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Yang Gao

Publications and source records attributed to Yang Gao.

At least 127 records · Page 7Linked to original sources
arXiv2026

Magnon-Driven Anomalous Hall Effect in Altermagnets

We propose a magnon-driven anomalous Hall effect in altermagnets, arising from the coupling between coherently excited chiral magnons and chiral electronic motion. Using density-matrix perturbation theory and symmetry analysis, we show that the resulting Hall conductivity is solely determined by the chiralithy of the Néel-order precession, in sharp contrast to the anomalous Hall effect from the equilibrium Néel order. It then has distinct symmetry requirements from the latter and can exist even when the latter is forbidden by symmetry. The magnon-driven anomalous Hall effect is exemplified in a minimal lattice model with the same symmetry of the altermagnet CrSb, which hosts no static anomalous Hall effect. Our results reveal a direct interplay between chiral magnons and chiral electronic motion, paving the way of probing magnon chirality and to control electronic chirality through magnons.

cond-mat.mes-hall↗
arXiv2026

Evidence of Long-Lived Powerful Gyrosynchrotron Radio Emission in the Close Binary FF UMa

RS Canum Venaticorum (RS CVn) close binaries, characterized by tidal locking, rapid rotations, and strong magnetic fields, are ideal laboratories for high-resolution radio observations to probe emission processes, magnetic field configurations, and interaction activity. Despite their importance, only a few RS CVn sources have been explored by polarimetric observations of very long baseline interferometry (VLBI). To expand the effort, we have analyzed the existing Very Long Baseline Array (VLBA) astrometric data for the RS CVn binary FF Ursae Majoris (FF UMa). In the 5GHz VLBA experiments conducted between 2021 and 2024, both total intensity and circularly polarized emission were clearly detected at six of seven epochs. The consistently high brightness temperatures (10^7 K) and the moderate fractional circular polarization (10%-30%) over about three years indicate that the radio emission is mainly produced by gyrosynchrotron radiation from mildly relativistic electrons in the highly-ordered magnetic field. The radio luminosities are also comparable to those of previously studied powerful RS CVn binaries and show a significant anti-correlation with fractional circular polarization. A mean centroid offset of 13.4 +/- 3.1 solar radii between the Stokes I and V emission was found across multiple epochs, indicating a possible additional contribution from the secondary star via a magnetically active corona, a giant magnetic loop, or significant interaction activity with the primary star in the quiescent state.

astro-ph.SR↗
arXiv2026

V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors

Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fixed asset libraries and manual heuristics. To bridge this gap, we present V-Dreamer, a fully automated framework that generates open-vocabulary, simulation-ready manipulation environments and executable expert trajectories directly from natural language instructions. V-Dreamer employs a novel generative pipeline that constructs physically grounded 3D scenes using large language models and 3D generative models, validated by geometric constraints to ensure stable, collision-free layouts. Crucially, for behavior synthesis, we leverage video generation models as rich motion priors. These visual predictions are then mapped into executable robot trajectories via a robust Sim-to-Gen visual-kinematic alignment module utilizing CoTracker3 and VGGT. This pipeline supports high visual diversity and physical fidelity without manual intervention. To evaluate the generated data, we train imitation learning policies on synthesized trajectories encompassing diverse object and environment variations. Extensive evaluations on tabletop manipulation tasks using the Piper robotic arm demonstrate that our policies robustly generalize to unseen objects in simulation and achieve effective sim-to-real transfer, successfully manipulating novel real-world objects.

cs.RO↗
arXiv2026

Prompt-Free Universal Region Proposal Network

Identifying potential objects is critical for object recognition and analysis across various computer vision applications. Existing methods typically localize potential objects by relying on exemplar images, predefined categories, or textual descriptions. However, their reliance on image and text prompts often limits flexibility, restricting adaptability in real-world scenarios. In this paper, we introduce a novel Prompt-Free Universal Region Proposal Network (PF-RPN), which identifies potential objects without relying on external prompts. First, the Sparse Image-Aware Adapter (SIA) module performs initial localization of potential objects using a learnable query embedding dynamically updated with visual features. Next, the Cascade Self-Prompt (CSP) module identifies the remaining potential objects by leveraging the self-prompted learnable embedding, autonomously aggregating informative visual features in a cascading manner. Finally, the Centerness-Guided Query Selection (CG-QS) module facilitates the selection of high-quality query embeddings using a centerness scoring network. Our method can be optimized with limited data (e.g., 5% of MS COCO data) and applied directly to various object detection application domains for identifying potential objects without fine-tuning, such as underwater object detection, industrial defect detection, and remote sensing image object detection. Experimental results across 19 datasets validate the effectiveness of our method. Code is available at https://github.com/tangqh03/PF-RPN.

cs.CV↗
arXiv2026

Architecture-Agnostic Feature Synergy for Universal Defense Against Heterogeneous Generative Threats

Generative AI deployment poses unprecedented challenges to content safety and privacy. However, existing defense mechanisms are often tailored to specific architectures (e.g., Diffusion Models or GANs), creating fragile "defense silos" that fail against heterogeneous generative threats. This paper identifies a fundamental optimization barrier in naive pixel-space ensemble strategies: due to divergent objective functions, pixel-level gradients from heterogeneous generators become statistically orthogonal, causing destructive interference. To overcome this, we observe that despite disparate low-level mechanisms, high-level feature representations of generated content exhibit alignment across architectures. Based on this, we propose the Architecture-Agnostic Targeted Feature Synergy (ATFS) framework. By introducing a target guidance image, ATFS reformulates multi-model defense as a unified feature space alignment task, enabling intrinsic gradient alignment without complex rectification. Extensive experiments show ATFS achieves SOTA protection in heterogeneous scenarios (e.g., Diffusion+GAN). It converges rapidly, reaching over 90% performance within 40 iterations, and maintains strong attack potency even under tight perturbation budgets. The framework seamlessly extends to unseen architectures (e.g., VQ-VAE) by switching the feature extractor, and demonstrates robust resistance to JPEG compression and scaling. Being computationally efficient and lightweight, ATFS offers a viable pathway to dismantle defense silos and enable universal generative security. Code and models are open-sourced for reproducibility.

cs.CR↗
arXiv2026

ST-VLA: Enabling 4D-Aware Spatiotemporal Understanding for General Robot Manipulation

Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA) frameworks typically use 2D representations to connect high-level reasoning with low-level control, but lack depth awareness and temporal consistency, limiting robustness in complex 3D scenes. We propose ST-VLA, a hierarchical VLA framework using a unified 3D-4D representation to bridge perception and action. ST-VLA converts 2D guidance into 3D trajectories and generates smooth spatial masks that capture 4D spatio-temporal context, providing a stable interface between semantic reasoning and continuous control. To enable effective learning of such representations, we introduce ST-Human, a large-scale human manipulation dataset with 14 tasks and 300k episodes, annotated with 2D, 3D, and 4D supervision via a semi-automated pipeline. Using ST-Human, we train ST-VLM, a spatio-temporal vision-language model that generates spatially grounded and temporally coherent 3D representations to guide policy execution. The smooth spatial masks focus on task-relevant geometry and stabilize latent representations, enabling online replanning and long-horizon reasoning. Experiments on RLBench and real-world manipulation tasks show that \method significantly outperforms state-of-the-art baselines, improving zero-shot success rates by 44.6% and 30.3%. These results demonstrate that offloading spatio-temporal reasoning to VLMs with unified 3D-4D representations substantially improves robustness and generalization for open-world robotic manipulation. Project website: https://oucx117.github.io/ST-VLA/.

cs.RO↗
arXiv2026

AdaClearGrasp: Learning Adaptive Clearing for Zero-Shot Robust Dexterous Grasping in Densely Cluttered Environments

In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strategies may compromise safety. Enabling robots to adaptively decide whether to clear surrounding objects or directly grasp the target is therefore crucial for robust manipulation. We propose AdaClearGrasp, a closed-loop decision-execution framework for adaptive clearing and zero-shot dexterous grasping in densely cluttered environments. The framework formulates manipulation as a controllable high-level decision process that determines whether to directly grasp the target or first clear surrounding objects. A pretrained vision-language model (VLM) interprets visual observations and language task descriptions to reason about grasp interference and generate a high-level planning skeleton, which invokes structured atomic skills through a unified action interface. For dexterous grasping, we train a reinforcement learning policy with a relative hand-object distance representation, enabling zero-shot generalization across diverse object geometries and physical properties. During execution, visual feedback monitors outcomes and triggers replanning upon failures, forming a closed-loop correction mechanism. To evaluate language-conditioned dexterous grasping in clutter, we introduce Clutter-Bench, the first simulation benchmark with graded clutter complexity. It includes seven target objects across three clutter levels, yielding 210 task scenarios. We further perform sim-to-real experiments on three objects under three clutter levels (18 scenarios). Results demonstrate that AdaClearGrasp significantly improves grasp success rates in densely cluttered environments. For more videos and code, please visit our project website: https://chenzixuan99.github.io/adaclear-grasp.github.io/.

cs.RO↗
arXiv2026

Multi-Agent Reinforcement Learning with Communication-Constrained Priors

Communication is one of the effective means to improve the learning of cooperative policy in multi-agent systems. However, in most real-world scenarios, lossy communication is a prevalent issue. Existing multi-agent reinforcement learning with communication, due to their limited scalability and robustness, struggles to apply to complex and dynamic real-world environments. To address these challenges, we propose a generalized communication-constrained model to uniformly characterize communication conditions across different scenarios. Based on this, we utilize it as a learning prior to distinguish between lossy and lossless messages for specific scenarios. Additionally, we decouple the impact of lossy and lossless messages on distributed decision-making, drawing on a dual mutual information estimatior, and introduce a communication-constrained multi-agent reinforcement learning framework, quantifying the impact of communication messages into the global reward. Finally, we validate the effectiveness of our approach across several communication-constrained benchmarks.

cs.AI↗
arXiv2026

EasyInsert: A Data-Efficient and Generalizable Insertion Policy

Robotic insertion is a highly challenging task that requires exceptional precision in cluttered environments. Existing methods often have poor generalization capabilities. They typically function in restricted and structured environments, and frequently fail when the plug and socket are far apart, when the scene is densely cluttered, or when handling novel objects. They also rely on strong assumptions such as access to CAD models or a digital twin in simulation. To address these limitations, we propose EasyInsert. Inspired by human intuition, it formulates insertion as a delta-pose regression problem, which unlocks an efficient, highly scalable data collection pipeline with minimal human labor to train an end-to-end visual policy. During execution, the visual policy predicts the relative pose between plug and socket to drive a multi-phase, coarse-to-fine insertion process. EasyInsert demonstrates strong zero-shot generalization capability for unseen objects in cluttered environments, robustly handling cases with significant initial pose deviations. In real-world experiments, by leveraging just 1 hour of human teleoperation data to bootstrap a large-scale automated data collection process, EasyInsert achieves an over 90% success rate in zero-shot insertion for 13 out of 15 unseen novel objects, including challenging objects like Type-C cables, HDMI cables, and Ethernet cables. Furthermore, requiring only a single manual reset, EasyInsert allows for fast adaptation to novel test objects through automated data collection and fine-tuning, achieving an over 90% success rate across all 15 objects.

cs.RO↗
arXiv2026

Diffusion-Based Data Augmentation for Image Recognition: A Systematic Analysis and Evaluation

Diffusion-based data augmentation (DiffDA) has emerged as a promising approach to improving classification performance under data scarcity. However, existing works vary significantly in task configurations, model choices, and experimental pipelines, making it difficult to fairly compare methods or assess their effectiveness across different scenarios. Moreover, there remains a lack of systematic understanding of the full DiffDA workflow. In this work, we introduce UniDiffDA, a unified analytical framework that decomposes DiffDA methods into three core components: model fine-tuning, sample generation, and sample utilization. This perspective enables us to identify key differences among existing methods and clarify the overall design space. Building on this framework, we develop a comprehensive and fair evaluation protocol, benchmarking representative DiffDA methods across diverse low-data classification tasks. Extensive experiments reveal the relative strengths and limitations of different DiffDA strategies and offer practical insights into method design and deployment. All methods are re-implemented within a unified codebase, with full release of code and configurations to ensure reproducibility and to facilitate future research.

cs.CV↗
arXiv2026

RoTri-Diff: A Spatial Robot-Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation

Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for acquiring this capability, existing approaches, whether robot-centric or object-centric, often overlook the dynamic geometric relationship among the two arms and the manipulated object. This limitation frequently leads to inter-arm collisions, unstable grasps, and degraded performance in complex tasks. To address this, in this paper we explicitly models the Robot-Object Triadic Interaction (RoTri) representation in bimanual systems, by encoding the relative 6D poses between the two arms and the object to capture their spatial triadic relationship and establish continuous triangular geometric constraints. Building on this, we further introduce RoTri-Diff, a diffusion-based imitation learning framework that combines RoTri constraints with robot keyposes and object motion in a hierarchical diffusion process. This enables the generation of stable, coordinated trajectories and robust execution across different modes of bimanual manipulation. Extensive experiments show that our approach outperforms state-of-the-art baselines by 10.2% on 11 representative RLBench2 tasks and achieves stable performance on 4 challenging real-world bimanual tasks. Project website: https://rotri-diff.github.io/.

cs.RO↗
arXiv2026

Efficient Privacy-Preserving Sparse Matrix-Vector Multiplication Using Homomorphic Encryption

Sparse matrix-vector multiplication (SpMV) is a fundamental operation in scientific computing, data analysis, and machine learning. When the data being processed are sensitive, preserving privacy becomes critical, and homomorphic encryption (HE) has emerged as a leading approach for addressing this challenge. Although HE enables privacy-preserving computation, its application to SpMV has remained largely unaddressed. To the best of our knowledge, this paper presents the first framework that efficiently integrates HE with SpMV, addressing the dual challenges of computational efficiency and data privacy. In particular, we introduce a novel compressed matrix format, named Compressed Sparse Sorted Column (CSSC), which is specifically designed to optimize encrypted sparse matrix computations. By preserving sparsity and enabling efficient ciphertext packing, CSSC significantly reduces storage and computational overhead. Our experimental results on real-world datasets demonstrate that the proposed method achieves significant gains in both processing time and memory usage. This study advances privacy-preserving SpMV and lays the groundwork for secure applications in federated learning, encrypted databases, scientific computing, and beyond.

cs.CR↗
arXiv2026

LaViRA: Language-Vision-Robot Actions Translation for Zero-Shot Vision Language Navigation in Continuous Environments

LaViRA: Zero-shot Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires an agent to navigate unseen environments based on natural language instructions without any prior training. Current methods face a critical trade-off: either rely on environment-specific waypoint predictors that limit scene generalization, or underutilize the reasoning capabilities of large models during navigation. We introduce LaViRA, a simple yet effective zero-shot framework that addresses this dilemma by decomposing action into a coarse-to-fine hierarchy: Language Action for high-level planning, Vision Action for middle-level perceptual grounding, and Robot Action for low-level control. This modular decomposition allows us to leverage the distinct strengths of different scales of Multimodal Large Language Models (MLLMs) at each stage, creating a system that is powerful in its reasoning, grounding and practical control. LaViRA significantly outperforms existing state-of-the-art methods on the VLN-CE benchmark, demonstrating superior generalization capabilities in unseen environments, while maintaining transparency and efficiency for real-world deployment. Project page: https://robo-lavira.github.io/lavira-zs-vln/

cs.RO↗
arXiv2026

High-Performance Quantum Frequency Conversion from Ultraviolet to Telecom Band

Quantum frequency conversion (QFC) is essential for bridging the spectral gap between stationary qubits and low-loss optical communication channels. In this work, we demonstrate a short-wavelength-pumping QFC with the first-order quasi-phase matching period of 3.07 um on thin-film lithium niobate, converting ultraviolet photons to the telecom C-band. By constructing a theoretical model that correlates the normalized conversion efficiency with domain defects in the short-period phase-matched waveguide, we found the critical tolerance of domain defects along the waveguide should be $\le 2$ (excluding the ends). Based on this, we achieved a theoretical limit normalized conversion efficiency of 839%/(W*cm^2) for the fundamental guided mode through fabrication optimization. Furthermore, we propose a robust noise suppression strategy for short-wavelength pumping by utilizing the counter-tuning behaviors of difference-frequency generation and spontaneous parametric down-conversion. By combining these advances with ultra-narrowband filtering, we achieve a record-high external efficiency of 28.8% and an ultra-low noise of 35 counts per second. This high-performance QFC connecting ultraviolet and telecom bands satisfies the stringent requirements for long-lived remote ion-ion entanglement in scalable quantum networks [W.-Z. Liu et al., Nature (2026)].

quant-ph↗
arXiv2026

OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoning

General-purpose robots capable of performing diverse tasks require synergistic reasoning and acting capabilities. However, recent dual-system approaches, which separate high-level reasoning from low-level acting, often suffer from challenges such as limited mutual understanding of capabilities between systems and latency issues. This paper introduces OneTwoVLA, a single unified vision-language-action model that can perform both acting (System One) and reasoning (System Two). Crucially, OneTwoVLA adaptively switches between two modes: explicitly reasoning at critical moments during task execution, and generating actions based on the most recent reasoning at other times. To further unlock OneTwoVLA's reasoning and generalization capabilities, we design a scalable pipeline for synthesizing embodied reasoning-centric vision-language data, used for co-training with robot data. We validate OneTwoVLA's effectiveness through extensive experiments, highlighting its superior performance across four key capabilities: long-horizon task planning, error detection and recovery, natural human-robot interaction, and generalizable visual grounding, enabling the model to perform long-horizon, highly dexterous manipulation tasks such as making hotpot or mixing cocktails.

cs.RO↗
arXiv2026

Study of the $f_{0}(980)$ and $f_{0}(500)$ Scalar Mesons through the Decay $D_{s}^{+} \to π^{+} π^{-} e^{+} ν_{e}$

Using $e^+e^-$ collision data corresponding to an integrated luminosity of 7.33~${\rm fb^{-1}}$ recorded by the BESIII detector at center-of-mass energies between 4.128 and 4.226~${\rm GeV}$, we present an analysis of the decay $D_{s}^{+} \to π^{+}π^{-} e^{+}ν_{e}$, where the $D_s^+$ is produced via the process $e^+e^- \to D_{s}^{*\pm}D_{s}^{\mp}$. We observe the $f_{0}(980)$ in the $π^+π^-$ system and the branching fraction of the decay $D_{s}^{+} \to f_{0}(980)e^{+}ν_{e}$ with $f_0(980)\toπ^+π^-$ measured to be $(1.72 \pm 0.13_{\rm stat} \pm 0.10_{\rm syst}) \times10^{-3}$, where the uncertainties are statistical and systematic, respectively. The dynamics of the $D_{s}^{+} \to f_{0}(980)e^{+}ν_{e}$ decay are studied with the simple pole parametrization of the hadronic form factor and the Flatté formula describing the $f_0(980)$ in the differential decay rate, and the product of the form factor $f^{f_0}_{+}(0)$ and the $c\to s$ Cabibbo-Kobayashi-Maskawa matrix element $|V_{cs}|$ is determined for the first time to be $f^{f_0}_+(0)|V_{cs}|=0.504\pm0.017_{\rm stat}\pm0.035_{\rm syst}$. Furthermore, the decay $D^+_s\to f_0(500) e^+ν_e$ is searched for the first time but no signal is found. The upper limit on the branching fraction of $D^+_s\to f_0(500) e^+ν_e,~f_0(500)\toπ^+π^-$ decay is set to be $3.3 \times 10^{-4}$ at 90\% confidence level.

hep-ex↗
arXiv2026

Distractor-free Generalizable 3D Gaussian Splatting

We present DGGS, a novel framework that addresses the previously unexplored challenge: $\textbf{Distractor-free Generalizable 3D Gaussian Splatting}$ (3DGS). It mitigates 3D inconsistency and training instability caused by distractor data in the cross-scenes generalizable train setting while enabling feedforward inference for 3DGS and distractor masks from references in the unseen scenes. To achieve these objectives, DGGS proposes a scene-agnostic reference-based mask prediction and refinement module during the training phase, effectively eliminating the impact of distractor on training stability. Moreover, we combat distractor-induced artifacts and holes at inference time through a novel two-stage inference framework for references scoring and re-selection, complemented by a distractor pruning mechanism that further removes residual distractor 3DGS-primitive influences. Extensive feedforward experiments on the real and our synthetic data show DGGS's reconstruction capability when dealing with novel distractor scenes. Moreover, our generalizable mask prediction even achieves an accuracy superior to existing scene-specific training methods. Homepage is https://github.com/bbbbby-99/DGGS.

cs.CV↗
arXiv2026

Spatially anchored Tactile Awareness for Robust Dexterous Manipulation

Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation: while tactile sensors provide rich contact information, current learning frameworks fail to effectively leverage both the perceptual richness of tactile signals and their spatial relationship with hand kinematics. We believe an ideal tactile representation should explicitly ground contact measurements in a stable reference frame while preserving detailed sensory information, enabling policies to not only detect contact occurrence but also precisely infer object geometry in the hand's coordinate system. We introduce SaTA (Spatially-anchored Tactile Awareness for dexterous manipulation), an end-to-end policy framework that explicitly anchors tactile features to the hand's kinematic frame through forward kinematics, enabling accurate geometric reasoning without requiring object models or explicit pose estimation. Our key insight is that spatially grounded tactile representations allow policies to not only detect contact occurrence but also precisely infer object geometry in the hand's coordinate system. We validate SaTA on challenging dexterous manipulation tasks, including bimanual USB-C mating in free space, a task demanding sub-millimeter alignment precision, as well as light bulb installation requiring precise thread engagement and rotational control, and card sliding that demands delicate force modulation and angular precision. These tasks represent significant challenges for learning-based methods due to their stringent precision requirements. Across multiple benchmarks, SaTA significantly outperforms strong visuo-tactile baselines, improving success rates by up to 30 percentage while reducing task completion times by 27 percentage.

cs.RO↗