arXiv subjects

Yang Xu

Publications and source records attributed to Yang Xu.

At least 55 records · Page 3Linked to original sources

arXiv2026

Strongly frustrated 2D magnetism in a 3D hexagonal perovskite

Exotic quantum phenomena are often found to occur in spin systems that exhibit low-dimensional magnetism. By combining nuclear magnetic resonance, neutron scattering, and muon-spin spectroscopy ($μ$SR) techniques, we report a rare instance of strongly frustrated two-dimensional (2D) magnetism in a three-dimensional (3D) hexagonal perovskite. Here, Ba$_2$La$_2$MnTe$_2$O$_{12}$, a triangular-lattice magnet, is shown to undergo a magnetic transition at $T_\mathrm{N} \approx$ 4.4 K, below which the manganese moments form a 120$^{\circ}$ AFM order within the $ab$-plane, while staying disordered along the $c$-axis. This exotic ground state, which exhibits ideal 2D magnetism, is highly consistent with the persistently strong spin fluctuations and the large internal field distributions revealed by zero-field $μ$SR. Further, the 2D magnetism also leads to a significant frustration, much larger than that of most known magnetically-ordered frustrated systems. Our work on Ba$_2$La$_2$MnTe$_2$O$_{12}$ not only challenges the interpretations of magnetic order in other 3D hexagonal perovskites, but it also provides insight into how the dimensionality affects the exotic magnetic states.

cond-mat.str-el↗

arXiv2026

FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments

Autonomous aerial scanning of target structures is crucial for practical applications, requiring online adaptation to unknown obstacles during flight. Existing methods largely emphasize collision avoidance and efficiency, but overlook occlusion-induced visibility degradation, severely compromising scanning quality. This study proposes FC-Vision, an on-the-fly visibility-aware replanning framework that proactively and safely prevents target occlusions while preserving full target coverage and efficiency of the original plan. Our approach explicitly enforces dense surface-visibility constraints to regularize replanning behavior in real-time via an efficient two-level decomposition: occlusion-free viewpoint repair that maintains coverage with minimal deviation from the nominal scan, followed by segment-wise clean-sensing connection in 5-DoF space. A plug-in integration strategy is also presented to seamlessly interface \textbf{FC-Vision} with existing UAV scanning systems without architectural changes. Comprehensive simulation and real-world evaluations show that \textbf{FC-Vision} consistently improves scanning quality under unexpected occluders, delivering a maximum coverage gain of 55.32% and a 73.17% reduction in the occlusion ratio, while achieving real-time performance with a moderate increase in flight time. The code has been released at https://github.com/FC-Family/FC-Vision.

cs.RO↗

arXiv2026

Multifunctional Imaging with an Inverse-Designed Nonlocal Metasurface

Nonlocal metasurfaces enable all-optical processing of spatial information in optical fields. Here, we demonstrate a topology-optimised metasurface that switches between phase-contrast and brightfield imaging modalities via polarisation control, eliminating the need to reposition optical components or use computational techniques to image transparent samples. Specifically, for one polarisation state, an asymmetric transfer function about normal incidence performs a first order derivative on the phase, producing pseudo-3D phase-contrast images of transparent biological samples while the orthogonal state returns the result of the identity operator. This work extends inverse-design methods to reconfigurable phase-contrast microscopy and quantitative analogue optical computation with applications in biological imaging, medical diagnostics, and materials characterisation.

physics.optics↗

arXiv2026

Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM

Pose graph optimization (PGO) is a key back-end component for state estimation in networked multi-robot simultaneous localization and mapping (SLAM). In object-based multi-robot SLAM, the problem becomes more tightly coupled because robots must jointly estimate both their trajectories and the poses of persistent objects observed by multiple agents. Existing decentralized solutions often assume that the communication graph closely matches the physical interaction topology, which is restrictive in realistic deployments where communication is sparse, intermittent, or time-varying. This paper presents a fully decentralized Riemannian optimization framework for object-based multi-robot PGO that decouples the coupled estimation problem via a consensus mechanism, enabling flexible communication topologies. To improve convergence under limited communication budgets, we further develop a distributed approximate-Newton scheme that exploits local second-order information while operating directly on the SE(d) manifold to preserve geometric consistency, and we establish the convergence to Riemannian first-order stationary points and provide a local condition-number analysis explaining the benefit of approximate second-order information over first-order Riemannian descent. The resulting method reduces iteration count and communication overhead without sacrificing estimation accuracy. Extensive evaluations on public benchmarks, large-scale simulations, and real-world multi-robot experiments demonstrate improved accuracy, runtime efficiency, scalability across network topologies, and robustness to communication failures.

cs.RO↗

arXiv2026

Subsurface Vacancy Engineering Enables Atomically Clean and Oxidation-Resistant Copper Interfaces for Anode-Free Lithium Metal Batteries

Interfaces govern reaction pathways and stability in electrochemical systems, yet creating clean, well-defined metal interfaces at scale remains challenging. In anode-free lithium metal batteries (AFLMBs), the current-collector interface is decisive for lithium nucleation and solid electrolyte interphase (SEI) formation, and ideally should support efficient charge transport, uniform reaction distribution, and long-term chemical and structural stability. Here we report an ion-implantation strategy that produces an atomically clean and oxidation-resistant copper interface. Implanting copper ions into commercial foils removes the native oxide while generating subsurface vacancy clusters directly beneath the surface -- an atomic-scale modification that does not increase the collector thickness but fundamentally alters interfacial chemistry. Experiments and multiscale simulations reveal that these vacancies act as strong oxygen traps, preventing reoxidation, enhancing interfacial conductivity, and guiding the formation of an ultrathin, Li2O-enriched SEI that promotes uniform lithium deposition and suppresses parasitic reactions. Applied in AFLMBs, the engineered current collectors deliver long-term stability with a Coulombic efficiency of 98.8% over 600 cycles under lean-electrolyte conditions. These findings demonstrate atomic-scale interface control of copper current collectors as a route toward stable and practical lithium metal batteries.

cond-mat.mtrl-sci↗

arXiv2026

WaveDetect: Robust Framework for Machine-Generated Text Detection via Wavelet Transform

As Large Language Models asymptotically approach human-level fluency in natural language generation, solely relying on surface-level semantic artifacts for detecting LLM-generated texts has become increasingly precarious. Existing detectors often falter when facing three critical challenges: adversarial perturbations, cross-domain shifts, and the rapid temporal evolution of the foundation model. To address these issues, we propose \wavedetect, a novel framework that reformulates text detection as a signal processing task within the time-frequency domain. Unlike previous methods that analyze static token probability distributions, \wavedetect models the generated output as a probability signal, upon which a differentiable Continuous Wavelet Transform is applied to convert them into learnable spectral representations. This process reveals the intrinsic ``spectral fingerprints'' in machine-generated texts--patterns that remain invisible in time domain. Comprehensive evaluations on three well-curated datasets (RAID, EvoBench, and Domain-Shift) show that our method achieves a new state-of-the-art. It not only achieves superior accuracy but also exhibits remarkable robustness against sophisticated attacks, generalization across out-of-distribution topics and unseen evolving LLMs. Our results validate the efficacy of spectral analysis as a promising paradigm for LLM-generated texts detection.

cs.CL↗

arXiv2026

GRB 250424A: A Case Study of Energy Injection with Multiwavelength Observations

We present a comprehensive multiwavelength analysis of the long-duration gamma-ray burst (GRB) 250424A. Our dataset spans from the prompt gamma-ray emission to late-time optical monitoring, including spectra obtained with the Keck 10\,m telescope. We find that the afterglow light curves display a prominent, simultaneous shallow decay phase in both X-ray and optical bands, followed by an achromatic transition to a standard decay regime. The broadband spectral energy distributions are well-modeled by a single power-law function, indicating a common synchrotron origin for the emission across frequencies. We interpret the afterglow evolution within the framework of a relativistic forward shock refreshed by continuous energy injection. This scenario successfully reproduces the observed temporal and spectral behavior, yielding an isotropic equivalent kinetic energy of $E_{\rm K,iso} \approx 5.5 \times 10^{52}$ erg and an injection index of $q\approx 0.34$ in a constant-density circumburst environment. The shallow decay phase is consistent with sustained energy injection lasting $\sim$ 9 ks. Despite the relatively low redshift, late-time optical observations reveal no distinct supernova component; however, our derived upper limits do not strictly rule out the presence of a typical GRB-associated supernova.

astro-ph.HE↗

arXiv2026

RICH-SLAM: Radar SLAM with Incremental and Continuous Hilbert Mapping

Simultaneous localization and mapping using radar sensors has gained increasing attention due to radar's inherent robustness to adverse weather and lighting conditions. However, radar measurements are characteristically sparse and noisy compared to LiDAR and visual data, posing significant challenges in achieving dense, continuous, and consistent map representations. In this paper, we present RICH-SLAM, a radar SLAM framework designed to address these challenges. Our approach features a Rao-Blackwellized particle filter-based back end that employs particle filtering for pose estimation and Kalman filtering for map updates. We propose an incremental Hilbert-space reduced-rank Gaussian process mapping strategy that enables continuous and uncertainty-aware map representations given sparse radar inputs. We further introduce a posterior-aware particle weighting scheme that leverages the full posterior distribution of map parameters for more robust likelihood evaluation. Experiments on self-collected and public ColoRadar datasets show that RICH-SLAM constructs continuous occupancy maps from sparse radar measurements and supports uncertainty-aware planning for mobile robots.

cs.RO↗

arXiv2026

Beyond Artifacts: Towards Generalizable Synthetic Song Detection via Music-Intrinsic Features

The rapid advancement of AI music generators highlights the urgent need for reliable Synthetic Song Detection (SSD). Existing SSD methods often rely on low-level artifacts or fixed feature assumptions, struggling to capture generator-agnostic cues. To address this, we propose Sofia (Synthetic-song detection framework via music features), a flexible framework that models music-intrinsic attributes via feature-specific experts and an adaptive Mixture-of-Experts (MoE) module. By configuring Sofia with representative Vocal, Audio-effect, Global structure features, and their combinations, we present their individual and complementary contributions. To comprehensively evaluate our framework, we further construct MUSIC8K, a challenging benchmark featuring lastest emerging generators and realistic audio perturbations. Experiments show that Sofia learns generator-agnostic representations from music-intrinsic features, improving the F1 score by 18.5 points over the strongest baseline on MUSIC8K-O while maintaining strong robustness.

cs.SD↗

arXiv2026

MiniMax Sparse Attention

Ultra-long-context capability is becoming indispensable for frontier LLMs: agentic workflows, repository-scale code reasoning, and persistent memory all require the model to jointly attend over hundreds of thousands to millions of tokens, yet the quadratic cost of softmax attention makes this untenable at deployment scale. We introduce MiniMax Sparse Attention (MSA), a blockwise sparse attention built upon Grouped Query Attention (GQA). A lightweight Index Branch scores key-value blocks and independently selects a Top-k subset for each GQA group, enabling group-specific sparse retrieval while maintaining efficient block-level execution; the Main Branch then performs exact block-sparse attention over only the selected blocks. Designed around a principle of simplicity and scalability, MSA is deliberately streamlined, making it straightforward to deploy efficiently across a broad range of GPUs. To translate sparsity into practical speedups, we co-design MSA with a GPU execution path that uses exp-free Top-k selection and KV-outer sparse attention to improve tensor-core utilization under block-granular access. On a 109B-parameter model with native multimodal training, MSA performs on par with GQA while reducing per-token attention compute by 28.4x at 1M context. Paired with our co-designed kernel, MSA achieves 14.2x prefill and 7.6x decoding wall-clock speedups on H800. Our inference kernel is available at: https://github.com/MiniMax-AI/MSA. A production-grade natively multimodal model powered by MSA has been publicly released at: https://huggingface.co/MiniMaxAI/MiniMax-M3.

cs.AI↗

arXiv2026

A stochastic model for elastoplastic contact of rough surfaces incorporating scale-dependent hardness

The stress concentrations caused by inherent roughness of natural and manufactured surfaces often induce plastic deformation at contact interfaces, a challenge compounded by competing influences of the size effect of plastic deformation and self-affine rough surface topography. To address this, we developed a novel methodology based on stochastic theory using compounded Chapman-Kolmogorov equations, for the first time, to solve elastoplastic contact problems involving scale-dependent hardness. Our approach formulates three integral equations describing the evolution of probability density functions of elastic contact pressure, relative plastic contact area, and relative non-contact area across geometrical scales. We thoroughly investigate the effects of scale-dependent hardness on contact pressure distribution, relative elastic and plastic contact areas, and the area-to-load relationship. By adjusting various mechanical and material properties, our model predicts a smooth transition from linear elasticity to elastic-plastic behavior and finally to full plasticity. A key advancement is the derivation of a new topographic yield parameter incorporating a wider range of material and geometrical properties, aiding identification of contact status. Numerical solutions enable highly precise determination of elastic and plastic limits via curve-fitting, and we also provide a new diagram for rapid identification of contact status. This study pioneers a stochastic process framework for applying the compounded Chapman-Kolmogorov equation to rough surface contact analysis, and the integral equations characterizing how interfacial properties evolve with scale could offer valuable insights for other multidisciplinary fields where multiscale roughness is critical, such as earthquakes, electrical contact, and contact electrification.

cond-mat.stat-mech↗

arXiv2026

Breaking Entropy Bounds: Accelerating RL Training via MTP with Rejection Sampling

Reinforcement learning (RL) has become a key component in modern large language models, yet the rollout stage remains the key bottleneck in RL training pipelines. Although Multi-Token Prediction (MTP) offers a natural solution to accelerate rollouts through speculative decoding, many studies have observed that MTP acceptance rates degrade significantly during RL training, leading to limited speedup performance. To address this bottleneck, we present Bebop, a systematic study of MTP in LLM post-training, and offer practical recipes to integrate MTP into large-scale RL pipelines. First, we reveal that the MTP acceptance rate is fundamentally bounded by the fluctuation of model entropy, which demonstrates a clear negative linear relationship with the rise of entropy in the RL stage. Second, we show that probabilistic rejection sampling largely alleviates the disturbance introduced by entropy in RL compared to greedy draft sampling. We further identify that the conventional MTP training objectives (cross-entropy or KL) are suboptimal in such settings, and therefore we propose a novel end-to-end TV loss that directly optimizes multi-step rejection sampling acceptance rate, yielding ~10% acceptance rate improvements, achieving up to 95% acceptance rates and up to 25% extra inference throughput gains across mathematical reasoning, code generation, and agentic tasks. Third, we test various online MTP training strategies during RL and show that pre-RL MTP training with e2e TV loss and rejection sampling achieves a consistent acceptance rate and speedup throughout the entire RL, eliminating the need for costly online MTP updating. We provide extensive experiments and analysis that validate our findings. Experimental results show our method achieves up to 1.8x end-to-end acceleration in async RL training of Qwen3.5, Qwen3.6, and Qwen3.7 models.

cs.LG↗

arXiv2026

Learning high-dimensional quantum entanglement through physics-guided neural networks

High-gain spontaneous parametric down-conversion (SPDC) produces bright squeezed vacuum with rich high-dimensional entanglement, but its output is inherently multimodal and non-perturbative, making the full modal characterization a major computational bottleneck. We propose a physics-guided deep neural network that reconstructs the source's modal fingerprint: the high-dimensional correlation signature across radial and azimuthal indices. We designed a FiLM-modulated convolutional architecture that predicts the joint (m,l) distribution, and training is driven by a hybrid loss that couples data-driven metrics (JSD, KL, MSE, Wasserstein) with a soft orbital-angular-momentum (OAM) conservation term, providing an essential inductive bias toward physically consistent solutions. Across gain regimes, our method achieves high-fidelity reconstruction with average JSD of 1.96e-3, WEMD of 1.54e-3, and KL divergence of 7.85e-3, delivering an approximate 128-fold speedup over full numerical simulation and more than 30% accuracy gains over U-Net baselines. These results demonstrate that physics-guided learning, via a soft OAM-conservation regularizer and physically generated training targets, enables rapid and data-efficient modal characterization. Compared with traditional numerical simulation, our mesh-free method has demonstrated good generalization with limited or contaminated training data and has enabled fast "online" prediction of the quantum dynamics of a high-dimensional entanglement system for real-world experimental implementation.

quant-ph↗

arXiv2026

Supermoiré Chern mosaic in helical trilayer WSe2

Helically twisted multilayers offer access to moiré physics beyond the single-superlattice paradigm, yet their correlated and topological transport properties remain largely unexplored in semiconductor moiré materials. Here we report magnetotransport measurements of helical trilayer WSe2, in which two coupled moiré patterns relax into a supermoiré landscape composed of inequivalent local topological domains with distinct electronic structures and unequal spatial areas. By electrostatic tuning, we identify a trilayer-hybridized regime where interactions and real-space reconstruction combine to generate a plethora of magnetic and topological states absent in the twisted bilayers. At moiré filling factor $ν$ = -1, we observe a ferromagnetic insulating state that is robust against magnetic field and accompanied by a non-quantized anomalous Hall response ~-4 kOhms. This behaviour is consistent with a time-reversal-symmetry-breaking supermoiré Chern mosaic, in which the Hall response arises from the non-cancelling contributions of local domains with opposite Chern character arranged by the relaxed structure. Under strong magnetic fields, a symmetry-broken Chern insulating state (C = 1) emerges near $ν$ = -2/3, displaying a much larger positive Hall response together with strongly enhanced longitudinal resistance, suggestive of field-reconstructed topological minibands and domain-boundary scattering. These results establish relaxed supermoiré semiconductor trilayers as a platform for spatially organized magnetism and topology beyond the bilayer limit.

cond-mat.str-el↗

arXiv2026

AliyunConsoleAgent: Training Web Agents in Real-World Cloud Environments via Distillation and Reinforcement Learning

We present AliyunConsoleAgent, a web agent framework for automated documentation verification in real-world cloud consoles. Major cloud platforms encompass hundreds of products with rapid feature iteration, causing console UIs to frequently diverge from their corresponding documentation. Verifying that documented procedures accurately reflect the current console and can be executed end-to-end demands an estimated 4 million recurring inspections annually, yet manual coverage remains below 1%. While agent systems built on frontier proprietary models achieve high success rates, their prohibitive cost and data privacy constraints preclude large-scale deployment. We propose a two-stage training paradigm: supervised fine-tuning (SFT) on distilled frontier-model trajectories, followed by reinforcement learning using Group Relative Policy Optimization (GRPO) and a dual-channel outcome reward model in real cloud environments. To support large-scale RL training, we construct a high-determinism rollout system featuring Terraform-based resource pre-provisioning and LLM-driven on-demand provisioning, which effectively isolates environment noise from the training signal. We further introduce a rule-based reward evaluation protocol grounded in backend audit logs, providing objective, reward-hacking-resistant outcome judgment. Our model evolves from mechanical instruction following to autonomous decision-making with cloud console and product-specific understanding. Experiments on a challenging 278-task benchmark where the best frontier model achieves only 65.34% demonstrate that AliyunConsoleAgent-32B achieves a 63.52% mean success rate -- a 20.24 percentage-point improvement over the base model, narrowing the gap to the best frontier proprietary model to 1.82 pp (bootstrap 95% CI [-1.27, 7.39]) -- at 92% lower inference cost.

cs.AI↗

arXiv2026

GUITestScape: Towards Open-set Evaluation on Exploratory GUI Testing

Exploratory GUI testing is a particularly demanding setting for MLLM agents: without predefined test scripts, an agent must autonomously navigate an application and discover defects through its own interaction. However, current evaluation falls short on two fronts. First, existing benchmarks focus almost exclusively on interaction defects, leaving display defects outside the evaluation frame. Second, evaluation protocols are bound to predefined defect annotations, collapsing the testing process into a single end-state judgment that conflates qualitatively distinct failure modes. To address these challenges, we present GUITestScape, an interactive benchmark covering 61 real-world Android applications and 508 preset defects spanning interaction and display types, and introduce GUIJudge, an open-set evaluator that decomposes an agent's testing trajectory into independently diagnosable capabilities. Experimental results demonstrate that GUIJudge achieves reliable process-aware evaluation beyond predefined annotations, substantially outperforming all baselines. Benchmarking on GUITestScape further reveals that detection remains the critical bottleneck for existing models across both defect types, and that integrating GUIJudge's verifiers into existing agents significantly boosts their detection performance without retraining.

cs.SE↗

arXiv2026

Decoding Scientific Experimental Images: The SPUR Benchmark for Perception, Understanding, and Reasoning

We introduce SPUR, a comprehensive benchmark for scientific experimental image perception, understanding, and reasoning, comprising 4,264 question-answering (QA) pairs derived from 1,084 expert-curated images. SPUR features three key innovations: (1) Panel-Level Fine-Grained Perception: evaluating the visual perception of multimodal large language models (MLLMs) across three dimensions (numerical, morphological, and information localization) on six fine-grained panel types; (2) Cross-Panel Relation Understanding: utilizing complex images with an average of 14.3 panels per sample to evaluate MLLMs' ability to decipher intricate cross-panel relations; (3) Expert-Level Reasoning: assessment of qualitative and quantitative reasoning across five experimental paradigms to determine if models can infer conclusions from evidence as human experts do. Comprehensive evaluation of 20 MLLMs and four multimodal Chain-of-Thought (MCoT) methods reveals that current models fall significantly short of the expert-level requirements for scientific image interpretation, underscoring a critical bottleneck in AI for Science (AI4S) research.

cs.CV↗

arXiv2026

HyperSim: A Holistic Sim-To-Real Framework For Robust Robotic Manipulation

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from simulation to the real world (sim-to-real) remains a formidable challenge due to the domain gap. This paper presents HyperSim, a holistic framework spanning from synthetic data generation to policy training and seamless real-world deployment. To systematically bridge the sim-to-real gap, HyperSim is realized through three core pillars: high-fidelity environment synthesis, adversarial trajectory generation, and sim-and-real co-training. Collectively, these modules address domain discrepancies by enhancing visual fidelity, expanding data coverage, and enforcing domain-invariant representations. We rigorously validate HyperSim through a large-scale empirical study involving 400 real-world task executions across two representative manipulation models. Assessed across three fine-grained metrics, our complete pipeline achieves remarkable sim-to-real success rates of 80% and 95% with ACT and π_{0}, respectively. Furthermore, policies trained on our adversarial trajectories exhibit significantly enhanced robustness against dynamic uncertainties, achieving a 35% higher completion rate under physical perturbations.

cs.RO↗