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Yang Wu

Publications and source records attributed to Yang Wu.

At least 19 recordsLinked to original sources
arXiv2026

CamPilot: A Multi-Agent Cinematic Assistant for Camera-Controlled Movie Generation

The integration of large language models (LLMs) into video generation has enabled rapid text-to-video creation and improved visual quality. However, it still falls short of professional filmmaking, where cinematographic language is less refined than human-crafted camera work and multi-shot continuity remains challenging. To address these limitations, we introduce CamPilot, a multi-agent framework that integrates cinematographic planning and camera-work control to produce more coherent, logically structured, and human-aesthetic movies. CamPilot adopts a GRPO-based learning paradigm to learn camera work planning from 14K real-world professional movies, internalizing motion patterns and composition principles that support reasoning over shooting techniques (e.g., camera angle, motion, and focal behavior) and cross-shot relationships for controllable camera-viewpoint generation. Multiple agents further collaborate and evolve to improve overall output quality. To support this work and further studies in this domain, we establish CamEval, a benchmark for evaluating camera work quality and cinematic engagement. Empirical results show that CamPilot outperforms state-of-the-art text-to-movie generation methods on cinematographic control and quality, highlighting the impact of professional camera design on movie generation.

cs.CV↗
arXiv2026

BodyCam-VQA: Enhanced Body-Worn Camera Video Captioning via Multimodal Reasoning and Probe Question Generation

Police body-worn camera (BWC) footage has emerged as a critical aspect of law enforcement that ensures legal transparency, officer accountability, and the protection of civil rights. However, effectively processing this data remains a significant challenge due to its multimodal video format. BWC videos, in many cases, comprise chaotic scenes with low visual quality, rapid movement/interactions, and high-noise audio that make visual understanding a challenge for even SOTA multimodal models. Current Vision-Language Models (VLMs) frequently overlook critical forensic details, such as the presence of valuable evidence or the latent nuances of suspect-officer interactions, which are vital for fair legal outcomes and civilian/officer safety. To address these limitations, we propose an Adaptive Visual Question Answering (VQA) framework engineered for high-stakes law enforcement. Our framework employs a structured reasoning approach to extract fine-grained visual evidence that traditional captioning systems fail to capture. We experiment with multiple question generation models, including foundation models and fine-tuned open-weight models, to observe performance variation among question generation model implementations. Our results demonstrate that this VQA-driven architecture provides a more reliable, objective, and detailed record of enforcement events, ultimately serving as a powerful tool to protect both law enforcement officers and the public through AI-assisted forensic clarity.

cs.CV↗
arXiv2026

Mind-VLA: Instruction-Aware Spatial Representation Alignment for Vision-Language-Action Models

Recent Vision-Language-Action (VLA) methods improve generalization by aligning their representations with 3D scene geometry. However, these methods are fundamentally instruction-agnostic: the representations align the entire scene uniformly, neglecting the 3D geometry of the specific target object designated by the language instruction. This causes failures on fine-grained manipulation and target occlusion tasks, where success depends on accurate 3D understanding of the target object rather than the entire scene. To address this, we present Mind-VLA, an instruction-aware spatial representation alignment method for VLA models. Specifically, Mind-VLA first obtains the target object specified by the language instruction, then prepares its canonical target views and extracts the corresponding VAE and VGGT features. Finally, the latent representation of the VLA model is aligned with these features to enable instruction-aware 3D understanding. Mind-VLA reaches 94.4% on LIBERO and 4.47 on CALVIN with a compact 345M-parameter backbone. On real-robot tasks with target occlusion, Mind-VLA reaches 54% average success, outperforming the matched scene-VGGT control by 26 percentage points.

cs.RO↗
arXiv2026

RefineEvo: Planning-Guided Heuristic Evolution with Bidirectional Experience

Automatic Heuristic Design (AHD) has emerged as a transformative approach for solving combinatorial optimization problems. While recent Large Language Model (LLM)-based methods have shown promise, they predominantly rely on fixed evolutionary operators and struggle to effectively accumulate and reuse historical search experience. This paper proposes RefineEvo, a novel evolutionary framework that transforms AHD from a static trial-and-error process into a planning-guided, experience-driven system. RefineEvo introduces a Planner to dynamically schedule evolutionary operators and trigger refinement based on the current search state, and a Reflector to distill valuable lessons into a Bidirectional Experience Pool containing both positive insights and negative pitfalls. This synergistic framework enables the system to adapt its search tools to the evolving complexity of the problem and leverage trajectory-aware, situation-conditioned insights to guide generation. Experiments on several classic combinatorial optimization benchmarks demonstrate that RefineEvo consistently outperforms strong baselines. In particular, RefineEvo delivers superior solution quality while improving token efficiency, enabling more efficient and autonomous heuristic design.

cs.CL↗
arXiv2026

NL2Scratch: An Executable Benchmark and Evaluation for Block-Based Programming

Block-based programming environments such as Scratch are widely used in early programming education, yet natural-language-to-code (NL2Code) research has focused primarily on text-based languages. Scratch programs are event-driven, visually compositional, and distributed across concurrent scripts, making conventional NL2Code assumptions and evaluation insufficient. We introduce NL2Scratch, an executable benchmark for natural-language-to-Scratch generation comprising 311,648 parser-valid NL--program pairs, whose program side is extracted from real Scratch projects and paired with semantically aligned NL descriptions. For reliable evaluation beyond surface overlap, we propose Semantic Alignment Consistency (SAC), an interpretable slot-level metric for measuring semantic agreement between descriptions and programs. With SAC, we construct a semantically validated pool of 23,594 examples, and a slot-balanced 800 diagnostic benchmark. Experiments across instruction-tuned and fine-tuned LLMs reveal a notable gap between lexical similarity and semantic alignment: models achieving token-level F1 above 0.93 often fail to attain perfect SAC, particularly on longer examples. Errors concentrate on operational slots like actions, conditions, and numeric arguments, exposing failure modes largely invisible under conventional metrics.

cs.CL↗
arXiv2026

LiAuto-GeoX: Efficient Grounded Driving Transformer

Dense 3D reconstruction has demonstrated immense potential for spatial understanding, yet its viability as a real-time, onboard representation for autonomous driving remains an open challenge. Existing large-scale visual geometry models typically require substantial computational resources and lack the long-range geometric fidelity, surround-view consistency, and real-time efficiency demanded by dynamic driving environments. To bridge this gap, we present \textbf{LiAuto-GeoX}, an efficient grounded driving transformer designed for deployable, ego-centric 3D scene understanding. Our approach begins by learning a high-capacity driving geometry model from large-scale surround-view data, utilizing sparse LiDAR priors to provide robust geometric grounding in distant, ambiguous, or structure-sparse regions. We then instantiate this capability into a highly compact 155M-parameter onboard model through a novel geometry-preserving distillation framework. This framework employs mask-guided depth-aware distillation to retain fine-grained metric structures by emphasizing geometrically informative regions, and relative-pose relational distillation to enforce cross-view spatial consistency through pose-induced geometric relations. Extensive evaluations reveal that \textbf{LiAuto-GeoX} runs at 220 FPS on KITTI while maintaining high-fidelity dense reconstruction, enabling real-time deployment. The learned geometry transfers seamlessly to downstream autonomy tasks, achieving 90.6 PDMS in trajectory prediction, 24.63 mIoU in occupancy prediction, and 47.67 IoU in future-frame prediction. These all demonstrate that efficient dense 3D reconstruction can transcend its traditional role as a perception target to serve as a scalable, foundational geometric representation for next-generation autonomous driving.

cs.CV↗
arXiv2026

ATT-CR: Adaptive Triangular Transformer for Cloud Removal

Cloud removal aims to accurately reconstruct the ground objects obscured by clouds in remote sensing images. Existing Transformer-based methods utilizing self-attention have shown impressive results by effectively modeling long-range dependencies in cloudy images. However, they suffer from the following issues: 1) the high computational complexity of self-attention limits scalability; 2) treating both cloudy and clean pixels as valid within the attention computation brings disturbances in subsequent layers, leading to suboptimal performance. To address these challenges, we propose the Adaptive Triangular Transformer for Cloud Removal (ATT-CR), a model that effectively reduces computational costs and mitigates interference from cloudy pixels. Specifically, it consists of two core components: Triangular Attention (TAN) and Feature Selected Gating Module (FSGM). TAN employs lower and upper triangular matrices to approximate Softmax attention with O(N) computational complexity, significantly reducing the computational costs. The FSGM, on the other hand, integrates with TAN to adaptively distinguish between cloudy and clean features, which minimizes the introduction of invalid information into subsequent layers. Extensive experiments on cloud removal benchmarks demonstrate that ATT-CR delivers superior performance compared to existing methods.

cs.CV↗
arXiv2026

ERNIE-Image Technical Report

We introduce ERNIE-Image, an open-source text-to-image generation model built upon an 8B single-stream DiT architecture. ERNIE-Image aims to bridge the gap between current open-source models and leading closed-source systems through more effective mining of large-scale pre-training data and improved supervision quality throughout training. During pre-training, we adopt a bottom-up data construction pipeline that combines fine-grained image categorization, rich caption annotation, aesthetic assessment, and hierarchical sampling. This strategy reduces data noise while preserving long-tail concepts and detailed real-world knowledge, providing a stronger foundation for complex generation tasks. In the post-training stage, we use a top-down data construction pipeline for high-demand scenarios, diversify prompt annotations to better match real user inputs, and apply a stabilized DPO strategy to align the model with human aesthetic preferences. We further train ERNIE-Image-Turbo for efficient 8-NFE generation and propose MT-DMD to mitigate capability drift during distillation. To make the model easier to use in practical scenarios, we equip it with a lightweight Prompt Enhancer that expands concise user intents into structured visual descriptions. In addition, we develop ERNIE-Image-Aes, an industrial-grade aesthetic model, together with ERNIE-Image-Aes-1K, a human-annotated benchmark for realistic aesthetic evaluation. Extensive qualitative and quantitative experiments show that ERNIE-Image achieves leading performance among open-source models and approaches top-tier commercial models in instruction following, text rendering, and aesthetic quality. We release the trained models and aesthetic resources to facilitate further academic research and technical progress in the AIGC community.

cs.CV↗
arXiv2026

Distill to Think, Foresee to Act: Cognitive-Physical Reinforcement Learning for Autonomous Driving

Current end-to-end autonomous driving models are fundamentally constrained by the behavioral cloning ceiling of imitation learning. While reinforcement learning offers a path to smarter autonomy, it demands two missing pieces of infrastructure: (1) a cognitive foundation that understands traffic semantics and driving intent, and (2) a foresighted physical environment that can anticipate the consequences of candidate actions. To this end, we propose CoPhy, a CognitivePhysical reinforcement learning framework for autonomous driving. To distill to think, we distill VLM knowledge into the BEV encoder and then discard the VLM entirely, retaining cognitive ability at zero inference cost while releasing the cognitive channel as a pluggable interface for optional human language commands. To foresee to act, we build an auto-regressive BEV world model that explicitly predicts future semantic maps conditioned on candidate actions, serving as an interpretable physical sandbox from which safety metrics are directly derived. Built upon this dual infrastructure, we optimize the driving policy via GRPO with a novel dual-reward mechanism: a physical reward derived from BEV rollouts enforces hard safety constraints, while a cognitive reward from a language-aligned scorer ensures intent compliance. Extensive experiments demonstrate that CoPhy not only achieves state-of-the-art results on NAVSIM v1 and v2 benchmarks, but also enables safer driving via cognitively informed scene compliance and flexible intent control through user-defined language instructions.

cs.CV↗
arXiv2026

Reasoning Before Diagnosis: Physician-Inspired Structured Thinking for ECG Classification

Electrocardiogram (ECG) diagnosis in clinical practice relies on structured reasoning over multiple hierarchical aspects, including cardiac rhythm, conduction properties, waveform morphology, and overall diagnostic impression. However, most existing approaches predict labels directly from ECG signals without explicit clinical reasoning, resulting in opaque decisions that lack clinical alignment. To bridge this gap, we propose CardioThink, a physician-inspired multimodal large language model (MLLM) framework that explicitly models the diagnostic reasoning process through human-interpretable intermediate stages (rhythm, conduction, morphology, and impression) to derive final classification results. Furthermore, we introduce Structured Set Policy Optimization (SSPO) to jointly optimize adherence to this structured reasoning format and the accuracy of variable-size diagnostic sets, without requiring manually annotated reasoning traces. Extensive experiments on diverse ECG benchmarks demonstrate the significant superiority of our approach in diagnostic accuracy, while simultaneously providing interpretable clinical reasoning. Notably, reasoning quality evaluations confirm that SSPO substantially enhances the clinical validity of the generated rationales. These findings reveal that moving beyond direct label prediction toward structured reasoning offers a more clinically aligned direction for future ECG modeling.

cs.AI↗
arXiv2026

Learning to Learn from Multimodal Experience

Experience-driven learning has emerged as a promising paradigm for enabling agents to improve from interaction trajectories by accumulating and reusing past experience. However, existing approaches are predominantly developed in textual settings and rely on manually designed memory schemas, limiting their applicability to multimodal environments. In real-world scenarios, experience is inherently multimodal, involving heterogeneous signals across perception, reasoning, and action, which makes effective memory design significantly more challenging. In particular, the optimal way to structure and utilize multimodal experience is highly task-dependent and evolves over time, rendering fixed memory designs insufficient. In this work, we propose a new paradigm, learning to learn from multimodal experience, which shifts memory design from a predefined component to an adaptive and learnable process. Our framework enables agents to dynamically construct, organize, and utilize memory based on task requirements and interaction history, effectively learning how to structure experience for improved performance. Experiments demonstrate that adaptive memory design substantially enhances agent performance and generalization across multimodal tasks, highlighting the critical role of learning memory mechanisms in experience-driven learning.

cs.AI↗
arXiv2026

OmniLiDAR: A Unified Diffusion Framework for Multi-Domain 3D LiDAR Generation

LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed under single-domain settings, requiring separate models for different datasets or sensing conditions and hindering unified, controllable synthesis under heterogeneous distribution shifts. To this end, we present OmniLiDAR, a unified text-conditioned diffusion framework that generates LiDAR scans in a shared range-image representation across eight representative domains spanning three shift types: adverse weather, sensor-configuration changes (e.g., reduced beams), and cross-platform acquisition (vehicle, drone, and quadruped). To enable training a single model over heterogeneous domains without isolating optimization by domain, we introduce a Cross-Domain Training Strategy (CDTS) that mixes domains within each mini-batch and leverages conditioning to steer generation. We further propose Cross-Domain Feature Modeling (CDFM), which captures directional dependencies along azimuth and elevation axes to reflect the anisotropic scanning structure of range images, and Domain-Adaptive Feature Scaling (DAFS) as a lightweight modulation to account for structured domain-dependent feature shifts during denoising. In the absence of a public consolidated benchmark, we construct an 8-domain dataset by combining real-world scans with physically based weather simulation and systematic beam reduction while following official splits. Extensive experiments demonstrate strong generation fidelity and consistent gains in downstream use cases, including generative data augmentation for LiDAR semantic segmentation and 3D object detection, as well as robustness evaluation under corruptions, with consistent benefits in limited-label regimes.

cs.CV↗
arXiv2026

Rethinking Experience Utilization in Self-Evolving Language Model Agents

Self-evolving agents improve by accumulating and reusing experience from past interactions. Existing work has largely focused on how experience is constructed, represented, and updated, while paying less attention to how experience should be used during runtime decision-making. As a result, most agents rely on rigid usage strategies, either injecting experience once at initialization or at every step, without considering whether it is needed for the current decision. This paper studies experience utilization as a critical design dimension of self-evolving agents. We ask whether agents benefit from interweaving experience use with decision-making, so that experience is invoked only when additional guidance is needed. To examine this question, we introduce {ExpWeaver}, a lightweight instantiation that leaves experience construction unchanged and modifies only runtime utilization by exposing experience as an optional resource during reasoning. Across four representative frameworks, seven LLM backbones, and three types of environments, ExpWeaver consistently achieves the best performance among different utilization strategies. Reinforcement learning experiments further show that this behavior can be amplified through training. Usage-pattern, causal ablation, and entropy-based analyses reveal that ExpWeaver enables agents to invoke experience selectively, at beneficial decision points, and under higher reasoning uncertainty. Overall, our findings call for a shift from merely studying \emph{what} experience to store toward understanding \emph{how} and \emph{when} experience should enter decision-making.

cs.CL↗
arXiv2026

GEM: Generating LiDAR World Model via Deformable Mamba

World models, which simulate environmental dynamics and generate sensor observations, are gaining increasing attention in autonomous driving. However, progress in LiDAR-based world models has lagged behind those built on camera videos or occupancy data, primarily due to two core challenges: the inherent disorder of LiDAR point clouds and the difficulty of distinguishing dynamic objects from static structures. To address these issues, we propose GEM: a Generative LiDAR world model that leverages deformable mamba architecture, significantly improving fidelity and imaginative capability. Specifically, leveraging the structural similarity between sequential laser scanning and Mamba's processing mechanism, we first tokenize LiDAR sweeps into compact representations via a custom LiDAR scene tokenizer. After unsupervised disentanglement of tokenized features via a dynamic-static separator, a tri-path deformable Mamba is introduced to perform selective scanning and adaptive gating fusion over the disentangled features, leading to enhanced spatial-temporal understanding of the world evolution. Optionally, a planner and a BEV layout controller can be integrated to explore the model's capability for autonomous rollout and its potential to generate ``what-if" scenarios. Extensive experiments show that GEM achieves state-of-the-art performances across diverse benchmarks and evaluation settings, demonstrating its superiority and effectiveness. Project page: https://github.com/wuyang98/GEM.

cs.CV↗
arXiv2026

Unified Energy Function Tailored to Inverter-Based Resources with PI Controllers for Transient Stability Analysis

The increasing penetration of inverter-based resources (IBRs) has fundamentally altered the transient stability characteristics of modern power systems. IBRs typically rely on proportional--integral (PI) controllers for synchronization and regulation, resulting in nonlinear swing equations that differ significantly from those of synchronous generators (SGs) and exhibit state-dependent damping. Consequently, although the classical energy function is often adopted in IBR analysis by analogy with SGs, it cannot be directly applied to IBRs with PI controller. A new energy function explicitly tailored to PI controller is proposed in this letter. It admits a unified form and can be applied to a class of nonlinear systems with PI controllers. Two representative cases are considered, including a grid-following (GFL) inverter and a DC-voltage-controlled grid-forming (GFM) inverter, demonstrating less conservative and more effective estimation of the region of attraction (ROA). All findings are verified through hardware-in-the-loop (HIL) experiments.

eess.SY↗
arXiv2026

Beyond Local vs. External: A Game-Theoretic Framework for Trustworthy Knowledge Acquisition

Cloud-hosted Large Language Models (LLMs) offer unmatched reasoning capabilities and dynamic knowledge, yet submitting raw queries to these external services risks exposing sensitive user intent. Conversely, relying exclusively on trusted local models preserves privacy but often compromises answer quality due to limited parameter scale and knowledge. To resolve this dilemma, we propose Game-theoretic Trustworthy Knowledge Acquisition (GTKA), a framework that formulates the trade-off between knowledge utility and privacy as a strategic game. GTKA consists of three components: (i) a privacy-aware sub-query generator that decomposes sensitive intent into generalized, low-risk fragments; (ii) an adversarial reconstruction attacker that attempts to infer the original query from these fragments, providing adaptive leakage signals; and (iii) a trusted local integrator that synthesizes external responses within a secure boundary. By training the generator and attacker in an alternating adversarial manner, GTKA optimizes the sub-query generation policy to maximize knowledge acquisition accuracy while minimizing the reconstructability of the original sensitive intent. To validate our approach, we construct two sensitive-domain benchmarks in the biomedical and legal fields. Extensive experiments demonstrate that GTKA significantly reduces intent leakage compared to state-of-the-art baselines while maintaining high-fidelity answer quality.

cs.CL↗
arXiv2026

High-Integration multimode waveguide grating based CWDM4 MUX/DEMUX with Flat Wide Passband and Ultra-Low Crosstalk for 2xFR4 Module Applications

This work presents a compact, low-crosstalk CWDM4 MUX/DEMUX utilizing cascaded multimode waveguide grating filters. The individual filters are designed with finite Gaussian apodization and positive dispersion, enabling strong unilateral sidelobe suppression while maintaining a minimum feature size compatible with UV lithography. By cascading these filters, we demonstrate a DEMUX that achieves channel crosstalk below -25 dB, insertion loss under 1 dB, and a flat-top bandwidth of approximately 18 nm. The entire device occupies a compact footprint of only 1.6 mm x 40 um, with a channel spacing compatible with commercial TIA and driver chips. Furthermore, a series-parallel hybrid cascade configuration can further suppress the crosstalk to -40 dB.

physics.optics↗
arXiv2026

"Excuse me, may I say something..." CoLabScience, A Proactive AI Assistant for Biomedical Discovery and LLM-Expert Collaborations

The integration of Large Language Models (LLMs) into scientific workflows presents exciting opportunities to accelerate biomedical discovery. However, the reactive nature of LLMs, which respond only when prompted, limits their effectiveness in collaborative settings that demand foresight and autonomous engagement. In this study, we introduce CoLabScience, a proactive LLM assistant designed to enhance biomedical collaboration between AI systems and human experts through timely, context-aware interventions. At the core of our method is PULI (Positive-Unlabeled Learning-to-Intervene), a novel framework trained with a reinforcement learning objective to determine when and how to intervene in streaming scientific discussions, by leveraging the team's project proposal and long- and short-term conversational memory. To support this work, we introduce BSDD (Biomedical Streaming Dialogue Dataset), a new benchmark of simulated research discussion dialogues with intervention points derived from PubMed articles. Experimental results show that PULI significantly outperforms existing baselines in both intervention precision and collaborative task utility, highlighting the potential of proactive LLMs as intelligent scientific assistants.

cs.CL↗