arXiv subjects

Yi Xian Goh

Publications and source records attributed to Yi Xian Goh.

3 recordsLinked to original sources

arXiv2026

Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC

Data-driven model predictive control (MPC) combines learned world models with online trajectory optimization, achieving strong performance in continuous control. However, the per-step cost of sampling and evaluating hundreds of candidate trajectories restricts deployment to control frequencies well below what real-time robotics demands. Motivated by the dual-process theory of human cognition, which distinguishes between fast, intuitive processing (System 1) and slower, deliberative reasoning (System 2), we ask whether every decision requires the same degree of computational deliberation. We propose Fast-TD-MPC, a lightweight framework that adaptively routes between fast policy execution and test-time planning, reserving costly deliberation for states where it is most needed. Fast-TD-MPC delivers competitive task performance across 103 continuous control tasks while achieving up to ~4x faster inference. Under external disturbances, Fast-TD-MPC selectively falls back to planning, maintaining robustness comparable to the original planner.

cs.RO↗

arXiv2026

Projected Coupled Diffusion for Test-Time Constrained Joint Generation

Modifications to test-time sampling have emerged as an important extension to diffusion algorithms, with the goal of biasing the generative process to achieve a given objective without having to retrain the entire diffusion model. However, generating jointly correlated samples from multiple pre-trained diffusion models while simultaneously enforcing task-specific constraints without costly retraining has remained challenging. To this end, we propose Projected Coupled Diffusion (PCD), a novel test-time framework for constrained joint generation. PCD introduces a coupled guidance term into the generative dynamics to encourage coordination between diffusion models and incorporates a projection step at each diffusion step to enforce hard constraints. Empirically, we demonstrate the effectiveness of PCD in application scenarios of image-pair generation, object manipulation, and multi-robot motion planning. Our results show improved coupling effects and guaranteed constraint satisfaction without incurring excessive computational costs.

cs.LG↗

arXiv2025

Banking Done Right: Redefining Retail Banking with Language-Centric AI

This paper presents Ryt AI, an LLM-native agentic framework that powers Ryt Bank to enable customers to execute core financial transactions through natural language conversation. This represents the first global regulator-approved deployment worldwide where conversational AI functions as the primary banking interface, in contrast to prior assistants that have been limited to advisory or support roles. Built entirely in-house, Ryt AI is powered by ILMU, a closed-source LLM developed internally, and replaces rigid multi-screen workflows with a single dialogue orchestrated by four LLM-powered agents (Guardrails, Intent, Payment, and FAQ). Each agent attaches a task-specific LoRA adapter to ILMU, which is hosted within the bank's infrastructure to ensure consistent behavior with minimal overhead. Deterministic guardrails, human-in-the-loop confirmation, and a stateless audit architecture provide defense-in-depth for security and compliance. The result is Banking Done Right: demonstrating that regulator-approved natural-language interfaces can reliably support core financial operations under strict governance.

cs.CL↗