arXiv subjects

Yang Yi

Publications and source records attributed to Yang Yi.

At least 19 recordsLinked to original sources

arXiv2026

TRINITY: A Multi-Perspective Benchmark for Personal-Style Video Highlight Detection

Traditional video highlight detection relies on a narrow, event-centric definition of saliency, which often fails to generalize to unconstrained personal videos where highlights are heterogeneous and perspective-dependent. To address this, we introduce TRINITY, a multi-perspective benchmark that decomposes highlight saliency into three complementary dimensions, Event, Emotion, and Nature, within a unified temporal framework. Leveraging this multi-faceted view, we propose a shared-backbone multi-branch architecture designed for parallel multi-perspective prediction via view-specific experts. Comprehensive experiments demonstrate that our method significantly outperforms state-of-the-art baselines, achieving gains of +7.15/+3.62 mAP (rho=15%/50%) on Mr. HiSum and +10.82 mAP on YouTube Highlights. These results validate that multi-perspective modeling provides a more robust and comprehensive formulation of video saliency, especially for complex real-world scenarios. The benchmark and relevant codes will be released upon acceptance. The benchmark is available at https://huggingface.co/datasets/vanilladucky/TRINITY and the code is available at https://github.com/vanilladucky/TRINITY.

cs.CV↗

arXiv2026

Meta-Learning Where to Allocate Experts: Task-Conditioned Layer-Wise Compression for MoEs

Mixture-of-Experts (MoE) models route each token to a subset of expert networks, increasing capacity while keeping per-token computation sparse. In many deployed MoEs, the number of active experts is fixed across layers and tasks, although layer roles and expert redundancy vary with depth and demand varies with difficulty. Existing approaches address only part of this setting: layer-wise allocations are usually determined offline and reused for all tasks, while token-level methods vary expert activation using local routing signals without task-level context. We propose MetaNet, a support-set controller that predicts, for each layer, an expert-retention threshold and a bounded routing bias. The backbone, experts, and router remain frozen. On DeepSeek-MoE-16B-Chat, MetaNet provides a tunable accuracy-expert-activation trade-off. Relative to fixed k=6, a conservative setting activates 3.61 experts on average (40% fewer) and achieves comparable MMLU accuracy (0.489 vs. 0.474), whereas an aggressive setting activates 2.28 experts on average (62% fewer) with accuracy approximately 3.7 percentage points lower. The MMLU-trained controller also transfers to C-Eval without retraining, activating 2.90 experts on average (52% fewer than fixed k=6) at 0.386 accuracy.

cs.CL↗

arXiv2026

Resource-Efficient Pruning for Transformer via Low-Rank Importance Estimation

With the rapid development of large-scale pre-trained language models based on Transformer architectures, their high computational and memory costs have become a major obstacle to deployment, especially in resource-constrained environments. Traditional pruning methods typically depend on full gradient-based importance estimation, and they necessitate prior finetuning of the model to achieve satisfactory performance. This process often results in intolerable resource consumption. This paper proposes REP-LIE, a new approach to enable resource-efficient pruning during the process of finetuning. REP-LIE leverages the gradients of LoRA low-rank matrices to estimate the importance of weights without requiring full gradient computation. To address the inherent randomness in importance estimation, a stability score is introduced, serving as the basis for iterative pruning of unimportant model parameters. The pruned model is further finetuned through lightweight updates, eliminating the need for full-parameter optimization in the process of finetuning. Extensive experiments on both medium-scale encoder models and large-scale generative models (LLaMA-7B and Mistral-7B) demonstrate that REP-LIE still achieves competitive performance compared to existing approaches.

cs.LG↗

arXiv2026

E-S2Feat:Semantic-Guided Spiking Local Feature Detection and Description for Event Cameras

Benefiting from high temporal resolution and dynamic range, event-based local feature methods have attracted increasing attention. However, event sparsity, noise, and limited texture still hinder robust local feature learning. Deploying such methods on resource-constrained platforms such as unmanned aerial vehicles also requires balancing accuracy and energy efficiency. To address these challenges, this paper proposes \textbf{E-S2Feat}, a spiking neural network framework for event-based local feature detection and description. The framework jointly optimizes local feature learning from the perspectives of feature representation and selection. First, a module-specific spiking activation mechanism preserves fine-grained structural cues and discriminative information under low-bit, energy-efficient inference, thereby improving overall representation fidelity. Furthermore, a semantic-guided feature modulation mechanism leverages semantic priors to refine keypoint response distributions and enhance local descriptor discriminability, thereby guiding the model to extract local features with greater geometric stability and stronger discriminative capability. Experiments on the ECD and EDS datasets show that the proposed method significantly outperforms baseline methods such as SuperEvent in pose estimation accuracy. It also achieves accuracy comparable to its artificial neural network counterpart while delivering an approximately 4.8-fold improvement in theoretical computational energy efficiency. Visual-inertial odometry experiments on the TUM-VIE dataset further verify the effectiveness and practical application potential of the proposed method in complete SLAM systems.

cs.CV↗

arXiv2026

CR-Solver: GPU-Accelerated Kinematics Solver for Tendon-driven Continuum Robots

Continuum robots provide intrinsic compliance, high dexterity, and safe physical interaction, enabling navigation and manipulation in confined and unstructured environments. Despite recent advances in sensing and control, heightening the need for precise motion generation, most widely used planning libraries are grounded in rigid-body assumptions, creating a critical gap for fast and practical tools for continuum robots. To address this, we present CR-Solver, a two-stage, optimization-based solver for the motion generation of tendon-driven continuum robots. Our method unifies inverse kinematics, path following, and trajectory planning within a single constrained nonlinear optimization framework. Leveraging GPU-accelerated parallel optimization, CR-Solver delivers fast, accurate, and constraint-aware solutions. We validate our approach on three tasks, demonstrating significant speedups over traditional CPU-based solvers while achieving a consistently high success rate above 95% and millimeter-level accuracy. The solver is implemented in pure Python, reducing the barrier to adoption and offering a practical, extensible foundation for continuum robots' high-performance motion planning.

cs.RO↗

arXiv2026

EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots

We present EVA-Client, an open-source framework for deployment, data collection, and evaluation of trained manipulation policies on real robots. Sitting between a policy server and the physical hardware, EVA-Client unifies the real-robot stages of the policy iteration loop within a single codebase. It makes three contributions. First, a component-decoupled architecture in which robot backends, inference strategies, and transport middlewares form an orthogonal grid: adding a robot or a strategy touches only its own layer. Second, inspectable execution through Debug, Collect, and Eval workflows, with modes ranging from open-loop simulation to continuous real-time control. Third, every evaluation run doubles as a data collection, recording full rollouts in training-ready format alongside exhaustive logs and a side-by-side comparison viewer, so each evaluation feeds the next round of training rather than ending as an unrecorded impression. EVA-Client further consolidates major real-time inference strategies, synchronous and asynchronous execution, ACT-style temporal ensembling, Real-Time Chunking, and a naive-async ablation baseline, behind a single configuration surface.

cs.RO↗

arXiv2026

Event-based SLAM Benchmark for High-Speed Maneuvers

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in high-speed maneuvering scenarios. Existing event-based approaches, although successful in mitigating motion blur caused by high-speed maneuvers, suffer from many limitations. Some of them highlight a success of pose tracking for a fronto-parallel fast shaking camera closed to the structure, while others assume pure (optionally aggressive) three-degree-of-freedom rotations. The former requires persistent local map visibility within the field of view (FOV), whereas the latter fails to generalize to six-degree-of-freedom (6-DoF) motions where both linear and angular velocities may be large. Consequently, current successes do not fully demonstrate that event-based state estimation under arbitrary aggressive maneuvers is a fully solved problem. To quantitatively assess the extent to which the potential of event cameras has been unlocked, we conduct a thorough analysis of state-of-the-art (SOTA) event-based visual odometry (VO)/visual-inertial odometry (VIO) methods and report shortcomings in current public datasets. Furthermore, we introduce a benchmarking framework for event-based state estimation, called EvSLAM, characterized by sufficient variation in data collection platforms, diverse extreme lighting scenarios, and a wide scope of challenging motion patterns under a clear and rigorous definition of high-speed maneuvers for mobile robots, along with a novel evaluation metric designed to fairly assess the operational limits of event-based solutions. This framework benchmarks state-of-the-art methods, yielding insights into optimal architectures and persistent challenges.

cs.RO↗

arXiv2026

Large Language Model based Interactive Decision-Making for Autonomous Driving

In high-conflict mixed-traffic scenarios involving human-driven and autonomous vehicles, most existing autonomous driving systems default to overly conservative behaviors, lack proactive interaction, and consequently suffer from limited public acceptance. To mitigate intent misunderstandings and decision failures, we present a Large Language Model based interactive decision-making framework that augments scene understanding and intent-aware interaction to jointly improve safety and efficiency. The approach uses Object-Process Methodology to semantically model complex multi-vehicle scenes, abstracting low-level perceptual data into objects, processes, and relations, thereby streamlining reasoning over latent causal structure. Building on this representation, the Large Language Model parses both explicit and implicit intents of surrounding agents and, under jointly enforced safety and efficiency constraints, selects candidate maneuvers. We further generate perturbed trajectory candidates via Monte Carlo sampling and evaluate them to obtain an optimized executable trajectory. To foster transparency and coordination with nearby road users, the final decision is translated by the Large Language Model into concise natural-language messages and broadcast through an external Human-Machine Interface, completing a closed loop from scene understanding to action to language. Experiments in a cluster driving simulator demonstrate that the proposed method outperforms traditional baselines across safety, comfort, and efficiency metrics, while a Turing-test-style evaluation indicates a high degree of human-likeness in decision making. Besides, these results suggest that coupling semantic scene abstraction with Large Language Model mediated intent reasoning and language-based eHMI communication offers a practical pathway toward interactive, trustworthy autonomous driving in dense mixed traffic.

cs.RO↗

arXiv2026

GESS: Multi-cue Guided Local Feature Learning via Geometric and Semantic Synergy

Robust local feature detection and description are foundational tasks in computer vision. Existing methods primarily rely on single appearance cues for modeling, leading to unstable keypoints and insufficient descriptor discriminability. In this paper, we propose a multi-cue guided local feature learning framework that leverages semantic and geometric cues to synergistically enhance detection robustness and descriptor discriminability. Specifically, we construct a joint semantic-normal prediction head and a depth stability prediction head atop a lightweight backbone. The former leverages a shared 3D vector field to deeply couple semantic and normal cues, thereby resolving optimization interference from heterogeneous inconsistencies. The latter quantifies the reliability of local regions from a geometric consistency perspective, providing deterministic guidance for robust keypoint selection. Based on these predictions, we introduce the Semantic-Depth Aware Keypoint (SDAK) mechanism for feature detection. By coupling semantic reliability with depth stability, SDAK reweights keypoint responses to suppress spurious features in unreliable regions. For descriptor construction, we design a Unified Triple-Cue Fusion (UTCF) module, which employs a semantic-scheduled gating mechanism to adaptively inject multi-attribute features, improving descriptor discriminability. Extensive experiments on four benchmarks validate the effectiveness of the proposed framework. The source code and pre-trained model will be available at: https://github.com/yiyscut/GESS.git.

cs.CV↗

arXiv2026

A Universal Neural Receiver that Learns at the Speed of Wireless

Today we design wireless networks using mathematical models that govern communication in different propagation environments. We rely on measurement campaigns to deliver parametrized propagation models, and on the 3GPP standards process to optimize model-based performance, but as wireless networks become more complex this model-based approach is losing ground. Mobile Network Operators (MNOs) are counting on Artificial Intelligence (AI) to transform wireless by increasing spectral efficiency, reducing signaling overhead, and enabling continuous network innovation through software upgrades. They may also be interested in new use cases like integrated sensing and communications (ISAC). All we need is an AI-native physical layer, so why not simply tailor the offline AI algorithms that have revolutionized image and natural language processing to the wireless domain? We argue that these algorithms rely on off-line training that is precluded by the sub-millisecond speeds at which the wireless interference environment changes. We present an alternative architecture, a universal neural receiver based on convolution, which governs transmit and receive signal processing of any signal in any part of the wireless spectrum. Our neural receiver is designed to invert convolution, and we separate the question of which convolution to invert from the actual deconvolution. The neural network that performs deconvolution is very simple, and we configure this network by setting weights based on domain knowledge. By telling our neural network what we know, we avoid extensive offline training. By developing a universal receiver, we hope to simplify discussions about the proper choice of waveform for different use cases in the international standards. Since the receiver architecture is largely independent of technologies introduced at the base station, we hope to increase the rate of innovation in wireless.

cs.IT↗

arXiv2025

TAT: Task-Adaptive Transformer for All-in-One Medical Image Restoration

Medical image restoration (MedIR) aims to recover high-quality medical images from their low-quality counterparts. Recent advancements in MedIR have focused on All-in-One models capable of simultaneously addressing multiple different MedIR tasks. However, due to significant differences in both modality and degradation types, using a shared model for these diverse tasks requires careful consideration of two critical inter-task relationships: task interference, which occurs when conflicting gradient update directions arise across tasks on the same parameter, and task imbalance, which refers to uneven optimization caused by varying learning difficulties inherent to each task. To address these challenges, we propose a task-adaptive Transformer (TAT), a novel framework that dynamically adapts to different tasks through two key innovations. First, a task-adaptive weight generation strategy is introduced to mitigate task interference by generating task-specific weight parameters for each task, thereby eliminating potential gradient conflicts on shared weight parameters. Second, a task-adaptive loss balancing strategy is introduced to dynamically adjust loss weights based on task-specific learning difficulties, preventing task domination or undertraining. Extensive experiments demonstrate that our proposed TAT achieves state-of-the-art performance in three MedIR tasks--PET synthesis, CT denoising, and MRI super-resolution--both in task-specific and All-in-One settings. Code is available at https://github.com/Yaziwel/TAT.

cs.CV↗

arXiv2025

A Saddle Point Remedy: Power of Variable Elimination in Non-convex Optimization

The proliferation of saddle points, rather than poor local minima, is increasingly understood to be a primary obstacle in large-scale non-convex optimization for machine learning. Variable elimination algorithms, like Variable Projection (VarPro), have long been observed to exhibit superior convergence and robustness in practice, yet a principled understanding of why they so effectively navigate these complex energy landscapes has remained elusive. In this work, we provide a rigorous geometric explanation by comparing the optimization landscapes of the original and reduced formulations. Through a rigorous analysis based on Hessian inertia and the Schur complement, we prove that variable elimination fundamentally reshapes the critical point structure of the objective function, revealing that local maxima in the reduced landscape are created from, and correspond directly to, saddle points in the original formulation. Our findings are illustrated on the canonical problem of non-convex matrix factorization, visualized directly on two-parameter neural networks, and finally validated in training deep Residual Networks, where our approach yields dramatic improvements in stability and convergence to superior minima. This work goes beyond explaining an existing method; it establishes landscape simplification via saddle point transformation as a powerful principle that can guide the design of a new generation of more robust and efficient optimization algorithms.

cs.LG↗

arXiv2025

A Plug-and-Play Learning-based IMU Bias Factor for Robust Visual-Inertial Odometry

Accurate and reliable estimation of biases of low-cost Inertial Measurement Units (IMU) is a key factor to maintain the resilience of Visual-Inertial Odometry (VIO), particularly when visual tracking fails in challenging areas. In such cases, bias estimates from the VIO can deviate significantly from the real values because of the insufficient or erroneous vision features, compromising both localization accuracy and system stability. To address this challenge, we propose a novel plug-and-play module featuring the Inertial Prior Network (IPNet), which infers an IMU bias prior by implicitly capturing the motion characteristics of specific platforms. The core idea is inspired intuitively by the observation that different platforms exhibit distinctive motion patterns, while the integration of low-cost IMU measurements suffers from unbounded error that quickly accumulates over time. Therefore, these specific motion patterns can be exploited to infer the underlying IMU bias. In this work, we first directly infer the biases prior only using the raw IMU data using a sliding window approach, eliminating the dependency on recursive bias estimation combining visual features, thus effectively preventing error propagation in challenging areas. Moreover, to compensate for the lack of ground-truth bias in most visual-inertial datasets, we further introduce an iterative method to compute the mean per-sequence IMU bias for network training and release it to benefit society. The framework is trained and evaluated separately on two public datasets and a self-collected dataset. Extensive experiments show that our method significantly improves localization precision and robustness.

cs.CV↗

arXiv2024

All-In-One Medical Image Restoration via Task-Adaptive Routing

Although single-task medical image restoration (MedIR) has witnessed remarkable success, the limited generalizability of these methods poses a substantial obstacle to wider application. In this paper, we focus on the task of all-in-one medical image restoration, aiming to address multiple distinct MedIR tasks with a single universal model. Nonetheless, due to significant differences between different MedIR tasks, training a universal model often encounters task interference issues, where different tasks with shared parameters may conflict with each other in the gradient update direction. This task interference leads to deviation of the model update direction from the optimal path, thereby affecting the model's performance. To tackle this issue, we propose a task-adaptive routing strategy, allowing conflicting tasks to select different network paths in spatial and channel dimensions, thereby mitigating task interference. Experimental results demonstrate that our proposed \textbf{A}ll-in-one \textbf{M}edical \textbf{I}mage \textbf{R}estoration (\textbf{AMIR}) network achieves state-of-the-art performance in three MedIR tasks: MRI super-resolution, CT denoising, and PET synthesis, both in single-task and all-in-one settings. The code and data will be available at \href{https://github.com/Yaziwel/All-In-One-Medical-Image-Restoration-via-Task-Adaptive-Routing.git}{https://github.com/Yaziwel/AMIR}.

cs.CV↗

arXiv2023

Improving Drumming Robot Via Attention Transformer Network

Robotic technology has been widely used in nowadays society, which has made great progress in various fields such as agriculture, manufacturing and entertainment. In this paper, we focus on the topic of drumming robots in entertainment. To this end, we introduce an improving drumming robot that can automatically complete music transcription based on the popular vision transformer network based on the attention mechanism. Equipped with the attention transformer network, our method can efficiently handle the sequential audio embedding input and model their global long-range dependencies. Massive experimental results demonstrate that the improving algorithm can help the drumming robot promote drum classification performance, which can also help the robot to enjoy a variety of smart applications and services.

cs.RO↗

arXiv2023

Distributed Learning Meets 6G: A Communication and Computing Perspective

With the ever-improving computing capabilities and storage capacities of mobile devices in line with evolving telecommunication network paradigms, there has been an explosion of research interest towards exploring Distributed Learning (DL) frameworks to realize stringent key performance indicators (KPIs) that are expected in next-generation/6G cellular networks. In conjunction with Edge Computing, Federated Learning (FL) has emerged as the DL architecture of choice in prominent wireless applications. This article lays an outline of how DL in general and FL-based strategies specifically can contribute towards realizing a part of the 6G vision and strike a balance between communication and computing constraints. As a practical use case, we apply Multi-Agent Reinforcement Learning (MARL) within the FL framework to the Dynamic Spectrum Access (DSA) problem and present preliminary evaluation results. Top contemporary challenges in applying DL approaches to 6G networks are also highlighted.

cs.NI↗

arXiv2022

Graph Classification via Discriminative Edge Feature Learning

Spectral graph convolutional neural networks (GCNNs) have been producing encouraging results in graph classification tasks. However, most spectral GCNNs utilize fixed graphs when aggregating node features, while omitting edge feature learning and failing to get an optimal graph structure. Moreover, many existing graph datasets do not provide initialized edge features, further restraining the ability of learning edge features via spectral GCNNs. In this paper, we try to address this issue by designing an edge feature scheme and an add-on layer between every two stacked graph convolution layers in GCNN. Both are lightweight while effective in filling the gap between edge feature learning and performance enhancement of graph classification. The edge feature scheme makes edge features adapt to node representations at different graph convolution layers. The add-on layers help adjust the edge features to an optimal graph structure. To test the effectiveness of our method, we take Euclidean positions as initial node features and extract graphs with semantic information from point cloud objects. The node features of our extracted graphs are more scalable for edge feature learning than most existing graph datasets (in one-hot encoded label format). Three new graph datasets are constructed based on ModelNet40, ModelNet10 and ShapeNet Part datasets. Experimental results show that our method outperforms state-of-the-art graph classification methods on the new datasets by reaching 96.56% overall accuracy on Graph-ModelNet40, 98.79% on Graph-ModelNet10 and 97.91% on Graph-ShapeNet Part. The constructed graph datasets will be released to the community.

cs.CV↗

arXiv2021

Making Intelligent Reflecting Surfaces More Intelligent: A Roadmap Through Reservoir Computing

This article introduces a neural network-based signal processing framework for intelligent reflecting surface (IRS) aided wireless communications systems. By modeling radio-frequency (RF) impairments inside the "meta-atoms" of IRS (including nonlinearity and memory effects), we present an approach that generalizes the entire IRS-aided system as a reservoir computing (RC) system, an efficient recurrent neural network (RNN) operating in a state near the "edge of chaos". This framework enables us to take advantage of the nonlinearity of this "fabricated" wireless environment to overcome link degradation due to model mismatch. Accordingly, the randomness of the wireless channel and RF imperfections are naturally embedded into the RC framework, enabling the internal RC dynamics lying on the edge of chaos. Furthermore, several practical issues, such as channel state information acquisition, passive beamforming design, and physical layer reference signal design, are discussed.

eess.SP↗