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Yechi Liu

Publications and source records attributed to Yechi Liu.

8 recordsLinked to original sources

IMUG-Bench: Benchmarking Unified Multimodal Models on Interleaved Understanding and Generation

In recent years, unified multimodal models (UMMs) have emerged to support both understanding and generation within a single framework. Mastering dynamic, multi-turn interleaved image-text dialogues is a crucial task for UMMs in real-world applications. However, existing benchmarks fail to evaluate this important task, as they are often limited to single-turn or static settings, and typically overlook exposure bias in multi-turn interactions. To bridge this gap, we propose IMUG-Bench, a comprehensive benchmark for multi-turn interleaved image-text dialogue of UMMs that jointly evaluates their understanding and generation capabilities. Our IMUG-Bench comprises three classes: Static Spatial, Temporal Causal, and Hybrid, covering 3,113 samples and 12,034 interaction turns. It also includes dynamic understanding questions, thereby supporting evaluation that better reflects real-world multi-turn interaction scenarios. Large-scale experiments on IMUG-Bench systematically evaluate mainstream open-source and closed-source UMMs, revealing their capability boundaries and failure modes, and uncovering pronounced exposure bias on the generation side in multi-turn interactions. We further explore several test-time scaling strategies, including Chain-of-Thought, Self-Verification, and Best-of-N Sampling, which effectively improve generation accuracy and mitigate exposure bias in generation tasks. These findings provide insights into enhancing the robustness and multi-turn interaction capability of future UMMs.

cs.AI

Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction

The ability to navigate and interact with complex environments is central to real-world embodied agents, yet navigation in unseen environments remains challenging due to "experiential amnesia," where existing trajectory-driven or reactive policies fail to synthesize generalizable strategies from past interactions. We propose Robo-Cortex, a self-evolving framework that enables robots to autonomously induce navigation heuristics and refine cognitive strategies through a continuous reflection-adaptation loop. By abstracting success patterns and failure pitfalls into natural-language heuristics, Robo-Cortex enables a transition from passive execution to active strategy evolution. Our core innovation is an Autonomous Knowledge Induction (AKI) mechanism that distills multimodal trajectories into a structured Navigation Heuristic Library for knowledge generalization. The architecture further incorporates a Dual-Grain Cognitive Memory system, comprising a Short-term Reflective Memory (SRM) for real-time local progress analysis, and a Long-term Principle Memory (LPM) that abstracts past trajectories into reusable guiding and cautionary principles. To ensure robust decision-making, we introduce a multimodal Imagine-then-Verify loop, where a world model simulates potential outcomes and a VLM-based evaluator validates action plans. Extensive evaluations on IGNav, AR, and AEQA show that Robo-Cortex consistently outperforms strong baselines in both task success and exploration efficiency, with gains of up to +4.16% SPL over the strongest prior method and up to +15.30% SPL under heuristic transfer to unseen environments. Preliminary real-world robotic experiments further support the effectiveness of Robo-Cortex in physical settings.

cs.RO

Pelican-Unify 1.0: A Unified Embodied Intelligence Model for Understanding, Reasoning, Imagination and Action

We present Pelican-Unify 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unify 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and action histories into a shared semantic space. The same VLM also serves as a unified reasoning module, autoregressively producing task-, action-, and future-oriented chains of thought in a single forward pass and projecting the final hidden state into a dense latent variable. A Unified Future Generator (UFG) then conditions on this latent variable and jointly generates future videos and future actions through two modality-specific output heads within the same denoising process. The language, video, and action losses are all backpropagated into the shared representation, enabling the model to jointly optimize understanding, reasoning, imagination, and action during training, rather than training three isolated expert systems. Experiments demonstrate that unification does not imply compromise. With a single checkpoint, Pelican-Unify 1.0 achieves strong performance across all three capabilities: 64.7 on eight VLM benchmarks, the best among comparable-scale models; 66.03 on WorldArena, ranking first; and 93.5 on RoboTwin, the second-best average among compared action methods. These results show that the unified paradigm succeeds in preserving specialist strength while bringing understanding, reasoning, imagination, and action into one model.

cs.RO

Hopf and double Hopf bifurcations in a delayed lateral vibration model of footbridges induced by pedestrians

In this paper, we investigate the dynamical behaviors of a delayed lateral vibration model of footbridges proposed based on the facts that pedestrians will reduce their walking speed or stop walking when the response of the footbridge becomes sufficiently large, and that the bridge velocity can not be changed at once when the pedestrians begin to walk on the bridge. By analyzing the distribution of roots of the associated characteristic equation, we find that there are only two types of bifurcations in this model: Hopf bifurcation and double Hopf bifurcation, and give the condition on the stability of the trivial solution. By using the center manifold theorem and bifurcation theory of delayed differential equations, we obtain the dynamical behavior in these bifurcations, specially including the stability of periodic solutions and invariant tori bifurcating from the trivial solution in these bifurcations. Finally, we prove that this model exhibits quasi-periodic vibrations by KAM theorems, besides periodic vibrations.

math.DS

Large time behaviour of solutions to the $N-$dimensional scalar conservation law under periodic perturbations with nonlinear degenerate viscosity

In this paper, we discuss the asymptotic behaviour of the weak solution to the Cauchy problem for the scalar viscous conservation law, with nonlinear Laplacian viscosity. Firstly, we obtain the existence, uniqueness and regularity of solutions when the initial data $u_0\in C^1(\mathbb R^N)\cap W^{1,\infty}(\mathbb R^N)$. Secondly, when $u_0$ is periodic, we prove the time-decay rate of the periodic solution and its gradient. At last, we study the long-time behaviour of perturbed solution to the Cauchy problem, in which the initial data is a $N-$d periodic perturbation around a planar rarefaction wave and obtain the time-decay rate of the perturbed solution approaching approximate planar rarefaction wave. The proof is given by technical energy methods and iteration technique.

math.AP

Decay properties of solutions toward shock waves of the scalar conservation law with linear and $p$-Laplacian viscosity

In this paper, we discuss the asymptotic behaviour of weak solutions to the Cauchy problem toward the viscous shock waves for the scalar viscous conservation law. We firstly consider the case that the flux function is the quadratic Burgers flux and obtain the time-decay rate in $L^\infty$-norm for the cases with degenerate $p$-Laplacian viscosity and with linear viscosity, respectively. Moreover, we also give the time-decay rate in $L^\infty$-norm with general flux and linear viscosity. All of these results do not involve smallness conditions on the initial data.

math.AP

Stability of viscous shock profile for convective porous-media flow with degenerate viscosity

In this paper, we are concerned with the large time behavior of viscous shock wave for the convective porous-media equation with degenerate viscosity. We get the regularity of the solution for general initial data and prove the shock wave is nonlinearly stable providing the initial perturbation is small. Moreover, the $L^\infty$ decay rate is obtained, which generalized the famous result \cite{osh82}. Note that the traditional energy method and continuity argument can not be directly used in this paper since the degeneration of viscosity. One need to fully utilize the sign of perturbation and it derivatives, decompose the integral domain to ensure that in each domain the sign is invariant. Then the stability and the decay rate are obtained by energy method and an area inequality.

math.AP

Diffusive Wave in the Low Mach Limit for Non-Viscous and Heat-Conductive Gas

The low Mach number limit for one-dimensional non-isentropic compressible Navier-Stokes system without viscosity is investigated, where the density and temperature have different asymptotic states at far fields. It is proved that the solution of the system converges to a nonlinear diffusion wave globally in time as Mach number goes to zero. It is remarked that the velocity of diffusion wave is proportional with the variation of temperature. Furthermore, it is shown that the solution of compressible Navier-Stokes system also has the same phenomenon when Mach number is suitably small.

math.AP