arXiv subjects

Yang Gao

Publications and source records attributed to Yang Gao.

At least 235 records · Page 13Linked to original sources

arXiv2025

SUSEP-Net: Simulation-Supervised and Contrastive Learning-based Deep Neural Networks for Susceptibility Source Separation

Quantitative susceptibility mapping (QSM) provides a valuable tool for quantifying susceptibility distributions in human brains; however, two types of opposing susceptibility sources (i.e., paramagnetic and diamagnetic), may coexist in a single voxel, and cancel each other out in net QSM images. Susceptibility source separation techniques enable the extraction of sub-voxel information from QSM maps. This study proposes a novel SUSEP-Net for susceptibility source separation by training a dual-branch U-net with a simulation-supervised training strategy. In addition, a contrastive learning framework is included to explicitly impose similarity-based constraints between the branch-specific guidance features in specially-designed encoders and the latent features in the decoders. Comprehensive experiments were carried out on both simulated and in vivo data, including healthy subjects and patients with pathological conditions, to compare SUSEP-Net with three state-of-the-art susceptibility source separation methods (i.e., APART-QSM, \c{hi}-separation, and \c{hi}-sepnet). SUSEP-Net consistently showed improved results compared with the other three methods, with better numerical metrics, improved high-intensity hemorrhage and calcification lesion contrasts, and reduced artifacts in brains with pathological conditions. In addition, experiments on an agarose gel phantom data were conducted to validate the accuracy and the generalization capability of SUSEP-Net.

eess.IV↗

arXiv2025

E2MPL:An Enduring and Efficient Meta Prompt Learning Framework for Few-shot Unsupervised Domain Adaptation

Few-shot unsupervised domain adaptation (FS-UDA) leverages a limited amount of labeled data from a source domain to enable accurate classification in an unlabeled target domain. Despite recent advancements, current approaches of FS-UDA continue to confront a major challenge: models often demonstrate instability when adapted to new FS-UDA tasks and necessitate considerable time investment. To address these challenges, we put forward a novel framework called Enduring and Efficient Meta-Prompt Learning (E2MPL) for FS-UDA. Within this framework, we utilize the pre-trained CLIP model as the backbone of feature learning. Firstly, we design domain-shared prompts, consisting of virtual tokens, which primarily capture meta-knowledge from a wide range of meta-tasks to mitigate the domain gaps. Secondly, we develop a task prompt learning network that adaptively learns task-specific specific prompts with the goal of achieving fast and stable task generalization. Thirdly, we formulate the meta-prompt learning process as a bilevel optimization problem, consisting of (outer) meta-prompt learner and (inner) task-specific classifier and domain adapter. Also, the inner objective of each meta-task has the closed-form solution, which enables efficient prompt learning and adaptation to new tasks in a single step. Extensive experimental studies demonstrate the promising performance of our framework in a domain adaptation benchmark dataset DomainNet. Compared with state-of-the-art methods, our method has improved accuracy by at least 15.4% and reduced the time by 68.5% on average in 5-way 1-shot tasks, and improved accuracy by 8.7% and reduced the time by 74.1% on average in 5-way 5-shot tasks. Moreover, our approach exhibits more enduring performance than the other methods, i.e., being more stable across 3600 test tasks.

cs.CV↗

arXiv2025

Unveiling and Addressing Pseudo Forgetting in Large Language Models

Although substantial efforts have been made to mitigate catastrophic forgetting in continual learning, the intrinsic mechanisms are not well understood. In this work, we demonstrate the existence of "pseudo forgetting": the performance degradation on previous tasks is not attributed to a loss of capabilities, but rather to the failure of the instructions to activate the appropriate model abilities. We show that the model's performance on previous tasks can be restored through two simple interventions: (1) providing partial external correct rationale, and (2) appending semantically meaningless suffixes to the original instructions, to guide the generation of correct rationales. Through empirical analysis of the internal mechanisms governing rationale generation, we reveal that models exhibiting pseudo forgetting show reduced instruction dependence during rationale generation, leading to suboptimal activation of their inherent capabilities. Based on this insight, we propose Rationale-Guidance Difficulty based Replay (RGD-R) framework that dynamically allocates replay data based on the model's ability to correctly leverage the intrinsic capabilities. Experimental results demonstrate that RGD-R effectively mitigates pseudo forgetting while maintaining model plasticity.

cs.LG↗

arXiv2025

Domain Generalizable Knowledge Tracing via Concept Aggregation and Relation-Based Attention

Knowledge Tracing (KT) is a critical task in online education systems, aiming to monitor students' knowledge states throughout a learning period. Common KT approaches involve predicting the probability of a student correctly answering the next question based on their exercise history. However, these methods often suffer from performance degradation when faced with the scarcity of student interactions in new education systems. To address this, we leverage student interactions from existing education systems to mitigate performance degradation caused by limited training data. Nevertheless, these interactions exhibit significant differences since they are derived from different education systems. To address this issue, we propose a domain generalization approach for knowledge tracing, where existing education systems are considered source domains, and new education systems with limited data are considered target domains. Additionally, we design a domain-generalizable knowledge tracing framework (DGKT) that can be applied to any KT model. Specifically, we present a concept aggregation approach designed to reduce conceptual disparities within sequences of student interactions from diverse domains. To further mitigate domain discrepancies, we introduce a novel normalization module called Sequence Instance Normalization (SeqIN). Moreover, to fully leverage exercise information, we propose a new knowledge tracing model tailored for the domain generalization KT task, named Domain-Generalizable Relation-based Knowledge Tracing (DGRKT). Extensive experiments across five benchmark datasets demonstrate that the proposed method performs well despite limited training data.

cs.AI↗

arXiv2025

Unleashing the Power of Intermediate Domains for Mixed Domain Semi-Supervised Medical Image Segmentation

Both limited annotation and domain shift are prevalent challenges in medical image segmentation. Traditional semi-supervised segmentation and unsupervised domain adaptation methods address one of these issues separately. However, the coexistence of limited annotation and domain shift is quite common, which motivates us to introduce a novel and challenging scenario: Mixed Domain Semi-supervised medical image Segmentation (MiDSS), where limited labeled data from a single domain and a large amount of unlabeled data from multiple domains. To tackle this issue, we propose the UST-RUN framework, which fully leverages intermediate domain information to facilitate knowledge transfer. We employ Unified Copy-paste (UCP) to construct intermediate domains, and propose a Symmetric GuiDance training strategy (SymGD) to supervise unlabeled data by merging pseudo-labels from intermediate samples. Subsequently, we introduce a Training Process aware Random Amplitude MixUp (TP-RAM) to progressively incorporate style-transition components into intermediate samples. To generate more diverse intermediate samples, we further select reliable samples with high-quality pseudo-labels, which are then mixed with other unlabeled data. Additionally, we generate sophisticated intermediate samples with high-quality pseudo-labels for unreliable samples, ensuring effective knowledge transfer for them. Extensive experiments on four public datasets demonstrate the superiority of UST-RUN. Notably, UST-RUN achieves a 12.94% improvement in Dice score on the Prostate dataset. Our code is available at https://github.com/MQinghe/UST-RUN

cs.CV↗

arXiv2025

MedSentry: Understanding and Mitigating Safety Risks in Medical LLM Multi-Agent Systems

As large language models (LLMs) are increasingly deployed in healthcare, ensuring their safety, particularly within collaborative multi-agent configurations, is paramount. In this paper we introduce MedSentry, a benchmark comprising 5 000 adversarial medical prompts spanning 25 threat categories with 100 subthemes. Coupled with this dataset, we develop an end-to-end attack-defense evaluation pipeline to systematically analyze how four representative multi-agent topologies (Layers, SharedPool, Centralized, and Decentralized) withstand attacks from 'dark-personality' agents. Our findings reveal critical differences in how these architectures handle information contamination and maintain robust decision-making, exposing their underlying vulnerability mechanisms. For instance, SharedPool's open information sharing makes it highly susceptible, whereas Decentralized architectures exhibit greater resilience thanks to inherent redundancy and isolation. To mitigate these risks, we propose a personality-scale detection and correction mechanism that identifies and rehabilitates malicious agents, restoring system safety to near-baseline levels. MedSentry thus furnishes both a rigorous evaluation framework and practical defense strategies that guide the design of safer LLM-based multi-agent systems in medical domains.

cs.MA↗

arXiv2025

FLEX: A Backbone for Diffusion-Based Modeling of Spatio-temporal Physical Systems

We introduce FLEX (FLow EXpert), a backbone architecture for generative modeling of spatio-temporal physical systems using diffusion models. FLEX operates in the residual space rather than on raw data, a modeling choice that we motivate theoretically, showing that it reduces the variance of the velocity field in the diffusion model, which helps stabilize training. FLEX integrates a latent Transformer into a U-Net with standard convolutional ResNet layers and incorporates a redesigned skip connection scheme. This hybrid design enables the model to capture both local spatial detail and long-range dependencies in latent space. To improve spatio-temporal conditioning, FLEX uses a task-specific encoder that processes auxiliary inputs such as coarse or past snapshots. Weak conditioning is applied to the shared encoder via skip connections to promote generalization, while strong conditioning is applied to the decoder through both skip and bottleneck features to ensure reconstruction fidelity. FLEX achieves accurate predictions for super-resolution and forecasting tasks using as few as two reverse diffusion steps. It also produces calibrated uncertainty estimates through sampling. Evaluations on high-resolution 2D turbulence data show that FLEX outperforms strong baselines and generalizes to out-of-distribution settings, including unseen Reynolds numbers, physical observables (e.g., fluid flow velocity fields), and boundary conditions.

cs.LG↗

arXiv2025

FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots

Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based objectives are agnostic to forces experienced by the robot, leading to stiff and potentially dangerous behaviors and poor control during forceful interactions. To address this limitation, we present \emph{Force-Adaptive Control via Impedance Reference Tracking} (FACET). Inspired by impedance control, we use RL to train a control policy to imitate a virtual mass-spring-damper system, allowing fine-grained control under external forces by manipulating the virtual spring. In simulation, we demonstrate that our quadruped robot achieves improved robustness to large impulses (up to 200 Ns) and exhibits controllable compliance, achieving an 80% reduction in collision impulse. The policy is deployed to a physical robot to showcase both compliance and the ability to engage with large forces by kinesthetic control and pulling payloads up to 2/3 of its weight. Further extension to a legged loco-manipulator and a humanoid shows the applicability of our method to more complex settings to enable whole-body compliance control. Project Website: https://facet.pages.dev/

cs.RO↗

arXiv2025

MGPBD: A Multigrid Accelerated Global XPBD Solver

We introduce a novel Unsmoothed Aggregation (UA) Algebraic Multigrid (AMG) method combined with Preconditioned Conjugate Gradient (PCG) to overcome the limitations of Extended Position-Based Dynamics (XPBD) in high-resolution and high-stiffness simulations. While XPBD excels in simulating deformable objects due to its speed and simplicity, its nonlinear Gauss-Seidel (GS) solver often struggles with low-frequency errors, leading to instability and stalling issues, especially in high-resolution, high-stiffness simulations. Our multigrid approach addresses these issues efficiently by leveraging AMG. To reduce the computational overhead of traditional AMG, where prolongator construction can consume up to two-thirds of the runtime, we propose a lazy setup strategy that reuses prolongators across iterations based on matrix structure and physical significance. Furthermore, we introduce a simplified method for constructing near-kernel components by applying a few sweeps of iterative methods to the homogeneous equation, achieving convergence rates comparable to adaptive smoothed aggregation (adaptive-SA) at a lower computational cost. Experimental results demonstrate that our method significantly improves convergence rates and numerical stability, enabling efficient and stable high-resolution simulations of deformable objects.

cs.GR↗

arXiv2025

SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving

Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps. However, recent advances in online scene understanding still face limitations, especially in long-range or occluded scenarios, due to the inherent constraints of onboard sensors. To address this challenge, we propose a Standard-Definition (SD) Map Enhanced scene Perception and Topology reasoning (SEPT) framework, which explores how to effectively incorporate the SD map as prior knowledge into existing perception and reasoning pipelines. Specifically, we introduce a novel hybrid feature fusion strategy that combines SD maps with Bird's-Eye-View (BEV) features, considering both rasterized and vectorized representations, while mitigating potential misalignment between SD maps and BEV feature spaces. Additionally, we leverage the SD map characteristics to design an auxiliary intersection-aware keypoint detection task, which further enhances the overall scene understanding performance. Experimental results on the large-scale OpenLane-V2 dataset demonstrate that by effectively integrating SD map priors, our framework significantly improves both scene perception and topology reasoning, outperforming existing methods by a substantial margin.

cs.RO↗

arXiv2025

PSPO*: An Effective Process-supervised Policy Optimization for Reasoning Alignment

Process supervision enhances the performance of large language models in reasoning tasks by providing feedback at each step of chain-of-thought reasoning. However, due to the lack of effective process supervision methods, even advanced large language models are prone to logical errors and redundant reasoning. We claim that the effectiveness of process supervision significantly depends on both the accuracy and the length of reasoning chains. Moreover, we identify that these factors exhibit a nonlinear relationship with the overall reward score of the reasoning process. Inspired by these insights, we propose a novel process supervision paradigm, PSPO*, which systematically outlines the workflow from reward model training to policy optimization, and highlights the importance of nonlinear rewards in process supervision. Based on PSPO*, we develop the PSPO-WRS, which considers the number of reasoning steps in determining reward scores and utilizes an adjusted Weibull distribution for nonlinear reward shaping. Experimental results on six mathematical reasoning datasets demonstrate that PSPO-WRS consistently outperforms current mainstream models.

cs.AI↗

arXiv2025

Instant AoI Optimization through Relay Location Selection in Disaster Multi-hop Communication

Meteorological disasters such as typhoons, forest fires, and floods can damage the communication infrastructures, which will further disable the communication capabilities of cellular networks. The multi-hop wireless communication based on IoT devices (e.g., rescue robots, UAVs, and mobile devices) becomes an available and rapidly deployable communication approach for search and rescue operations. However, Age of Information (AoI), an emerging network performance metric, has not been comprehensively investigated in this multi-hop model. In this paper, we first construct a UAV-relayed wireless network model and formulate the end-to-end instant AoI. Then we derive the optimal location of the relay UAV to achieve the minimum instant AoI by mathematical analysis. Simulations show that the derived relay location can always guarantee the optimal AoI and outperform other schemes.

cs.NI↗

arXiv2025

SRA-MCTS: Self-driven Reasoning Augmentation with Monte Carlo Tree Search for Code Generation

Large language models demonstrate exceptional performance in simple code generation tasks but still face challenges in tackling complex problems. These challenges may stem from insufficient reasoning and problem decomposition capabilities. To address this issue, we propose a reasoning-augmented data generation process, SRA-MCTS, which guides the model to autonomously generate high-quality intermediate reasoning paths. This creates a positive feedback loop, enabling continuous improvement. Our method operates entirely through the model itself without requiring additional supervision. By synthesizing natural language reasoning paths and translating them into executable code, the approach ensures analytical accuracy and enhances the success rate in solving complex tasks. Experimental results show that, even without additional supervisory signals, our method achieves performance improvements across different model scales, demonstrating the significant potential of self-improvement in small models. Furthermore, the method remains robust when traditional Chain-of-Thought (CoT) approaches exhibit performance degradation, with notable improvements observed in diversity metrics such as pass@10. We encourage further exploration of reasoning processes within training data to enhance the ability of language models to address complex problems. Our code and data are public at https://github.com/DIRECT-BIT/SRA-MCTS.

cs.CL↗

arXiv2025

FAST Reveals the Extended HI Halo and Accretion Signatures of NGC2683

We present the results of our recent HI observations conducted on the edge-on galaxy NGC2683 using the Five-hundred-meter Aperture Spherical radio Telescope (FAST). In comparison to previous observations made by the VLA, FAST has detected a more extensive distribution of HI. Particularly noteworthy is that the detections made by FAST extend approximately four times farther than those of the VLA in the vertical direction from the galactic plane. The total HI flux measured for NGC2683 amounts to $F_{\rm HI} = 112.1\,\rm{Jy\,km\,s^{-1}}$ (equivalent to a total HI mass of $M_{\rm HI} = 2.32 \times 10^9\,{\rm M_\odot}$), which is slightly higher than that detected by VLA. FAST has also identified three dwarf galaxies in close proximity to NGC2683, namely KK69, NGC2683dw1 (hereafter dw1), and NGC2683dw3$?$ (hereafter dw3$?$). dw3$?$ is situated within the extended HI distribution of NGC2683 in projection and lies near the tail of KK69 extending towards NGC2683. These observations suggest that dw3$?$ is likely a result of the accretion process from NGC2683 to KK69. Furthermore, FAST has detected three high-velocity clouds (HVCs), with complex B potentially undergoing accretion with NGC2683. Based on the model from Vollmer et al. 2016 and incorporating the HI halo component, we found that the model with the added HI halo aligns more closely with our FAST observations in NGC2683. The estimated mass of this HI halo is $3 \times 10^8\,{\rm M_\odot}$, constituting approximately 13% of the total HI mass of the galaxy. We suggest that the origination of this HI halo is more likely attributed to external gas accretion.

astro-ph.GA↗

arXiv2025

Advancing Conversational Diagnostic AI with Multimodal Reasoning

Large Language Models (LLMs) have demonstrated great potential for conducting diagnostic conversations but evaluation has been largely limited to language-only interactions, deviating from the real-world requirements of remote care delivery. Instant messaging platforms permit clinicians and patients to upload and discuss multimodal medical artifacts seamlessly in medical consultation, but the ability of LLMs to reason over such data while preserving other attributes of competent diagnostic conversation remains unknown. Here we advance the conversational diagnosis and management performance of the Articulate Medical Intelligence Explorer (AMIE) through a new capability to gather and interpret multimodal data, and reason about this precisely during consultations. Leveraging Gemini 2.0 Flash, our system implements a state-aware dialogue framework, where conversation flow is dynamically controlled by intermediate model outputs reflecting patient states and evolving diagnoses. Follow-up questions are strategically directed by uncertainty in such patient states, leading to a more structured multimodal history-taking process that emulates experienced clinicians. We compared AMIE to primary care physicians (PCPs) in a randomized, blinded, OSCE-style study of chat-based consultations with patient actors. We constructed 105 evaluation scenarios using artifacts like smartphone skin photos, ECGs, and PDFs of clinical documents across diverse conditions and demographics. Our rubric assessed multimodal capabilities and other clinically meaningful axes like history-taking, diagnostic accuracy, management reasoning, communication, and empathy. Specialist evaluation showed AMIE to be superior to PCPs on 7/9 multimodal and 29/32 non-multimodal axes (including diagnostic accuracy). The results show clear progress in multimodal conversational diagnostic AI, but real-world translation needs further research.

cs.CL↗

arXiv2025

KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation

Collecting demonstrations enriched with fine-grained tactile information is critical for dexterous manipulation, particularly in contact-rich tasks that require precise force control and physical interaction. While prior works primarily focus on teleoperation or video-based retargeting, they often suffer from kinematic mismatches and the absence of real-time tactile feedback, hindering the acquisition of high-fidelity tactile data. To mitigate this issue, we propose KineDex, a hand-over-hand kinesthetic teaching paradigm in which the operator's motion is directly transferred to the dexterous hand, enabling the collection of physically grounded demonstrations enriched with accurate tactile feedback. To resolve occlusions from human hand, we apply inpainting technique to preprocess the visual observations. Based on these demonstrations, we then train a visuomotor policy using tactile-augmented inputs and implement force control during deployment for precise contact-rich manipulation. We evaluate KineDex on a suite of challenging contact-rich manipulation tasks, including particularly difficult scenarios such as squeezing toothpaste onto a toothbrush, which require precise multi-finger coordination and stable force regulation. Across these tasks, KineDex achieves an average success rate of 74.4%, representing a 57.7% improvement over the variant without force control. Comparative experiments with teleoperation and user studies further validate the advantages of KineDex in data collection efficiency and operability. Specifically, KineDex collects data over twice as fast as teleoperation across two tasks of varying difficulty, while maintaining a near-100% success rate, compared to under 50% for teleoperation.

cs.RO↗

arXiv2025

Time-Reversal Symmetry Protected Transport at Correlated Oxide Interfaces

Time-reversal symmetry (TRS) protection is core to topological physics, yet its role in correlated oxides-typically non-topological-remains underexplored. This limit hampers the potential in engineering exotic quantum states by fusing TRS protection and the rich emergent phenomena in the oxide platform. Here, we report evidence of a TRS-protected subband at oxygen vacancy-free LaAlO3/SrTiO3 interfaces. This subband causes a low-field quantum oscillation with anomalous characters: exceptionally light electron mass, aperiodicity, and susceptibility to magnetic fields. All findings align with a Rashba model in which TRS-protected transport occurs along quasi-1D ferroelastic domain walls, which possess a Dirac band topology and a giant Rashba spin-orbit coupling, two orders stronger than the 2D interface. Our results deepen the understanding of SrTiO3-based electron systems, unveiling an appealing new platform for quantum engineering.

cond-mat.mes-hall↗

arXiv2025

Measurement of the branching fraction of the decay $J/ψ\to p \bar{p} η$

A high precision measurement of the branching fraction of the decay $J/ψ\to p \bar{p} η$ is performed using $(10 087 \pm 44) \times 10^6$ $J/ψ$ events recorded by the {BESIII} detector at the {BEPCII} storage ring. The branching fractions of the two decays $J/ψ\to p \bar{p} η(η\to γγ)$ and $J/ψ\to p \bar{p} η(η\to π^+ π^- π^0)$ are measured individually to be $\mathcal{B}(J/ψ\to p \bar{p} η(η\to γγ)) = (1.480 \pm 0.001 \pm 0.024)\times\,10^{-3}$ and $\mathcal{B}(J/ψ\to p \bar{p} η(η\to π^+ π^- π^0)) = (1.557 \pm 0.003 \pm 0.038)\times\,10^{-3}$, where the first uncertainties are statistical and the second systematic. Both results are compatible within their uncorrelated systematic uncertainties. The combined result is $\mathcal{B}(J/ψ\to p \bar{p} η)=(1.495 \pm 0.001 \pm 0.023)\times\,10^{-3}$ where the first uncertainty is the combined statistical uncertainty and the second one the combined systematic uncertainty of both analyses, incorporating correlations between them. In addition, the $p \bar{p}$ threshold region is investigated for a potential threshold enhancement, and no evidence for one is observed.

hep-ex↗