arXiv subjects

Yang Gao

Publications and source records attributed to Yang Gao.

At least 217 records · Page 12Linked to original sources

arXiv2025

GPT-FT: An Efficient Automated Feature Transformation Using GPT for Sequence Reconstruction and Performance Enhancement

Feature transformation plays a critical role in enhancing machine learning model performance by optimizing data representations. Recent state-of-the-art approaches address this task as a continuous embedding optimization problem, converting discrete search into a learnable process. Although effective, these methods often rely on sequential encoder-decoder structures that cause high computational costs and parameter requirements, limiting scalability and efficiency. To address these limitations, we propose a novel framework that accomplishes automated feature transformation through four steps: transformation records collection, embedding space construction with a revised Generative Pre-trained Transformer (GPT) model, gradient-ascent search, and autoregressive reconstruction. In our approach, the revised GPT model serves two primary functions: (a) feature transformation sequence reconstruction and (b) model performance estimation and enhancement for downstream tasks by constructing the embedding space. Such a multi-objective optimization framework reduces parameter size and accelerates transformation processes. Experimental results on benchmark datasets show that the proposed framework matches or exceeds baseline performance, with significant gains in computational efficiency. This work highlights the potential of transformer-based architectures for scalable, high-performance automated feature transformation.

cs.LG↗

arXiv2025

Enhancing Trust-Region Bayesian Optimization via Newton Methods

Bayesian Optimization (BO) has been widely applied to optimize expensive black-box functions while retaining sample efficiency. However, scaling BO to high-dimensional spaces remains challenging. Existing literature proposes performing standard BO in multiple local trust regions (TuRBO) for heterogeneous modeling of the objective function and avoiding over-exploration. Despite its advantages, using local Gaussian Processes (GPs) reduces sampling efficiency compared to a global GP. To enhance sampling efficiency while preserving heterogeneous modeling, we propose to construct multiple local quadratic models using gradients and Hessians from a global GP, and select new sample points by solving the bound-constrained quadratic program. Additionally, we address the issue of vanishing gradients of GPs in high-dimensional spaces. We provide a convergence analysis and demonstrate through experimental results that our method enhances the efficacy of TuRBO and outperforms a wide range of high-dimensional BO techniques on synthetic functions and real-world applications.

cs.LG↗

arXiv2025

Intern-S1: A Scientific Multimodal Foundation Model

In recent years, a plethora of open-source foundation models have emerged, achieving remarkable progress in some widely attended fields, with performance being quite close to that of closed-source models. However, in high-value but more challenging scientific professional fields, either the fields still rely on expert models, or the progress of general foundation models lags significantly compared to those in popular areas, far from sufficient for transforming scientific research and leaving substantial gap between open-source models and closed-source models in these scientific domains. To mitigate this gap and explore a step further toward Artificial General Intelligence (AGI), we introduce Intern-S1, a specialized generalist equipped with general understanding and reasoning capabilities with expertise to analyze multiple science modal data. Intern-S1 is a multimodal Mixture-of-Experts (MoE) model with 28 billion activated parameters and 241 billion total parameters, continually pre-trained on 5T tokens, including over 2.5T tokens from scientific domains. In the post-training stage, Intern-S1 undergoes offline and then online reinforcement learning (RL) in InternBootCamp, where we propose Mixture-of-Rewards (MoR) to synergize the RL training on more than 1000 tasks simultaneously. Through integrated innovations in algorithms, data, and training systems, Intern-S1 achieved top-tier performance in online RL training. On comprehensive evaluation benchmarks, Intern-S1 demonstrates competitive performance on general reasoning tasks among open-source models and significantly outperforms open-source models in scientific domains, surpassing closed-source state-of-the-art models in professional tasks, such as molecular synthesis planning, reaction condition prediction, predicting thermodynamic stabilities for crystals. Our models are available at https://huggingface.co/internlm/Intern-S1.

cs.LG↗

arXiv2025

Diversity-enhanced Collaborative Mamba for Semi-supervised Medical Image Segmentation

Acquiring high-quality annotated data for medical image segmentation is tedious and costly. Semi-supervised segmentation techniques alleviate this burden by leveraging unlabeled data to generate pseudo labels. Recently, advanced state space models, represented by Mamba, have shown efficient handling of long-range dependencies. This drives us to explore their potential in semi-supervised medical image segmentation. In this paper, we propose a novel Diversity-enhanced Collaborative Mamba framework (namely DCMamba) for semi-supervised medical image segmentation, which explores and utilizes the diversity from data, network, and feature perspectives. Firstly, from the data perspective, we develop patch-level weak-strong mixing augmentation with Mamba's scanning modeling characteristics. Moreover, from the network perspective, we introduce a diverse-scan collaboration module, which could benefit from the prediction discrepancies arising from different scanning directions. Furthermore, from the feature perspective, we adopt an uncertainty-weighted contrastive learning mechanism to enhance the diversity of feature representation. Experiments demonstrate that our DCMamba significantly outperforms other semi-supervised medical image segmentation methods, e.g., yielding the latest SSM-based method by 6.69% on the Synapse dataset with 20% labeled data.

cs.CV↗

arXiv2025

HuB: Learning Extreme Humanoid Balance

The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control has leveraged reinforcement learning to track human motions for skill acquisition, applying this paradigm to balance-intensive tasks remains challenging. In this work, we identify three key obstacles: instability from reference motion errors, learning difficulties due to morphological mismatch, and the sim-to-real gap caused by sensor noise and unmodeled dynamics. To address these challenges, we propose HuB (Humanoid Balance), a unified framework that integrates reference motion refinement, balance-aware policy learning, and sim-to-real robustness training, with each component targeting a specific challenge. We validate our approach on the Unitree G1 humanoid robot across challenging quasi-static balance tasks, including extreme single-legged poses such as Swallow Balance and Bruce Lee's Kick. Our policy remains stable even under strong physical disturbances-such as a forceful soccer strike-while baseline methods consistently fail to complete these tasks. Project website: https://hub-robot.github.io

cs.RO↗

arXiv2025

Towards Perfection: Building Inter-component Mutual Correction for Retinex-based Low-light Image Enhancement

In low-light image enhancement, Retinex-based deep learning methods have garnered significant attention due to their exceptional interpretability. These methods decompose images into mutually independent illumination and reflectance components, allows each component to be enhanced separately. In fact, achieving perfect decomposition of illumination and reflectance components proves to be quite challenging, with some residuals still existing after decomposition. In this paper, we formally name these residuals as inter-component residuals (ICR), which has been largely underestimated by previous methods. In our investigation, ICR not only affects the accuracy of the decomposition but also causes enhanced components to deviate from the ideal outcome, ultimately reducing the final synthesized image quality. To address this issue, we propose a novel Inter-correction Retinex model (IRetinex) to alleviate ICR during the decomposition and enhancement stage. In the decomposition stage, we leverage inter-component residual reduction module to reduce the feature similarity between illumination and reflectance components. In the enhancement stage, we utilize the feature similarity between the two components to detect and mitigate the impact of ICR within each enhancement unit. Extensive experiments on three low-light benchmark datasets demonstrated that by reducing ICR, our method outperforms state-of-the-art approaches both qualitatively and quantitatively.

cs.CV↗

arXiv2025

OmniTraj: Pre-Training on Heterogeneous Data for Adaptive and Zero-Shot Human Trajectory Prediction

While large-scale pre-training has advanced human trajectory prediction, a critical challenge remains: zero-shot transfer to unseen dataset with varying temporal dynamics. State-of-the-art pre-trained models often require fine-tuning to adapt to new datasets with different frame rates or observation horizons, limiting their scalability and practical utility. In this work, we systematically investigate this limitation and propose a robust solution. We first demonstrate that existing data-aware discrete models struggle when transferred to new scenarios with shifted temporal setups. We then isolate the temporal generalization from dataset shift, revealing that a simple, explicit conditioning mechanism for temporal metadata is a highly effective solution. Based on this insight, we present OmniTraj, a Transformer-based model pre-trained on a large-scale, heterogeneous dataset. Our experiments show that explicitly conditioning on the frame rate enables OmniTraj to achieve state-of-the-art zero-shot transfer performance, reducing prediction error by over 70\% in challenging cross-setup scenarios. After fine-tuning, OmniTraj achieves state-of-the-art results on four datasets, including NBA, JTA, WorldPose, and ETH-UCY. The code is publicly available: https://github.com/vita-epfl/omnitraj

cs.CV↗

arXiv2025

Observation of resonant contribution to the $e^+e^-\to Ω^{-}\barΩ^{+}$ around 4.2 GeV and evidence of $ψ(3770)\to Ω^{-}\barΩ^{+}$

Using $e^+e^-$ collision data corresponding to a total integrated luminosity of 22.7 fb$^{-1}$, collected at center-of-mass energies between 3.7 and 4.7 GeV with the BESIII detector, we present a measurement of energy-dependent cross sections and effective form factors for the process of $e^+e^-\to Ω^{-}\barΩ^+$. By conducting a fit to the cross sections of $e^+e^-\to Ω^{-}\barΩ^+$ considering the continuum and resonant contributions, a clear resonant structure in the spectrum around 4.2 GeV is observed for the first time with a statistical significance exceeding 10$σ$, and it can be well described with the line shape of the $Y(4230)$ and $Y(4320)$ observed in $e^+e^-\to π^{+}π^{-}J/ψ$. Evidence for the decay $ψ(3770) \to Ω^-\barΩ^{+}$ is observed with a statistical significance of 4.4$σ$ by analyzing the measured cross sections together with earlier BESIII results, and the branching fraction is firstly measured to be $(4.0\pm1.0\pm0.6)$ $\times$ $10^{-5}$, where the first uncertainty is statistical and the second is systematic.

hep-ex↗

arXiv2025

Social-Pose: Enhancing Trajectory Prediction with Human Body Pose

Accurate human trajectory prediction is one of the most crucial tasks for autonomous driving, ensuring its safety. Yet, existing models often fail to fully leverage the visual cues that humans subconsciously communicate when navigating the space. In this work, we study the benefits of predicting human trajectories using human body poses instead of solely their Cartesian space locations in time. We propose `Social-pose', an attention-based pose encoder that effectively captures the poses of all humans in a scene and their social relations. Our method can be integrated into various trajectory prediction architectures. We have conducted extensive experiments on state-of-the-art models (based on LSTM, GAN, MLP, and Transformer), and showed improvements over all of them on synthetic (Joint Track Auto) and real (Human3.6M, Pedestrians and Cyclists in Road Traffic, and JRDB) datasets. We also explored the advantages of using 2D versus 3D poses, as well as the effect of noisy poses and the application of our pose-based predictor in robot navigation scenarios.

cs.CV↗

arXiv2025

Rigid-Body Anisotropy in Noncollinear Antiferromagnets

Characterizing the anisotropic structure in noncollinear antiferromagnets is essential for antiferromagnetic spintronics. In this work, we provide a microscopic theory linking the anisotropy effects induced by the rigid-body rotation of spin order to spin-orbit coupling. Our method goes beyond the conventional magnetic group theory, offering a concise yet powerful tool to characterize diverse anisotropy effects in complex magnetic systems. Using the group representation theory of the spin group, we obtain a set of basis functions formed from tensor elements of spin-orbit vector--which originates from spin-orbit coupling and is tied to the rigid-body rotation of the spin order--to systematically describe the structure of anisotropy effects. As a concrete example, we apply our framework to coplanar antiferromagnets Mn$_3$Sn and Mn$_3$Ir, demonstrating that the corresponding basis functions can well capture both the geometric and magnitude dependencies of the magnetic anisotropy energy and anomalous Hall conductivity. Finally, we discuss the generalization of our framework to broader classes of anisotropy phenomena in magnetic systems.

cond-mat.mtrl-sci↗

arXiv2025

RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation

Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as camera calibration or the need for controlled environments (e.g., green screen setups). In this work, we introduce RoboEngine, the first plug-and-play visual robot data augmentation toolkit. For the first time, users can effortlessly generate physics- and task-aware robot scenes with just a few lines of code. To achieve this, we present a novel robot scene segmentation dataset, a generalizable high-quality robot segmentation model, and a fine-tuned background generation model, which together form the core components of the out-of-the-box toolkit. Using RoboEngine, we demonstrate the ability to generalize robot manipulation tasks across six entirely new scenes, based solely on demonstrations collected from a single scene, achieving a more than 200% performance improvement compared to the no-augmentation baseline. All datasets, model weights, and the toolkit are released https://roboengine.github.io/

cs.RO↗

arXiv2025

Self-Supervised Monocular 4D Scene Reconstruction for Egocentric Videos

Egocentric videos provide valuable insights into human interactions with the physical world, which has sparked growing interest in the computer vision and robotics communities. A critical challenge in fully understanding the geometry and dynamics of egocentric videos is dense scene reconstruction. However, the lack of high-quality labeled datasets in this field has hindered the effectiveness of current supervised learning methods. In this work, we aim to address this issue by exploring an self-supervised dynamic scene reconstruction approach. We introduce EgoMono4D, a novel model that unifies the estimation of multiple variables necessary for Egocentric Monocular 4D reconstruction, including camera intrinsic, camera poses, and video depth, all within a fast feed-forward framework. Starting from pretrained single-frame depth and intrinsic estimation model, we extend it with camera poses estimation and align multi-frame results on large-scale unlabeled egocentric videos. We evaluate EgoMono4D in both in-domain and zero-shot generalization settings, achieving superior performance in dense pointclouds sequence reconstruction compared to all baselines. EgoMono4D represents the first attempt to apply self-supervised learning for pointclouds sequence reconstruction to the label-scarce egocentric field, enabling fast, dense, and generalizable reconstruction. The interactable visualization, code and trained models are released https://egomono4d.github.io/

cs.CV↗

arXiv2025

Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical interactions, especially in contact-rich scenarios where fine-grained force control is essential. We advance VLAs' implicit knowledge beyond identifying what to do, towards guiding how to physically interact with real world. This paper introduces Tactile-VLA, a novel framework that deeply fuses vision, language, action, and tactile sensing. This framework incorporates a hybrid position-force controller to translate the model's intentions into precise physical actions and a reasoning module that allows the robot to adapt its strategy based on tactile feedback. Experiments demonstrate Tactile-VLA's effectiveness and generalizability in three key aspects: (1) enabling tactile-aware instruction following, (2) utilizing tactile-relevant commonsense, and (3) facilitating adaptive tactile-involved reasoning. A key finding is that the VLM's prior knowledge already contains semantic understanding of physical interaction; by connecting it to the robot's tactile sensors with only a few demonstrations, we can activate this prior knowledge to achieve zero-shot generalization in contact-rich tasks.

cs.RO↗

arXiv2025

Adaptive Gate-Aware Mamba Networks for Magnetic Resonance Fingerprinting

Magnetic Resonance Fingerprinting (MRF) enables fast quantitative imaging by matching signal evolutions to a predefined dictionary. However, conventional dictionary matching suffers from exponential growth in computational cost and memory usage as the number of parameters increases, limiting its scalability to multi-parametric mapping. To address this, recent work has explored deep learning-based approaches as alternatives to DM. We propose GAST-Mamba, an end-to-end framework that combines a dual Mamba-based encoder with a Gate-Aware Spatial-Temporal (GAST) processor. Built on structured state-space models, our architecture efficiently captures long-range spatial dependencies with linear complexity. On 5 times accelerated simulated MRF data (200 frames), GAST-Mamba achieved a T1 PSNR of 33.12~dB, outperforming SCQ (31.69~dB). For T2 mapping, it reached a PSNR of 30.62~dB and SSIM of 0.9124. In vivo experiments further demonstrated improved anatomical detail and reduced artifacts. Ablation studies confirmed that each component contributes to performance, with the GAST module being particularly important under strong undersampling. These results demonstrate the effectiveness of GAST-Mamba for accurate and robust reconstruction from highly undersampled MRF acquisitions, offering a scalable alternative to traditional DM-based methods.

eess.IV↗

arXiv2025

SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots new skills, large amounts of expert demonstration data are still indispensible for these complex tasks, resulting in high sample complexity and costly data collection. To address this, we propose Semantic Keypoint Imitation Learning (SKIL), a framework which automatically obtains semantic keypoints with the help of vision foundation models, and forms the descriptor of semantic keypoints that enables efficient imitation learning of complex robotic tasks with significantly lower sample complexity. In real-world experiments, SKIL doubles the performance of baseline methods in tasks such as picking a cup or mouse, while demonstrating exceptional robustness to variations in objects, environmental changes, and distractors. For long-horizon tasks like hanging a towel on a rack where previous methods fail completely, SKIL achieves a mean success rate of 70\% with as few as 30 demonstrations. Furthermore, SKIL naturally supports cross-embodiment learning due to its semantic keypoints abstraction. Our experiments demonstrate that even human videos bring considerable improvement to the learning performance. All these results demonstrate the great success of SKIL in achieving data-efficient generalizable robotic learning. Visualizations and code are available at: https://skil-robotics.github.io/SKIL-robotics/.

cs.RO↗

arXiv2025

Adapt Your Body: Mitigating Proprioception Shifts in Imitation Learning

Imitation learning models for robotic tasks typically rely on multi-modal inputs, such as RGB images, language, and proprioceptive states. While proprioception is intuitively important for decision-making and obstacle avoidance, simply incorporating all proprioceptive states leads to a surprising degradation in imitation learning performance. In this work, we identify the underlying issue as the proprioception shift problem, where the distributions of proprioceptive states diverge significantly between training and deployment. To address this challenge, we propose a domain adaptation framework that bridges the gap by utilizing rollout data collected during deployment. Using Wasserstein distance, we quantify the discrepancy between expert and rollout proprioceptive states and minimize this gap by adding noise to both sets of states, proportional to the Wasserstein distance. This strategy enhances robustness against proprioception shifts by aligning the training and deployment distributions. Experiments on robotic manipulation tasks demonstrate the efficacy of our method, enabling the imitation policy to leverage proprioception while mitigating its adverse effects. Our approach outperforms the naive solution which discards proprioception, and other baselines designed to address distributional shifts.

cs.RO↗

arXiv2025

Pairing-induced Momentum-space Magnetism and Its Implication In Optical Anomalous Hall Effect In Chiral Superconductors

The intrinsic mechanisms of the magneto-optical Kerr signal in chiral superconductors often involve multi-orbital degree of freedom. Here by considering a generic single-orbital and spinful Hamiltonian, we generalize the Onsager's relation to obtain the necessary conditions for the optical anomalous Hall effect. Using the down-folding method, we identify two types of effective momentum-space magnetism responsible for the optical anomalous Hall conductivity from non-unitary and unitary pairing potentials respectively. The former is due to the angular momentum of Cooper pair, while the latter requires the participation of the spin-orbit coupling in the normal state and has been largely overlooked previously. Using concrete examples, we show that the unitary pairing can lead to both ferromagnetism and complicated antiferromagnetic spin texture in the momentum space, resulting in an in-plane optical anomalous Hall effect with the magnetism parallel to the Hall-deflection plane. Our work reveals the essential role of spin degree of freedom in the optical anomalous Hall effect.

cond-mat.supr-con↗

arXiv2025

The Cosmic Evolution and Spatial Distribution of Multiphase Gas associated with QSOs

We investigate the multi-phase gas surrounding QSOs traced by 33 absorption lines (e.g., Ly$α$, C\,\textsc{iv}, Fe\,\textsc{ii}, Mg\,\textsc{ii}, etc.) in the stacked spectra of background sources, using the early data release from the Dark Energy Spectroscopic Instrument. Our analysis reveals that the equivalent width ($ W $) of metal absorption lines decreases with increasing redshift, following an overall trend described by $W \propto (1+z)^{-4.0\pm 2.7}$. Different species that trace multi-phases of QSO-associated gas exhibit distinct evolutionary patterns. Additionally, the $ W $ of these absorption lines decreases with distance ($D$) from QSOs, which can be effectively characterized by a two-halo model. Compared to the projected two point correlation function of galaxies at similar redshifts, low-ionization ions exhibit similar clustering scales, while high-ionization ions show a significantly more extended spatial distribution. We also find that $W_{\text{FeII}}/W_{\text{MgII}}$ increases towards lower redshifts, which can be attributed to evolving star formation histories and/or changes in initial mass function for galaxies. By leveraging multiple absorption tracers, we conduct the first comprehensive investigation of diffuse, multiphase gas from the circumgalactic medium to cosmological scales, offering new insights into baryon cycles and the transport of metals throughout cosmic time.

astro-ph.GA↗