arXiv subjects

Yi Lu

Publications and source records attributed to Yi Lu.

At least 91 records · Page 5Linked to original sources

arXiv2025

A Survey: Learning Embodied Intelligence from Physical Simulators and World Models

The pursuit of artificial general intelligence (AGI) has placed embodied intelligence at the forefront of robotics research. Embodied intelligence focuses on agents capable of perceiving, reasoning, and acting within the physical world. Achieving robust embodied intelligence requires not only advanced perception and control, but also the ability to ground abstract cognition in real-world interactions. Two foundational technologies, physical simulators and world models, have emerged as critical enablers in this quest. Physical simulators provide controlled, high-fidelity environments for training and evaluating robotic agents, allowing safe and efficient development of complex behaviors. In contrast, world models empower robots with internal representations of their surroundings, enabling predictive planning and adaptive decision-making beyond direct sensory input. This survey systematically reviews recent advances in learning embodied AI through the integration of physical simulators and world models. We analyze their complementary roles in enhancing autonomy, adaptability, and generalization in intelligent robots, and discuss the interplay between external simulation and internal modeling in bridging the gap between simulated training and real-world deployment. By synthesizing current progress and identifying open challenges, this survey aims to provide a comprehensive perspective on the path toward more capable and generalizable embodied AI systems. We also maintain an active repository that contains up-to-date literature and open-source projects at https://github.com/NJU3DV-LoongGroup/Embodied-World-Models-Survey.

cs.RO↗

arXiv2025

Lee--Yang edge singularities in Nonlocal Nambu--Jona-Lasinio Model

We investigate the QCD phase diagram and the associated Lee--Yang edge singularities using the two-flavor nonlocal Nambu--Jona-Lasinio model extended to complex chemical potential. There exists a strong correlation between the chiral phase transition and the structure of the effective potential in the complex order parameter plane, serving as a criterion to differentiate crossover from first-order transitions. Typically, the Lee--Yang edge singularities can be understood as a generalization of the critical end-point (CEP) between crossover and first-order transitions, where the positive Nambu phase and the Wigner phase coalesce. We further analyze the scaling behavior near the CEP by extracting the critical exponent associated with the Lee--Yang singularities. Additionally, we confirm that the extrapolation of the Lee--Yang edge singularity trajectories provides an effective method of determining the CEP location, even at a small real chemical potential. This provides a viable method for exploring regions of the QCD phase diagram that remain inaccessible to lattice QCD.

hep-ph↗

arXiv2025

Finite-Distance Gravitational Lensing of a Global Monopole in a Schwarzschild-de Sitter Spacetime

We investigate the gravitational lensing of a Schwarzschild-de Sitter black hole with a global monopole at finite distances. In this asymptotically nonflat spacetime, the deflection angle of light is decomposed into two parts: the first derives from the orbit differential equation, and the second originates from the metric itself. By absorbing the cosmological constant into the effective impact parameter, we derive an analytical expression for the first part using elliptic integrals. Combined with the second part, we obtain a complete exact solution for the deflection angle in this context. Additionally, considering that the distances from the source to the observer are large, we derive expressions for the light deflection angle in both the weak and strong field limits. In both cases, we find that the deflection is enhanced by the presence of the global monopole, further supporting its potential role as an alternative to elusive dark matter.

gr-qc↗

arXiv2025

Baryogenesis and first-order QCD transition with gravitational waves from a large lepton asymmetry

A large primordial lepton asymmetry can lead to successful baryogenesis by preventing the restoration of electroweak symmetry at high temperatures, thereby suppressing the sphaleron rate. This asymmetry can also lead to a first-order cosmic QCD transition, accompanied by detectable gravitational wave (GW) signals. By employing next-to-leading order dimensional reduction we determine that the necessary lepton asymmetry is approximately one order of magnitude smaller than previously estimated. Incorporating an updated QCD equation of state that harmonizes lattice and functional QCD outcomes, we pinpoint the range of lepton flavor asymmetries capable of inducing a first-order cosmic QCD transition. To maintain consistency with observational constraints from the Cosmic Microwave Background and Big Bang Nucleosynthesis, achieving the correct baryon asymmetry requires entropy dilution by approximately a factor of ten. However, the first-order QCD transition itself can occur independently of entropy dilution. We propose that the sphaleron freeze-in mechanism can be investigated through forthcoming GW experiments such as $μ$Ares.

hep-ph↗

arXiv2025

SoccerNet 2025 Challenges Results

The SoccerNet 2025 Challenges mark the fifth annual edition of the SoccerNet open benchmarking effort, dedicated to advancing computer vision research in football video understanding. This year's challenges span four vision-based tasks: (1) Team Ball Action Spotting, focused on detecting ball-related actions in football broadcasts and assigning actions to teams; (2) Monocular Depth Estimation, targeting the recovery of scene geometry from single-camera broadcast clips through relative depth estimation for each pixel; (3) Multi-View Foul Recognition, requiring the analysis of multiple synchronized camera views to classify fouls and their severity; and (4) Game State Reconstruction, aimed at localizing and identifying all players from a broadcast video to reconstruct the game state on a 2D top-view of the field. Across all tasks, participants were provided with large-scale annotated datasets, unified evaluation protocols, and strong baselines as starting points. This report presents the results of each challenge, highlights the top-performing solutions, and provides insights into the progress made by the community. The SoccerNet Challenges continue to serve as a driving force for reproducible, open research at the intersection of computer vision, artificial intelligence, and sports. Detailed information about the tasks, challenges, and leaderboards can be found at https://www.soccer-net.org, with baselines and development kits available at https://github.com/SoccerNet.

cs.CV↗

arXiv2025

Enhancing Software Vulnerability Detection Through Adaptive Test Input Generation Using Genetic Algorithm

Software vulnerabilities continue to undermine the reliability and security of modern systems, particularly as software complexity outpaces the capabilities of traditional detection methods. This study introduces a genetic algorithm-based method for test input generation that innovatively integrates genetic operators and adaptive learning to enhance software vulnerability detection. A key contribution is the application of the crossover operator, which facilitates exploration by searching across a broader space of potential test inputs. Complementing this, an adaptive feedback mechanism continuously learns from the system's execution behavior and dynamically guides input generation toward promising areas of the input space. Rather than relying on fixed or randomly selected inputs, the approach evolves a population of structurally valid test cases using feedback-driven selection, enabling deeper and more effective code traversal. This strategic integration of exploration and exploitation ensures that both diverse and targeted test inputs are developed over time. Evaluation was conducted across nine open-source JSON-processing libraries. The proposed method achieved substantial improvements in coverage compared to a benchmark evolutionary fuzzing method, with average gains of 39.8% in class coverage, 62.4% in method coverage, 105.0% in line coverage, 114.0% in instruction coverage, and 166.0% in branch coverage. These results highlight the method's capacity to detect deeper and more complex vulnerabilities, offering a scalable and adaptive solution to software security testing.

cs.SE↗

arXiv2025

Quantum criticality and emergent orders in the spin-1 bilinear-biquadratic-Kitaev chain

Higher-spin quantum magnets with competing interactions offer a rich platform for exploring quantum phases that transcend the paradigms of spin-1/2 systems, owing to their enlarged local Hilbert spaces and the emergence of multipolar correlations. We investigate a one-dimensional spin-1 chain where quadrupolar order is promoted by two distinct mechanisms: conventional bilinear-biquadratic exchange and bond-directional antiferromagnetic Kitaev frustration. Using density matrix renormalization group calculations, we determine the complete ground-state phase diagram and uncover two emergent phases induced by the Kitaev interaction: a Kitaev nematic phase and a Kitaev-dimer phase. The Kitaev nematic phase emerges from a fragile biquadratic dimer state via a continuous quantum phase transition in the Ising universality class. The Kitaev dimer phase spontaneously breaks a screw symmetry to favor either $x$- or $y$-spin bonding, forming a gapped state that coexists with a crystalline order of alternating $\mathbb{Z}_2$ fluxes.

cond-mat.str-el↗

arXiv2025

Mixed spin states for robust ferromagnetism in strained SrCoO$_3$ thin films

Epitaxial strain in transition-metal oxides can induce dramatic changes in electronic and magnetic properties. A recent study on the epitaxially strained SrCoO$_3$ thin films revealed persistent ferromagnetism even across a metal-insulator transition. This challenges the current theoretical predictions, and the nature of the local spin state underlying this robustness remains unresolved. Here, we employ high-resolution resonant inelastic x-ray scattering (RIXS) at the Co-$L_3$ edge to probe the spin states of strained SrCoO$_3$ thin films. Compared with CoO$_6$ cluster multiplet calculations, we identify a ground state composed of a mixed high- and low-spin configuration, distinct from the previously proposed intermediate-spin state. Our results demonstrate that the robustness of ferromagnetism arises from the interplay between this mixed spin state and the presence of ligand holes associated with negative charge transfer. These findings provide direct experimental evidence for a nontrivial magnetic ground state in SrCoO$_3$ and offer new pathways for designing robust ferromagnetic systems in correlated oxides.

cond-mat.str-el↗

arXiv2025

Dependence of halo properties on central-satellite magnitude gaps through weak lensing measurements

The magnitude gap between the central and satellite galaxies encodes information about the mass accretion history of a dark matter halo, and serves as a useful observational probe for the mass distribution in a halo. In this work, we perform the first weak lensing test of the connections between the magnitude gap and the halo profile. We measure the halo profiles of isolated central galaxies (ICGs) selected primarily from the SDSS Main Galaxy Sample. Halo mass and concentration are inferred by fitting stacked lensing profiles in bins of central luminosity, $L_\mathrm{c}$, and the central-satellite magnitude gap, $L_\mathrm{gap}$. We detect dependence on the magnitude gap in both halo properties. The dependence is the strongest in the ICG luminosity range of $10^{10.3}<L_\mathrm{c}[h^{-2}L_\odot]\leq 10^{10.7}$, where halos with smaller gaps have higher masses and lower concentrations. When $10^{10.7} <L_c[h^{-2}L_\odot] \leq 10^{11.1}$, however, no significant gap dependence is detected. In the range of $10^{9.9}<L_\mathrm{c}[h^{-2}L_\odot] \leq 10^{10.3}$, a disordering of the gap dependence is marginally observable. We compare the observational results with predictions by two lightcone catalogs built from the Illustris TNG300 and the Millennium simulations. The gap dependence in the two mock samples show overall consistency with observations, but neither matches them in all $L_\mathrm{c}$ bins to a quantitative level. We also compare the significance of the gap dependence on halo mass and concentration and find that our measurement prefers gap dependence in both parameters, while the halo mass dependence is preferred over the concentration if only one of the two dependencies is allowed.

astro-ph.CO↗

arXiv2025

Graph-Guided Dual-Level Augmentation for 3D Scene Segmentation

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation. However, most augmentation strategies only focus on local transformations or semantic recomposition, lacking the consideration of global structural dependencies within scenes. To address this limitation, we propose a graph-guided data augmentation framework with dual-level constraints for realistic 3D scene synthesis. Our method learns object relationship statistics from real-world data to construct guiding graphs for scene generation. Local-level constraints enforce geometric plausibility and semantic consistency between objects, while global-level constraints maintain the topological structure of the scene by aligning the generated layout with the guiding graph. Extensive experiments on indoor and outdoor datasets demonstrate that our framework generates diverse and high-quality augmented scenes, leading to consistent improvements in point cloud segmentation performance across various models.

cs.CV↗

arXiv2025

Nonequilibrium Dynamics in a Quantum Spin Chain with Pump-Probe Resonant Inelastic X-ray Scattering

We investigate the nonequilibrium dynamics of the transverse field Ising chain (TFIC) using time-resolved resonant inelastic X-ray scattering (tr-RIXS) in a pump-probe setup within a condensed matter setting. The tr-RIXS spectra reveal distinctive features, including two-kink continua at high energies and oscillatory spectral weight at low energies, both strongly influenced by the pump dynamics. By systematically analyzing the nonequilibrium tr-RIXS cross section under various pump configurations, we demonstrate how the spectra encode detailed information about the system's transient states, capturing instantaneous Hamiltonian parameters and the traversal of equilibrium quantum critical points during dynamic evolution. Notably, we uncover a one-to-one correspondence between oscillatory features in the low-energy spectra and dynamical quantum phase transitions, offering a novel and experimentally accessible approach for their detection. These findings highlight the versatility of tr-RIXS as a powerful tool for studying quantum systems far from equilibrium and their critical phenomena.

cond-mat.str-el↗

arXiv2025

Probing d-wave superconducting gap of high-$T_\mathrm{c}$ cuprate $\mathrm{Bi}_2\mathrm{Sr}_2\mathrm{Ca}_2\mathrm{Cu}_3\mathrm{O}_{10+δ}$ by resonant inelastic X-ray scattering

The superconducting gap is a characteristic feature of high-T$_c$ superconductors and provides crucial information on the pairing mechanism underlying high-temperature superconductivity. Here, we employ high-resolution resonant inelastic X-ray scattering (RIXS) at the Cu $L_3$-edge to investigate the superconducting gap in the overdoped cuprate $\mathrm{Bi}_2\mathrm{Sr}_2\mathrm{Ca}_2\mathrm{Cu}_3\mathrm{O}_{10+δ}$ ($T_\mathrm{c}$ = 107 K). By analyzing antisymmetrized, temperature-dependent RIXS spectra over a range of in-plane momentum transfers, we observe a clear suppression of low-energy spectral weight below T$_c$, indicative of superconducting gap formation. This suppression is most pronounced at small momentum transfers ($|\boldsymbol{q}_\parallel| \leq 0.18$ r.l.u.) and corresponds to a gap size of approximately 2$Δ_0 \sim$ 130 meV. Comparison with theoretical calculations of the momentum-dependent charge susceptibility supports a d-wave symmetry of the superconducting gap, while an isotropic s-wave gap fails to reproduce key experimental features. These findings establish RIXS as a powerful, bulk-sensitive probe of superconducting gap symmetry and highlight its utility for studying materials beyond the reach of surface-sensitive techniques such as ARPES and STM.

cond-mat.supr-con↗

arXiv2025

Optoelectronically Active GaAs/GeSn-MQW/Ge Heterojunctions Created via Semiconductor Grafting

Traditionally, advancements in semiconductor devices have been driven by lattice-matched heterojunctions with tailored band alignments through heteroepitaxy techniques. However, there is significant interest in expanding the capabilities of heterojunction devices, in particular utilizing extreme lattice mismatches. We demonstrate the manipulation of device behaviors and performance enhancement achievable through a lattice-mismatched, single-crystalline GaAs/GeSn-multi-quantum well (MQW)/Ge n-i-p heterojunction by employing advanced semiconductor grafting technology. With engineered band alignment and optical field distribution, the grafted GaAs/GeSn-MQW/Ge n-i-p photodiode achieved outstanding performance: a record-low dark current density of 1.22E10^-7 A/cm^2, an extended spectral response from ~0.5 to 2 um, and improved photoresponsivity of RVIS of 0.85 A/W and RNIR of 0.40 A/W at 520 and 1570 nm, respectively. The dark current density is at least 5 orders of magnitude lower than state-of-the-art GeSn photodiodes. The photoresponsivity demonstrates an approximately sevenfold enhancement in the VIS range and a threefold improvement in the NIR range compared to the reference epitaxial photodiode. This work presents a unique strategy for constructing lattice-mismatched semiconductor heterojunction devices. More importantly, the implications transcend the current GaAs/GeSn-MQW/Ge example, offering potential applications in other material systems and freeing device design from the stringent lattice-matching constraints of conventional heteroepitaxy.

cond-mat.mtrl-sci↗

arXiv2025

RSVP: Reasoning Segmentation via Visual Prompting and Multi-modal Chain-of-Thought

Multi-modal Large Language Models (MLLMs) have demonstrated remarkable reasoning capability while lack explicit mechanisms for visual grounding and segmentation, creating a gap between cognitive reasoning and visual perception. To bridge this gap, we introduce Reasoning Segmentation via Visual Prompting (RSVP), a novel framework that unifies multi-step multimodal reasoning with grounded visual understanding. RSVP is a two-stage structuralized framework that integrates reasoning-driven localization with segmentation refinement. In the reasoning stage, RSVP employs multimodal chain-of-thought visual prompts to help MLLMs understand queries and infer targets, generating interpretable region proposals that enhance visual grounding. In segmentation stage, RSVP refines these proposals with a Vision-Language Segmentation Module (VLSM), seamlessly integrates textual and visual cues to produce precise segmentation masks. By explicitly modelling the interaction between multimodal reasoning and segmentation, RSVP introduces a new paradigm for interpretable reasoning segmentation. It exploits MLLMs' inherent localization capabilities, enabling the models to not only reason about objects but also generate structured visual representations. Our extensive experiments demonstrate that RSVP achieves state-of-the-art performance, surpasses state-of-the-art methods by up to +6.5 gIoU and +9.2 cIoU on ReasonSeg, and achieves 49.7 mAP on SegInW under zero-shot settings. These results validate RSVP as an effective and scalable framework for integrating cognitive reasoning with structured visual understanding.

cs.CV↗

arXiv2025

Infrared Image Deturbulence Restoration Using Degradation Parameter-Assisted Wide & Deep Learning

Infrared images captured under turbulent conditions are degraded by complex geometric distortions and blur. We address infrared deturbulence as an image restoration task, proposing DparNet, a parameter-assisted multi-frame network with a wide & deep architecture. DparNet learns a degradation prior (key parameter matrix) directly from degraded images without external knowledge. Its wide & deep architecture uses these learned parameters to directly modulate restoration, achieving spatially and intensity adaptive results. Evaluated on dedicated infrared deturbulence (49,744 images) and visible image denoising (109,536 images) datasets, DparNet significantly outperforms State-of-the-Art (SOTA) methods in restoration performance and efficiency. Notably, leveraging these parameters improves PSNR by 0.6-1.1 dB with less than 2% increase in model parameters and computational complexity. Our work demonstrates that degraded images hide key degradation information that can be learned and utilized to boost adaptive image restoration.

cs.CV↗

arXiv2025

Dominant apical-oxygen electron-phonon coupling in HgBa$_2$Ca$_2$Cu$_3$O$_{8+δ}$

How electron-phonon interactions influence high-temperature superconductivity in cuprates remains contested, and their role outside the CuO$_2$ planes has been largely overlooked. The most conspicuous evidence for such coupling is the ubiquitous 70-meV dispersion kink seen by photoemission, yet its microscopic origin is still debated. Here we use oxygen-$K$-edge resonant inelastic X-ray scattering (RIXS) to probe the trilayer cuprate HgBa$_2$Ca$_2$Cu$_3$O$_{8+δ}$ (Hg1223). When both incident photon energy and polarization are tuned to the apical-oxygen $1s\!\rightarrow\!2p_z$ transition, the RIXS spectra exhibit a ladder of at least ten phonon overtones, evenly spaced by 70 meV, whose intensities follow a Franck-Condon envelope, signalling exceptionally strong electron-phonon coupling. Quantitative modelling that incorporates core-hole lifetime evaluation yields an apical-phonon coupling energy of 0.25(1) eV, significantly larger than that of the planar stretching mode. Such a coupling strength offers a strong contender for explaining the universal 70-meV kink and suggests that the dominant electron-phonon channel resides outside the CuO$_2$ planes. By elevating inter-layer lattice dynamics from a peripheral factor to a central actor, our results provide a fresh starting point for theories seeking to reconcile strong correlations, lattice dynamics and high-temperature superconductivity.

cond-mat.supr-con↗

arXiv2025

Effective Length Extrapolation via Dimension-Wise Positional Embeddings Manipulation

Large Language Models (LLMs) often struggle to process and generate coherent context when the number of input tokens exceeds the pre-trained length. Recent advancements in long-context extension have significantly expanded the context window of LLMs but require expensive overhead to train the large-scale models with longer context. In this work, we propose Dimension-Wise Positional Embeddings Manipulation (DPE), a training-free framework to extrapolate the context window of LLMs by diving into RoPE's different hidden dimensions. Instead of manipulating all dimensions equally, DPE detects the effective length for every dimension and finds the key dimensions for context extension. We reuse the original position indices with their embeddings from the pre-trained model and manipulate the key dimensions' position indices to their most effective lengths. In this way, DPE adjusts the pre-trained models with minimal modifications while ensuring that each dimension reaches its optimal state for extrapolation. DPE significantly surpasses well-known baselines such as YaRN and Self-Extend. DPE enables Llama3-8k 8B to support context windows of 128k tokens without continual training and integrates seamlessly with Flash Attention 2. In addition to its impressive extrapolation capability, DPE also dramatically improves the models' performance within training length, such as Llama3.1 70B, by over 18 points on popular long-context benchmarks RULER. When compared with commercial models, Llama 3.1 70B with DPE even achieves better performance than GPT-4-128K.

cs.CL↗

arXiv2025

VEU-Bench: Towards Comprehensive Understanding of Video Editing

Widely shared videos on the internet are often edited. Recently, although Video Large Language Models (Vid-LLMs) have made great progress in general video understanding tasks, their capabilities in video editing understanding (VEU) tasks remain unexplored. To address this gap, in this paper, we introduce VEU-Bench (Video Editing Understanding Benchmark), a comprehensive benchmark that categorizes video editing components across various dimensions, from intra-frame features like shot size to inter-shot attributes such as cut types and transitions. Unlike previous video editing understanding benchmarks that focus mainly on editing element classification, VEU-Bench encompasses 19 fine-grained tasks across three stages: recognition, reasoning, and judging. To enhance the annotation of VEU automatically, we built an annotation pipeline integrated with an ontology-based knowledge base. Through extensive experiments with 11 state-of-the-art Vid-LLMs, our findings reveal that current Vid-LLMs face significant challenges in VEU tasks, with some performing worse than random choice. To alleviate this issue, we develop Oscars, a VEU expert model fine-tuned on the curated VEU-Bench dataset. It outperforms existing open-source Vid-LLMs on VEU-Bench by over 28.3% in accuracy and achieves performance comparable to commercial models like GPT-4o. We also demonstrate that incorporating VEU data significantly enhances the performance of Vid-LLMs on general video understanding benchmarks, with an average improvement of 8.3% across nine reasoning tasks.

cs.CV↗