arXiv subjects

Yan Yang

Publications and source records attributed to Yan Yang.

At least 19 recordsLinked to original sources

arXiv2026

GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives

Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variable-geometry truss (VGT) distributes this shape change through a load-bearing structure, but coupling it to a mobile base creates a high-dimensional coordination problem. GeoTrussRover combines an electrically actuated VGT, a wheeled base, and contact-semantic morphology planning and control. We solve one source traversal and extract four contact-semantic primitives that describe coordination among 21 members. Physics-constrained projection adapts them to unseen step heights with the same contact topology. When every phase remains feasible, adaptation does not recompute the complete motion. If one phase violates the new physical constraints, only that phase is recomputed. A full-space QP then tracks the adapted motion and corrects member and wheel errors. For transfer from 0.10m to 0.075m, the method reduces objective-function evaluations by 63.7% relative to full recomputation. Contact-phase feasibility analysis covers step heights from 0.10 to 0.46m, or 1.08 to 4.97 wheel radii, with the upper value near the theoretical feasible boundary. The electric prototype traverses 2.11 wheel radii. The resulting low-dimensional representation stores task coordination in a hyper-redundant, load-bearing morphology and reuses it during locomotion.

cs.RO↗

arXiv2026

Sub-Pixel Affine Registration of Space Debris Images via the Radon Point Spread Function

Inter-frame affine misalignment caused by platform jitter and attitude adjustments poses a fundamental challenge for multi-frame analysis of point targets in optical surveillance. Conventional registration methods rely on spatial intensity correlations or distinctive image features, both of which are largely absent in low-signal-to-noise-ratio point target imagery. We introduce the Radon Point Spread Function (RPSF) to characterize point targets in the Radon-transformed domain, and derive a closed-form framework that jointly estimates inter-frame translation and rotation from as few as four scalar RPSF samples per frame pair. The method requires no iterative optimization, feature extraction or interpolation, which is suitable for resource-constrained onboard processing. Simulation results confirm sub-pixel translation accuracy and a mean rotation error of 0.2556{\deg} at 1{\deg} Radon angular resolution. Validation on five real space debris datasets including both ground-based and in-orbit observations yields a mean calibration error below 0.5 pixels, substantially exceeding the precision required for reliable multi-frame processing.

cs.CV↗

arXiv2026

KSG-Net: Key-Sparse and Global-Context Learning for Maritime 3D Ship Detection

Accurate 3D ship detection in maritime environments is critical for autonomous navigation, yet remains challenging due to large-scale vessel variations, sparse point clouds of small vessels, and severe sea-clutter interference. Existing methods, primarily based on 2D features or dense representations, struggle to balance detection accuracy and computational efficiency, while sparse 3D detectors designed for road scenes generalize poorly to maritime scenarios. This paper focuses on two key challenges in maritime LiDAR perception: weak feature representation for small and sparse vessels, and insufficient global structural modeling for large vessels due to the limited receptive field of local sparse convolutions. To address these issues, we propose KSG-Net, a Key-Sparse and Global-Context learning network for maritime 3D ship detection. The core idea is to jointly enhance local discriminative features and global structural awareness within a unified fully sparse detection framework. Specifically, a Key Sparse Multi-scale Aggregation (KSMA) module is designed to enhance the representation of small and sparse vessels by selecting informative key voxels and aggregating cross-scale neighborhood features. Furthermore, a Global Context Aggregation (GCA) module is introduced to capture long-range geometric dependencies through scene-level context modeling with gated residual interactions, thereby improving the representation of large vessels. Extensive experiments on the Thames River vessel dataset and simulated datasets demonstrate that KSG-Net consistently outperforms existing methods in multi-scale vessel detection and exhibits strong robustness in complex maritime environments.

cs.CV↗

arXiv2026

MCP-Universe RL: A Framework for Training MCP Tool-Use Agents via Reinforcement Learning

Reinforcement learning (RL) has become an effective way to improve the tool-use ability of large language models (LLMs), but most existing RL frameworks stop at the policy update. For every new domain, the user is left with two hard systems problems: standing up an isolated environment for each of hundreds of concurrent trajectories and connecting it to training, and scheduling the rollout so that the GPU stays busy across long, multi-turn episodes that spend much of their time stalled on slow tool calls. We present MCP-Universe RL (MCP-U RL), an open-source framework that takes over both. It uses the Model Context Protocol (MCP) as the interface to the environment, so any tool already exposed as an MCP server plugs into training with no RL-specific integration code. It builds the two missing layers once and reuses them across domains: an environment-orchestration layer that provisions, isolates, and recycles the MCP environments over a pluggable container backend, and a rollout-orchestration layer whose staged pipeline overlaps trajectories to keep the GPU busy while episodes wait on tools. A backend-agnostic training layer then applies the update through an existing RL backend, with veRL and slime integrations. With one configuration, changing only the task specification, we train software-engineering, deep-research, and general tool-use agents on gpt-oss-20b and improve task reward in all three.

cs.AI↗

arXiv2026

A Unified Description of Electron-Phonon Coupling and Ion Migration in Metal Halide Perovskites

The remarkable optoelectronic properties of metal halide perovskites are closely linked to their unusually soft and polar chemical bonds that enable both strong electron-phonon interactions and ion migration. Yet these two defining characteristics have largely been treated as independent consequences of the same underlying chemical bonding. Here we show that they originate from a common electronic-structure framework by developing a general description linking lattice dynamics, electron-phonon coupling, and halide ion migration across representative Pb-based, Sn-based, and double perovskites. Spectrally resolved phonon-mode contributions demonstrate that the low-frequency shearing modes dominate halide migration, whereas high-frequency stretching modes govern carrier scattering through the Fr\"ohlich interaction in all three compositions. We introduce an orbital hybridization descriptor to unify these findings, which connects metal-halide bonding characteristics with the migration barrier energies and Fr\"ohlich coupling strengths, indicating a cooperative evolution of these two properties. These findings provide a generalized microscopic mechanism for simultaneously optimizing charge and ionic transport in soft semiconductors.

cond-mat.mtrl-sci↗

arXiv2026

On the Asymptotic Normality and Unimodality of Genus Distributions of Wheels

The genus polynomial of a graph is the generating polynomial for the number of nonequivalent embeddings of the graph on each orientable surface. In this paper, we address three questions on genus polynomials for wheel graphs: the computation of genus polynomials, the unimodality and the asymptotic normality of their coefficients. We derive an explicit formula for the genus polynomial of wheel graphs by combining methods of the joint tree model and characters theory, and then prove its real-rootedness. This stronger result implies the log-concavity, unimodality, and asymptotic normality of its coefficients. Thus, we confirm the unimodality conjecture for the genus distribution of wheel graphs and provide a positive answer to the asymptotic normality question posed by Zhang, Peng, and Chen (\emph{Adv. in Appl. Math.} \textbf{127} (2021), 102175).

math.CO↗

arXiv2026

StateAct: Program State, before Pixels, for Long-Horizon Computer-Use Agents

Computer-use agents are usually improved by strengthening perception: better models for reading a screenshot and choosing where to click. Yet a screenshot is only a lossy rendering of the underlying program state, e.g., the files, application backends, and DOM that hold the task data. Different states can produce the same pixels, while code can inspect and modify that state directly. StateAct is a code-first, multi-agent harness built around this distinction. Its main agent works directly with program state by using code, while a dedicated GUI subagent handles screenshot-and-click interaction on the few subgoals that need it, just 28 of 108 tasks and 1.1% of main-agent steps. The same direct access to program state also supports verification: an independent finish gate double-checks the saved result for structural failures, e.g., output that is missing, unsaved, or written to the wrong path. To stay on track over hundreds of steps, the main agent hands subgoals to fresh subagents, keeping its own context focused. On OSWorld 2.0, StateAct lifts Claude Opus 4.8 from 20.6% to 26.9% on binary success, and from 54.8% to 61.6% on partial success, at ~ 9x lower cost per task than the same model driven by screenshots alone; a code-only variant with no GUI subagent reaches only 45.9% partial, below that screenshot-based baseline's 54.8%. In general, grounding action, verification, and memory in state, what we call state-grounding, shifts the main bottleneck from perception toward reasoning: failures depend more on what the agent thinks than on what it sees.

cs.SE↗

arXiv2026

Parker Solar Probe Observations of Preferential Heating of Protons over Alpha Particles near Turbulent Coherent Structures

Solar wind alpha particles exhibit preferential heating and acceleration relative to protons; however, their behavior in the vicinity of turbulent coherent structures remains less understood. We report the first evidence of localized alpha particle and proton heating within coherent structures identified using the Partial Variance of Increments (PVI) method, based on Parker Solar Probe (PSP) observations. Our results show that high-PVI events are associated with significant, species-dependent temperature enhancements: protons undergo a relative larger temperature increase than alpha particles. This preferential proton heating produces a localized decrease in the alpha-to-proton temperature ratio, indicating that the plasma is driven toward thermal equilibration between species. The heating is also anisotropic, being dominated by enhancements in the perpendicular temperature. These temperature-signatures coincide with a pronounced reduction in the normalized alpha-proton differential flow speed and a localized minimum in the Coulomb collision age, suggesting that the relaxation is affected primarily by collisionless kinetic effects. These findings provide new insight into the intermittent energy conversion and ion thermodynamics in the solar wind.

astro-ph.SR↗

arXiv2026

Structural-Semantic Reciprocal Learning for Unsupervised Visible-Infrared Person Re-Identification

Unsupervised visible-infrared person re-identification (USVI-ReID) is challenging due to the large modality gap and the lack of cross-modal identity annotations. Progressive association paradigms have been proposed to gradually bridge the gap, but they suffer from two critical bottlenecks: reliance on ambiguous global representations and unchecked propagation of pseudo-label noise in an open-loop manner. To address these issues, we propose Structural-Semantic Reciprocal Learning (SSRL), a framework that transforms open-loop association into a self-correcting closed-loop system. Structurally, we introduce Fine-grained Structural Decoupling (FSD) to extract discriminative body-part primitives as reliable spatial anchors, complementing ambiguous holistic silhouettes with spatially consistent structural details. Semantically, we design a Closed-loop Semantic Calibration (CSC) mechanism that reconstructs shared semantic prototypes at each epoch and feeds them back into the training loop, effectively filtering pseudo-label noise before the next clustering cycle. Through the reciprocal interaction between structural and semantic learning, SSRL achieves robust cross-modal representation. Extensive experiments demonstrate the competitive performance of SSRL against state-of-the-art USVI-ReID methods on both SYSU-MM01 and RegDB, notably surpassing several supervised counterparts on RegDB.

cs.CV↗

arXiv2026

Loss Landscape Diagnosis for Gradient-Based Gray-Scott System Inversion: Disentangling the Roles of PINN Components

Gradient-based inversion of reaction-diffusion systems is typically approached via surrogate models or physics-informed neural networks (PINNs), while the most direct route, backpropagation through the PDE's structure itself, has largely been avoided. We pursue this direct route as a diagnostic probe, backpropagating a steady-state loss through unrolled Gray-Scott simulation to recover its parameters, with no surrogate or neural-network augmentation. Optimization fails to converge, and plotting the landscape directly locates the failure in its geometry -- flat plateaus with no gradient signal, bounded by sharp cliffs that align with bifurcation boundaries -- a structure that recurs across loss functions and is inherited however the gradients are routed to parameters. Reading this minimal setup as an ablation of PINN, we disentangle each component's role: with the neural network fixed, the residual loss is quadratic in the PDE parameters and yields a smooth landscape, so it alone already avoids the pathology, by implicitly encoding the full PDE dynamics across all initial conditions. The neural network, for its part, cannot repair an ill-posed parameter subspace, and so serves only to complete the observed data -- a division of labor not previously made explicit. These findings carry concrete design implications for PINN-type methods and a broader heuristic on when added dimensions actually help.

cs.LG↗

arXiv2026

Optimization over the intersection of manifolds

Optimization over the intersection of two manifolds arises in a broad range of applications, but is hindered by the coupled geometry of the feasible region. In this paper, we prove that the regularities -- clean intersection and intrinsic transversality -- are equivalent, which yields a tractable projection onto the tangent space of the intersection. Therefore, we propose a geometric method that employs a retraction on only one manifold and updates the iterate along two orthogonal directions. Specifically, the iterates stay on one manifold, and the two directions are responsible for asymptotically approaching the other manifold and decreasing the objective function, respectively. Under intrinsic transversality, we derive the convergence rate for both the feasibility and optimality measures, and show that every accumulation point is first-order stationary. Numerical experiments on problems stemming from sparse and low-rank optimization, including fitting spherical data, approximating hyperbolic embeddings on real data, and computing compressed modes, demonstrate the effectiveness of the proposed method.

math.OC↗

arXiv2026

Inertial-Range Energy Transfer Free from Isotropic Assumption in Turbulent Space Plasma

The idea of an energy cascade in the inertial range is often invoked in turbulent space plasmas to estimate the energy dissipation rate. Laws governing the behavior of third-order structure functions in the inertial range, so-called third-order laws, are among the few rigorous theoretical results quantifying cross-scale energy transfer. The widely used third-order-law derived rate assumes isotropy, which fundamentally conflicts with the anisotropic nature of space plasmas. Elementary questions persist regarding how such anisotropic energy cascades can be quantified using multi-spacecraft constellations. As the heliospheric community increasingly progresses towards multi-spacecraft, multi-scale constellations, such as Plasma Observatory and HelioSwarm, we revisit these crucial issues pertinent to accurately measuring the inertial-range energy transfer. Here we make a systematic comparison between two methods: direction-averaging (DA) and lag polyhedral derivative ensemble (LPDE) to determine the full three-dimensional (3D) dependence of cross-scale energy transfer. We find that DA exhibits both polar and azimuthal dependence, but is insensitive to spacecraft configuration. By contrast, LPDE is strongly affected by spacecraft separation and tetrahedral shape, while being comparatively insensitive to the sampling trajectory. Our findings have direct implications for current and future multi-spacecraft missions. Both DA and LPDE will provide crucial information on the nature of turbulence in space and astrophysics.

physics.plasm-ph↗

arXiv2026

WildTableBench: Benchmarking Multimodal Foundation Models on Table Understanding In the Wild

Using multimodal foundation models to analyze table images is a high-value yet challenging application in consumer and enterprise scenarios. Despite its importance, current evaluations rely largely on structured-text tables or clean rendered images, leaving the visual complexity of in-the-wild table images underexplored. Such images feature varied layouts and diverse domains that demand sophisticated structural perception and numerical reasoning. To bridge this gap, we introduce WildTableBench, the first question-answering benchmark for naturally occurring table images from real-world settings. WildTableBench comprises 402 high-information-density table images collected from online forums and websites across diverse domains, together with 928 manually annotated and verified questions spanning 17 subtypes across five categories. We evaluate 21 frontier proprietary and open-source multimodal foundation models on this benchmark. Only one model exceeds 50% accuracy, while all remaining models range from 4.1% to 49.9%. We further conduct diagnostic analyses to characterize model failures and reveal persistent weaknesses in structural perception and reasoning. These results and analyses provide useful insights into current model capabilities and establish WildTableBench as a valuable diagnostic benchmark for table image understanding. Dataset: https://huggingface.co/datasets/jzhuang/WildTableBench Code: https://github.com/hjzhe/WildTableBench Leaderboard: https://hjzhe.github.io/WildTableBench

cs.CV↗

arXiv2026

Benchmarking and Improving GUI Agents in High-Dynamic Environments

Recent advancements in Graphical User Interface (GUI) agents have predominantly focused on training paradigms like supervised fine-tuning (SFT) and reinforcement learning (RL). However, the challenge of high-dynamic GUI environments remains largely underexplored. Existing agents typically rely on a single screenshot after each action for decision-making, leading to a partially observable (or even unobservable) Markov decision process, where the key GUI state including important information for actions is often inadequately captured. To systematically explore this challenge, we introduce DynamicGUIBench, a comprehensive online GUI benchmark spanning ten applications and diverse interaction scenarios characterized by important interface changes between actions. Furthermore, we present DynamicUI, an agent designed for dynamic interfaces, which takes screen-recording videos of the interaction process as input and consists of three components: a dynamic perceiver, a refinement strategy, and a reflection. Specifically, the dynamic perceiver clusters frames of the GUI video, generates captions for the centroids, and iteratively selects the most informative frames as the salient dynamic context. Considering that there may be inconsistencies and noise between the selected frames and the textual context of the agent, the refinement strategy employs an action-conditioned filtering to refine thoughts to mitigate thought-action inconsistency and redundancy. Based on the refined agent trajectories, the reflection module provides effective and accurate guidance for further actions. Experiments on DynamicGUIBench demonstrate that DynamicUI significantly improves the performance in dynamic GUI environments, while maintaining competitive performance on other public benchmarks.

cs.CV↗

arXiv2026

CGC: Compositional Grounded Contrast for Fine-Grained Multi-Image Understanding

Although Multimodal Large Language Models (MLLMs) have advanced rapidly, they still face notable challenges in fine-grained multi-image understanding, often exhibiting spatial hallucination, attention leakage, and failures in object constancy. In addition, existing approaches typically rely on expensive human annotations or large-scale chain-of-thought (CoT) data generation. We propose Compositional Grounded Contrast (abbr. CGC), a low-cost full framework for boosting fine-grained multi-image understanding of MLLMs. Built on existing single-image grounding annotations, CGC constructs compositional multi-image training instances through Inter-Image Contrast and Intra-Image Contrast, which introduce semantically decoupled distractor contexts for cross-image discrimination and correlated cross-view samples for object constancy, respectively. CGC further introduces a Rule-Based Spatial Reward within the GRPO framework to improve source-image attribution, spatial alignment, and structured output validity under a Think-before-Grounding paradigm. Experiments show that CGC achieves state-of-the-art results on fine-grained multi-image benchmarks, including MIG-Bench and VLM2-Bench. The learned multi-image understanding capability also transfers to broader multimodal understanding and reasoning tasks, yielding consistent gains over the Qwen3-VL-8B base model on MathVista (+2.90), MuirBench (+2.88), MMStar (+1.93), MMMU (+1.77), and BLINK (+1.69).

cs.CV↗

arXiv2026

On derivatives and higher-order derivatives of chromatic polynomials

Let $ G $ be a graph of order $ n $ with maximum degree $\Delta$, and let $P(G,x)$ denote its chromatic polynomial. We investigate several properties of $P(G,x)$ related to its derivatives and higher-order derivatives. First, we study the monotonicity of $P(G,x)/x^n$. Dong proved that $(x-1)^nP(G,x)\geq x^nP(G,x-1)$ for all real $x\geq n$. In particular, taking $x=n$ establishes the Bartels-Welsh ``shameful conjecture" that $P(G,n)/P(G,n-1)>e$. Fadnavis later showed that the same inequality holds for all real $x\geq 36\Delta^{3/2}$. We improve this bound by proving that it also holds for all real $x\geq 10\Delta^{3/2}$. We then consider a conjecture of Dong, Ge, Gong, Ning, Ouyang, and Tay asserting that $ \frac{d^k}{dx^k} \bigl( \ln[(-1)^n P(G, x)] \bigr) < 0 $ for all $ k \geq 2 $ and $ x \in (-\infty, 0) $. We establish this conjecture for all $ k \geq 2 $ and $ x\leq -3.01\Delta k $.

math.CO↗

arXiv2026

Progressive Video Condensation with MLLM Agent for Long-form Video Understanding

Understanding long videos requires extracting query-relevant information from long sequences under tight compute budgets. Existing text-then-LLM pipelines lose fine-grained visual cues, while video-based multimodal large language models (MLLMs) can keep visual details but are too frame-hungry and computationally expensive. In this work, we aim to harness MLLMs for efficient video understanding. We propose ProVCA, a progressive video condensation agent that iteratively locates key video frames at multiple granularities. ProVCA first adopts a segment localization module to identify the video segment relevant to the query, then a snippet selection module to select important snippets based on similarity, and finally a keyframe refinement module to pinpoint specific keyframes in those snippets. By progressively narrowing the scope from coarse segments to fine frames, ProVCA identifies a small set of keyframes for MLLM-based reasoning. ProVCA achieves state-of-the-art zero-shot accuracies of 69.3\% on EgoSchema, 80.5\% on NExT-QA, and 77.7\% on IntentQA, while using fewer frames than previous training-free methods.

cs.CV↗

arXiv2026

GPA: Learning GUI Process Automation from Demonstrations

GUI Process Automation (GPA) is a lightweight but general vision-based Robotic Process Automation (RPA), which enables fast and stable process replay with only a single demo. Addressing the fragility of traditional RPA and the non-deterministic risks of current vision language model-based GUI agents, GPA introduces three core benefits: (1) Robustness via Sequential Monte Carlo-based localization to handle rescaling and detection uncertainty; (2) Deterministic and Reliability safeguarded by readiness calibration; and (3) Privacy through fast, fully local execution. This approach delivers the adaptability, robustness, and security required for enterprise workflows. It can also be used as an MCP/CLI tool by other agents with coding capabilities so that the agent only reasons and orchestrates while GPA handles the GUI execution. We conducted a pilot experiment to compare GPA with Gemini 3 Pro (with CUA tools) and found that GPA achieves higher success rate with 10 times faster execution speed in finishing long-horizon GUI tasks.

cs.CV↗