arXiv subjects

Xinyue Yao

Publications and source records attributed to Xinyue Yao.

3 recordsLinked to original sources

arXiv2026

PAct: Part-Decomposed Single-View Articulated Object Generation

Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential. Yet producing high-fidelity articulated assets remains difficult to scale because it requires reliable part decomposition and kinematic rigging. Existing approaches largely fall into two paradigms: optimization-based reconstruction or distillation, which can be accurate but often takes tens of minutes to hours per instance, and inference-time methods that rely on template or part retrieval, producing plausible results that may not match the specific structure and appearance in the input observation. We introduce a part-centric generative framework for articulated object creation that synthesizes part geometry, composition, and articulation under explicit part-aware conditioning. Our representation models an object as a set of movable parts, each encoded by latent tokens augmented with part identity and articulation cues. Conditioned on a single image, the model generates articulated 3D assets that preserve instance-level correspondence while maintaining valid part structure and motion. The resulting approach avoids per-instance optimization, enables fast feed-forward inference, and supports controllable assembly and articulation, which are important for embodied interaction. Experiments on common articulated categories (e.g., drawers and doors) show improved input consistency, part accuracy, and articulation plausibility over optimization-based and retrieval-driven baselines, while substantially reducing inference time.

cs.CV↗

arXiv2025

GAT-Grasp: Gesture-Driven Affordance Transfer for Task-Aware Robotic Grasping

Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited adaptability to unseen objects, leading to suboptimal grasp execution. In this work, we propose GAT-Grasp, a gesture-driven grasping framework that directly utilizes human hand gestures to guide the generation of task-specific grasp poses with appropriate positioning and orientation. Specifically, we introduce a retrieval-based affordance transfer paradigm, leveraging the implicit correlation between hand gestures and object affordances to extract grasping knowledge from large-scale human-object interaction videos. By eliminating the reliance on pre-given object priors, GAT-Grasp enables zero-shot generalization to novel objects and cluttered environments. Real-world evaluations confirm its robustness across diverse and unseen scenarios, demonstrating reliable grasp execution in complex task settings.

cs.RO↗

arXiv2022

Regression-based heterogeneity analysis to identify overlapping subgroup structure in high-dimensional data

Heterogeneity is a hallmark of complex diseases. Regression-based heterogeneity analysis, which is directly concerned with outcome-feature relationships, has led to a deeper understanding of disease biology. Such an analysis identifies the underlying subgroup structure and estimates the subgroup-specific regression coefficients. However, most of the existing regression-based heterogeneity analyses can only address disjoint subgroups; that is, each sample is assigned to only one subgroup. In reality, some samples have multiple labels, for example, many genes have several biological functions, and some cells of pure cell types transition into other types over time, which suggest that their outcome-feature relationships (regression coefficients) can be a mixture of relationships in more than one subgroups, and as a result, the disjoint subgrouping results can be unsatisfactory. To this end, we develop a novel approach to regression-based heterogeneity analysis, which takes into account possible overlaps between subgroups and high data dimensions. A subgroup membership vector is introduced for each sample, which is combined with a loss function. Considering the lack of information arising from small sample sizes, an $l_2$ norm penalty is developed for each membership vector to encourage similarity in its elements. A sparse penalization is also applied for regularized estimation and feature selection. Extensive simulations demonstrate its superiority over direct competitors. The analysis of Cancer Cell Line Encyclopedia data and lung cancer data from The Cancer Genome Atlas shows that the proposed approach can identify an overlapping subgroup structure with favorable performance in prediction and stability.

stat.ME↗