment, which enforces consistent attention patterns (where to look) from the final layer to the selected intermediate layer, both without requiring external privileged information. Our OISD, together with GRPO, employs signed advantage-weighted Jensen--Shannon alignment to distill informative intermediate representations while preserving policy consistency under a unified acting policy. Experimental results demonstrate the effectiveness of OISD, with substantial and consistent improvements over strong reasoning RL baselines across four mathematical reasoning tasks. The code will be released at https://github.com/THE-MALT-LAB/OISD

cs.LG↗
arXiv2026

Learning Fair Allocation of Indivisible Items from Limited Feedback

We study a setting in which an algorithm must output a fair allocation of indivisible items while "learning on the job". More specifically, the algorithm is to output an allocation satisfying EF1, PROP1, or similar fairness notions; however, the algorithm initially has no information about the agents' valuations, and can only learn about them by (repeatedly) proposing an allocation, and obtaining feedback about a fairness violation in the allocation. Importantly, the observed fairness violation may be adversarially chosen. The algorithm's goal is to converge to a fair allocation in rounds polynomial in the number of agents and items, ideally with only polynomial computation. We prove two main results: first, when the valuations are additive, then even for mixed items (goods and chores), an allocation satisfying EF1 or PROP1 can be found in polynomial time using the corresponding feedback. These results are instantiations of a more general framework which maintains a polytope of candidate valuations consistent with all past feedback. The algorithm repeatedly constructs putative valuations and uses them to propose allocations; the observed violations then define separating hyperplanes, allowing the algorithm to emulate the ellipsoid method. When the valuations are monotone, we present an algorithm which is guaranteed to find an EF1 allocation in polynomially many iterations; however, its internal calculations are not guaranteed to be polynomial. The algorithm again maintains putative valuations, and only considers allocations in which each agent obtains an interval plus one additional item with respect to an arbitrary ordering of the items. It is known that such an EF1 allocation always exists; however, because the existence proof is non-constructive, the internal step of constructing an allocation from the putative valuations is not known to take polynomial time.

cs.GT↗
arXiv2026

Meta-Learning Where to Allocate Experts: Task-Conditioned Layer-Wise Compression for MoEs

Mixture-of-Experts (MoE) models route each token to a subset of expert networks, increasing capacity while keeping per-token computation sparse. In many deployed MoEs, the number of active experts is fixed across layers and tasks, although layer roles and expert redundancy vary with depth and demand varies with difficulty. Existing approaches address only part of this setting: layer-wise allocations are usually determined offline and reused for all tasks, while token-level methods vary expert activation using local routing signals without task-level context. We propose MetaNet, a support-set controller that predicts, for each layer, an expert-retention threshold and a bounded routing bias. The backbone, experts, and router remain frozen. On DeepSeek-MoE-16B-Chat, MetaNet provides a tunable accuracy-expert-activation trade-off. Relative to fixed k=6, a conservative setting activates 3.61 experts on average (40% fewer) and achieves comparable MMLU accuracy (0.489 vs. 0.474), whereas an aggressive setting activates 2.28 experts on average (62% fewer) with accuracy approximately 3.7 percentage points lower. The MMLU-trained controller also transfers to C-Eval without retraining, activating 2.90 experts on average (52% fewer than fixed k=6) at 0.386 accuracy.

cs.CL↗
arXiv2026

A Survey of Text-to-SQL in the Era of LLMs: Where are we, and where are we going?

Translating users' natural language queries (NL) into SQL queries (i.e., Text-to-SQL, a.k.a. NL2SQL) can significantly reduce barriers to accessing relational databases and support various commercial applications. The performance of Text-to-SQL has been greatly enhanced with the emergence of Large Language Models (LLMs). In this survey, we provide a comprehensive review of Text-to-SQL techniques powered by LLMs, covering its entire lifecycle from the following four aspects: (1) Model: Text-to-SQL translation techniques that tackle not only NL ambiguity and under-specification, but also properly map NL with database schema and instances; (2) Data: From the collection of training data, data synthesis due to training data scarcity, to Text-to-SQL benchmarks; (3) Evaluation: Evaluating Text-to-SQL methods from multiple angles using different metrics and granularities; and (4) Error Analysis: analyzing Text-to-SQL errors to find the root cause and guiding Text-to-SQL models to evolve. Moreover, we offer a rule of thumb for developing Text-to-SQL solutions. Finally, we discuss the research challenges and open problems of Text-to-SQL in the LLMs era. Text-to-SQL Handbook: https://github.com/HKUSTDial/NL2SQL_Handbook

cs.DB↗
arXiv2026

MOSAIC: Modular Orchestration for Structured Agentic Intelligence and Composition

Automated data science is a structured model-selection problem. A solution must choose data transformations, feature representations, architecture, training procedure, evaluation protocol, and refinement strategy for a task. AutoML systems automate parts of this process, but typically search within predefined pipeline, model, and hyperparameter spaces. LLM-based agents offer greater flexibility through retrieval, code generation, and execution feedback, yet their modelling decisions are often unstructured, difficult to verify, and hard to reuse. We introduce \textsc{MOSAIC} (Modular Orchestration for Structured Agentic Intelligence and Composition), a structured agentic framework for memory-grounded model selection and workflow construction. Given a task and dataset, \textsc{MOSAIC} builds a semantic task profile, retrieves prior cases and source-code modules, and constructs a blueprint: an intermediate representation specifying selected modelling components, composition, interface constraints, and execution requirements. This blueprint turns model selection into a staged, context-grounded search and grounds LLM-based code generation in retrieved evidence rather than unconstrained synthesis. Candidate models are validated by execution and refined using diagnostic feedback, training traces, task metrics, and a failure-aware reinforcement learning policy. We instantiate \textsc{MOSAIC} on financial time-series forecasting and generation, where models must satisfy predictive accuracy, distributional fidelity, execution reliability, and downstream financial criteria such as risk and tail behaviour. Experiments against AutoML and agentic baselines show that \textsc{MOSAIC} improves task performance, execution success, and decision traceability, demonstrating the value of treating automated data science as structured, reusable, and execution-grounded model selection.

cs.AI↗
arXiv2026

Learning Where and What to Lift for Bi-planar X-ray-to-CT Reconstruction

X-ray imaging can be approximately modeled as the projection of an underlying volumetric attenuation field, with each measurement recording the accumulated attenuation along a corresponding ray path. Reconstructing a CT volume from only a few X-ray views is therefore severely ill-posed, as the projections collapse depth information and leave 3D locations of anatomical regions and their corresponding intensity distributions highly entangled and ambiguous. We observe that once the spatial organization of anatomical regions is established, estimating their CT intensities becomes substantially more tractable. Motivated by this, we propose LiftXR, an interleaved, geometry-guided framework that explicitly incorporates spatial layout recovery into CT reconstruction. Specifically, a layout lifter first generates a 3D anatomical layout from bi-planar X-rays, providing spatial guidance for an intensity renderer to reconstruct a CT volume. An anatomical parser then performs volumetric perception on the reconstruction, exploiting its spatially resolved boundary and intensity cues to recover a refined anatomical layout. This transition from projection-conditioned layout generation to reconstruction-conditioned anatomical perception allows the parsed layout to provide feedback for region-specific intensity calibration. Extensive experiments on two public datasets demonstrate that LiftXR consistently outperforms recent X-ray-to-CT reconstruction methods, establishing a new state of the art. Moreover, the reconstructed CT achieves superior performance in external downstream segmentation, indicating improved anatomical fidelity. Code will be released.

cs.CV↗
arXiv2026

Fiber Nonlinearity Compensation of Coherent Signals Using Deep Photonic Reservoir Computer

Photonic reservoir computer (PRC) is a promising optical computing framework for high-speed optical signal processing, and various reports have shown its functionality of linear equalization for intensity-modulation direct-detection communication links. However, coherent communication links suffer more from nonlinear impairment, whereas its nonlinear equalization is very challenging. Here we demonstrate the nonlinear equalization of coherent 16-level quadrature amplitude modulation (16-QAM) signals using a deep PRC in experiment. The deep PRC consists of cascading injection-locked semiconductor lasers with optical feedback loops. For 16-QAM signals with a transmission rate of 240 Gbps and a launch power of 12 dBm, the single-channel PRC with 3 hidden layers raises the Q factor by as high as 0.58 dB, while the dual-channel PRC with 2 hidden layers raises the Q factor by 0.55 dB. In addition, we prove that the deep PRC is able to equalize 16-QAM signals of different launch powers and transmission distances.

physics.optics↗
arXiv2026

GigaBrain-0.7: Scaling Embodied Foundation Models to Emergent Capabilities with a Three-System Architecture

Vision-language-action (VLA) models have become a dominant paradigm for generalist embodied agents, demonstrating strong complex and long-horizon task completion in structured settings. Yet it remains an open question whether current VLA systems can benefit from more effective architectural design, scale to substantially larger and more heterogeneous data regimes, and achieve broader generalization across tasks and embodiments. To this end, we present GigaBrain-0.7, an embodied foundation model with substantially improved generalization across diverse robot embodiments. Specifically, GigaBrain-0.7 unifies understanding, prediction, and action through a three-system architecture, scales pretraining to over 37,000 hours of heterogeneous embodied data, and introduces one-stage alignment training that jointly optimizes vision-language understanding and multi-embodiment action generation. Compared with the preceding GigaBrain-0 series and prior state-of-the-art models including $π_{0.5}$, GigaBrain-0.7 achieves substantial improvements in foundation zero-shot capabilities, language-conditioned instruction following, and post-training task success rates. In particular, on our in-house Maker H01 platform and mainstream robot embodiments, GigaBrain-0.7 demonstrates strong task adaptability and completion ability across both home and industrial scenarios. All training code and pretrained model weights will be released.

cs.RO↗
arXiv2026

Loeb Equivalence for General Internal Probability Spaces

Loeb measure theory stands as one of the most influential concepts in nonstandard analysis, underpinning nearly all applications in probability, stochastic processes, and mathematical economics. The paper resolves a fundamental open problem in Loeb measure theory originally posed by Keisler and Sun: let $(Ω,\mathcal{F},μ)$ and $(Ω,\mathcal{G},ν)$ be two Loeb equivalent internal probability spaces, and $\mathcal H$ be the internal algebra generated from $\mathcal{F}\cup\mathcal{G}$. Does there exist an internal probability measure $P$ on $\mathcal H$ such that $(Ω,\mathcal{H},P)$ is Loeb equivalent to $(Ω,\mathcal{F},μ)$? While arXiv:2112.13955 recently provided a positive answer for hyperfinite probability spaces, the problem remained open for general internal probability spaces. We establish the existence of such an internal probability measure for all internal probability spaces.

math.LO↗
arXiv2026

AIMS: an AI experimentalist turns uncertainty into quantum matter discovery

Most AI agents act only after scientists have defined the task. Discovery is harder under practical uncertainties: the probe may not be where it is expected, the signal may occupy only a small region of a disordered sample, and the evidence may not distinguish among competing explanations. Here we show that an AI agent can decide what evidence an uncertain experiment needs next, and act on it. Beyond automation, AIMS, an uncertainty-aware experimentalist for cryogenic microwave impedance microscopy, quantifies uncertainty where it originates, in perception, sampling, and interpretation, and converts each into its own corrective action rather than a single confidence score. Given only an open objective, AIMS relocated a probe lost during cooldown while flagging its own unreliable estimates, mapped twist angle disorder to locate the strongest correlated states in twisted bilayer MoSe$_2$, and uncovered a paradox: the half-filled stripe that classical theory predicts should melt first survived longest. Distinguishing an incomplete model from a wrong mechanism, AIMS commissioned a beyond-mean-field calculation and an independent structural measurement as the decisive tests, revising its interpretation as each arrived: quantum motion reverses the classical hierarchy, stabilizing the half-filled stripe while destabilizing its neighbors. These uncertainty-to-action loops are generic to scanning probe experiments, and AIMS turns uncertainty from an obstacle into a driver of discovery.

cond-mat.str-el↗
arXiv2026

ContextMaster: Interactive Multi-Shot Video Creation via Fixed-Budget Sparse Context Routing

Recent video models increasingly support generation, reference conditioning, and editing within a single model, yet typically expose them as separate operations over fixed inputs. Practical creation unfolds across multiple shots, requiring one model to generate from text, follow a reference, or edit source footage while maintaining shared history. We formalize this setting as interactive multi-shot video creation (IMVC) and introduce ContextMaster, a unified model with a role-aware context representation for these operations. An interactive model must retain access to an expanding history without allowing the context read cost at each denoising step to grow. ContextMaster combines reusable clean context states with fixed budget sparse context routing and uses ConstraintSink to keep task constraints visible. To address the dual challenges of sparse context access and inference with few denoising steps, we propose a two-stage privileged context distillation framework, which transfers full context behavior from a dense teacher through consistency distillation and then refines deployment rollouts with distribution matching. Experiments on the three primitive tasks demonstrate improved task fulfillment and consistency across shots over specialized baselines. User studies further validate flexibly composed workflows, while the model reaches 16 FPS on a single GPU.

cs.CV↗
arXiv2026

DataSpace: Benchmarking Data Agents for Verifiable Analytics over Heterogeneous Workspaces

Data agents enable natural-language analytics over organizational workspaces, where relevant evidence may be scattered across databases, structured files, long documents, and multimedia. Existing benchmarks largely isolate structured querying, retrieval, or open-ended analysis, leaving heterogeneous evidence discovery, complete tabular outputs, and deterministic evaluation insufficiently unified. We introduce DataSpace, a benchmark in which data agents produce verifiable tabular results from task-local heterogeneous workspaces. It contains 410 cross-language tasks and 7,439 artifacts totaling 15.01 GB across CSV, JSON, SQLite, Markdown, PDF, and video. DataSpace also served as the official evaluation benchmark for the KDD Cup 2026 Data Agents for Complex Data Analysis competition. Each agent receives only a question and workspace and returns the complete requested tabular result. We construct DataSpace with DataSpace-Builder, an execution-grounded framework comprising cross-language transformation, constraint-aware relational sampling, modality routing and artifact rendering, and human review and task repair by 11 domain experts. A deterministic evaluator performs header-invariant column alignment, type- and precision-aware normalization, and order-aware row comparison. Across six recently released frontier multimodal models and five widely used agent harnesses, the best accuracy reaches 66.34%, while harness choice creates a 15.36-point spread with the backbone fixed. Multimodal evidence integration and joins consistently reduce accuracy across all six backbones. These results show that DataSpace remains unsaturated and identify key challenges for improving data-agent reliability.

cs.AI↗
arXiv2026

PanDent: Toward Comprehensive Tooth-Level Structure-Language Consistency in Dental Radiology

Accurate evaluation of multimodal large language models (MLLMs) in dental panoramic radiography (orthopantomogram, OPG) is limited by the lack of fine-grained, clinically reliable benchmarks that reflect expert interpretation. This work introduces PanDent, a large-scale, clinically grounded OPG benchmark built upon fine-grained, expert-validated tooth-level annotations. The dataset comprises 9,524 high-quality OPGs, each associated with comprehensive structured annotations produced by experienced dentists and further validated by an oral and maxillofacial radiologist, providing clinically reliable supervision for tooth-level diagnosis and reasoning. Clinically consistent radiology reports are constructed from expert-validated findings using clinician-defined reporting logic, establishing explicit correspondence between structured clinical evidence and free-text descriptions. This design enables evaluation of whether MLLMs generate reports that are not only linguistically coherent but also clinically consistent with expert-validated tooth-level findings. Experiments are conducted on diverse MLLMs, including state-of-the-art (SOTA) proprietary models, general-domain open-source models, and medical-specific models. Results show that current MLLMs can generate fluent reports, yet fail to produce clinically consistent descriptions, exhibiting substantial errors in fine-grained localization and tooth-level diagnosis. Fine-tuning on PanDent significantly improves structure-language consistency, substantially enhancing visual localization accuracy and diagnostic correctness, and bringing model outputs closer to expert dental interpretation. These results establish PanDent as a rigorous benchmark for evaluating tooth-level clinical reasoning in MLLMs and a valuable resource for clinically grounded dental AI.

cs.CV↗