arXiv subjects

Yicheng Zhu

Publications and source records attributed to Yicheng Zhu.

12 recordsLinked to original sources

arXiv2026

SIREN-Bench: Behavior-Driven Generation and Evaluation of Emergency-Vehicle Interactions

Emergency vehicles (EMVs) can reorganize surrounding traffic as civilian vehicles brake, change lanes, or form rescue corridors in response to their passage. Evaluating these safety-critical interactions requires behavior-level control over both EMV privileges and civilian responses, together with consistent sensing and ground truth. Existing datasets and simulation benchmarks do not directly provide this combination. We present \textbf{SIREN}, a behavior-driven SUMO--CARLA co-simulation platform for generating EMV--civilian interactions. SIREN couples SUMO's network-level traffic evolution and behavior logic with CARLA's continuous vehicle control and synchronized onboard sensing; depending on the active behavior, the interaction is controlled by SUMO, CARLA, or jointly. We instantiate the platform as \textbf{SIREN-Bench-v1}, comprising seven parameterized interaction templates across emergency levels L1--L3 and three behavior families, with synchronized sensor observations and simulator-native annotations. We demonstrate the benchmark through three representative tasks: 3D object detection, trajectory prediction, and vision-language risk understanding. Evaluations of nine trajectory predictors, four LiDAR-based detectors, and five vision-language models reveal behavior-dependent failure modes. Traffic-clearance interactions are hardest for detection, privileged intersection traversal is hardest for prediction, and no learned predictor outperforms the constant-velocity reference on average. Vision-language models perform substantially better on normal traffic than on near-miss and collision events. These results demonstrate the value of behavior-centered benchmarking and establish SIREN as an extensible data-generation and evaluation platform for autonomous-driving and transportation safety research.

cs.RO↗

arXiv2026

muSync-GS: Physics-Synchronized Driving Video Synthesis for Weather and Geometric Road Hazards

High-quality driving data are essential for autonomous-driving systems and generative world models. However, rare and safety-critical scenarios involving adverse weather, braking under low tire--road friction, and uneven road geometry are costly and risky to collect at scale. Existing video-generation and 3D Gaussian editing methods can modify weather appearance or road geometry, but typically do not couple these edits with tire--road interaction and vehicle dynamics. As a result, an edited video may retain its original trajectory even when the modified road condition should alter braking, wheel slip, load transfer, and ego-camera motion. We present muSync-GS, a physics-synchronized framework for driving video synthesis under adverse-weather and road-elevation hazards. A precipitation-derived road-surface condition jointly controls road appearance and tire friction, while a shared road-elevation profile drives both visible road-geometry editing and axle excitation. A calibrated vehicle model predicts speed, slip ratio, normal loads, and pitch for constructing the ego-camera trajectory and synchronized physical annotations. On 12 held-out CarSim cases spanning precipitation levels, brake inputs, and road-profile parameters, the model achieves mean case-wise RMSEs of 0.0273 m/s for speed, 0.0590 degrees for pitch, 0.0101 for slip ratio, and 26.61 N for per-wheel normal load. Together with the reconstructed-scene experiments, these results show that muSync-GS accurately reproduces vehicle responses under held-out controls while synchronizing them with controllable scene edits and ego-camera motion.

cs.CV↗

arXiv2026

OpenEAI-Platform: An Open-source Embodied Artificial Intelligence Hardware-Software Unified Platform

Embodied AI in the real world requires both accurate hardware and robust vision-language-action (VLA) policies. We present OpenEAI-Platform, a fully open-source platform that integrates a low-cost 6+1 degree-of-freedom (dof) robotic arm (OpenEAI-Arm) and a reproducible VLA model (OpenEAI-VLA). OpenEAI-Arm provides open-source mechanical designs for low manufacturing cost and compliant control methods for higher accuracy. OpenEAI-VLA builds on Qwen3-VL-4B and uses a Diffusion Transformer action head, and is trained in two stages with only open-source robot and multimodal datasets. Across four real-world manipulation tasks, OpenEAI-Arm outperforms two commercial 6+1-dof arms under the same policy, and OpenEAI-VLA achieves success rates comparable to the large-scale pretrained pi0 baseline with only limited pretraining data. We will release the full hardware designs, drivers, models, and training/data pipelines to support reproducible research and scalable data collection. Our codes, layouts, and models will be released after the paper is accepted.

cs.RO↗

arXiv2026

SceneFactory: GPU-Accelerated Multi-Agent Driving Simulation with Physics-Based Vehicle Dynamics

Autonomous-driving simulators typically trade physical fidelity for scalable parallelism. Physics-based platforms such as CARLA and MetaDrive provide articulated vehicle dynamics and contact, but their non-vectorized interfaces make batched training difficult. GPU-batched systems such as Waymax and GPUDrive scale to hundreds of scenarios by replacing rigid-body physics with simplified kinematic models, omitting tire--road interaction, suspension, contact dynamics, and road-condition-dependent friction. We introduce SceneFactory, a GPU-vectorized platform for procedural scene construction, physics-based multi-agent simulation, and RL in autonomous-driving environments. Built on NVIDIA Isaac Sim + Isaac Lab, SceneFactory represents worlds and agents as batched tensors: control, observations, rewards, resets, and policy inference run as GPU tensor operations over the Isaac Lab tensor API. SceneFactory converts Waymo Open Motion Dataset road topologies into simulation-ready USD worlds, runs many worlds concurrently on one GPU, populates each with multiple articulated PhysX vehicles, and maps precipitation and road-surface type to PhysX material friction coefficients. With GPU vectorization, SceneFactory achieves up to 127$\times$ higher throughput than a non-vectorized PhysX baseline on the same GPU and physics solver, reaching 19,250 controlled-agent simulation steps per second at 256 worlds $\times$ 16 agents. Cross-simulator transfer reveals an asymmetric dynamics gap: physics-grounded RL policies transfer to a simplified kinematic bicycle model with 99.5% success, whereas reverse transfer drops to 47.3%. Under wet-road friction, friction-aware policies reduce mean peak DRAC from 58.7 to 27.8,m/s$^2$ without sacrificing goal reach. SceneFactory shows that scalable autonomous-driving training need not discard articulated rigid-body dynamics or physically grounded road-condition variation.

cs.MA↗

arXiv2025

AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory

Vision-language-action (VLA) models have shown promise as generalist robotic policies by jointly leveraging visual, linguistic, and proprioceptive modalities to generate action trajectories. While recent benchmarks have advanced VLA research in domestic tasks, professional science-oriented domains remain underexplored. We introduce AutoBio, a simulation framework and benchmark designed to evaluate robotic automation in biology laboratory environments--an application domain that combines structured protocols with demanding precision and multimodal interaction. AutoBio extends existing simulation capabilities through a pipeline for digitizing real-world laboratory instruments, specialized physics plugins for mechanisms ubiquitous in laboratory workflows, and a rendering stack that support dynamic instrument interfaces and transparent materials through physically based rendering. Our benchmark comprises biologically grounded tasks spanning three difficulty levels, enabling standardized evaluation of language-guided robotic manipulation in experimental protocols. We provide infrastructure for demonstration generation and seamless integration with VLA models. Baseline evaluations with two SOTA VLA models reveal significant gaps in precision manipulation, visual reasoning, and instruction following in scientific workflows. By releasing AutoBio, we aim to catalyze research on generalist robotic systems for complex, high-precision, and multimodal professional environments. The simulator and benchmark are publicly available to facilitate reproducible research.

cs.RO↗

arXiv2025

FDDet: Frequency-Decoupling for Boundary Refinement in Temporal Action Detection

Temporal action detection aims to locate and classify actions in untrimmed videos. While recent works focus on designing powerful feature processors for pre-trained representations, they often overlook the inherent noise and redundancy within these features. Large-scale pre-trained video encoders tend to introduce background clutter and irrelevant semantics, leading to context confusion and imprecise boundaries. To address this, we propose a frequency-aware decoupling network that improves action discriminability by filtering out noisy semantics captured by pre-trained models. Specifically, we introduce an adaptive temporal decoupling scheme that suppresses irrelevant information while preserving fine-grained atomic action details, yielding more task-specific representations. In addition, we enhance inter-frame modeling by capturing temporal variations to better distinguish actions from background redundancy. Furthermore, we present a long-short-term category-aware relation network that jointly models local transitions and long-range dependencies, improving localization precision. The refined atomic features and frequency-guided dynamics are fed into a standard detection head to produce accurate action predictions. Extensive experiments on THUMOS14, HACS, and ActivityNet-1.3 show that our method, powered by InternVideo2-6B features, achieves state-of-the-art performance on temporal action detection benchmarks.

cs.CV↗

arXiv2025

PANDA: Parkinson's Assistance and Notification Driving Aid

Parkinson's Disease (PD) significantly impacts driving abilities, often leading to early driving cessation or accidents due to reduced motor control and increasing reaction times. To diminish the impact of these symptoms, we developed PANDA (Parkinson's Assistance and Notification Driving Aid), a multi-modality real-time alert system designed to monitor driving patterns continuously and provide immediate alerts for irregular driving behaviors, enhancing driver safety of individuals with PD. The system was developed through a participatory design process with 9 people with PD and 13 non-PD individuals using a driving simulator, which allowed us to identify critical design characteristics and collect detailed data on driving behavior. A user study involving individuals with PD evaluated the effectiveness of PANDA, exploring optimal strategies for delivering alerts and ensuring they are timely and helpful. Our findings demonstrate that PANDA has the potential to enhance the driving safety of individuals with PD, offering a valuable tool for maintaining independence and confidence behind the wheel.

cs.HC↗

arXiv2024

Tech Report: Divide and Conquer 3D Real-Time Reconstruction for Improved IGS

Tracking surgical modifications based on endoscopic videos is technically feasible and of great clinical advantages; however, it still remains challenging. This report presents a modular pipeline to divide and conquer the clinical challenges in the process. The pipeline integrates frame selection, depth estimation, and 3D reconstruction components, allowing for flexibility and adaptability in incorporating new methods. Recent advancements, including the integration of Depth-Anything V2 and EndoDAC for depth estimation, as well as improvements in the Iterative Closest Point (ICP) alignment process, are detailed. Experiments conducted on the Hamlyn dataset demonstrate the effectiveness of the integrated methods. System capability and limitations are both discussed.

eess.IV↗

arXiv2024

Dual-color Coherent Perfect Absorber

Perfect absorption of light critically affects light-matter interaction for various applications. Coherent perfect absorbers (CPA) gain the unique capability of controlling light with light in a linear fashion. Multi-color CPAs [Phys. Rev. Lett. 107, 033901] are highly desirable for broadband and nonlinear light-to-light coherent control, however, the experimental demonstration has still remained elusive. Here we experimentally observe a dual-color version of CPA (DC-CPA) through a second harmonic generation in a single whispering-gallery-mode microcavity. The DC-CPA enables simultaneous perfect absorption of both the incoming fundamental wave and its second harmonic. Similar to its linear counterpart, coherent control in the DC-CPA can be also realized by tuning the relative phase and intensity between the two-colored waves through nonlinear interference instead of the linear one. This scheme breaks the linear boundary of the traditional CPA into a multi-frequency domain and paves the way toward all-optically signal processing and quantum information.

physics.optics↗

arXiv2024

Subwavelength Photorefractive Grating in a Thin-Film Lithium Niobate Microcavity

Subwavelength gratings play a fundamental and pivotal role in numerous science and applications for wave manipulation, exhibiting distinctive features such as filtering, phase manipulation, and anti-reflection. However, conventional fabrication methods for ultrasmall periodic structures are constrained by the fundamental optical diffraction limit, making it challenging to produce subwavelength gratings for optics. Here, we demonstrate a novel technique to build a reconfigurable subwavelength photorefractive grating (SPG) in a thin-film lithium niobate on the platform of an optical microcavity. Such SPGs are optically induced through the photorefractive effect and the subwavelength features originate from the spatial phase modulations of the pump's standing wave. The resulting SPGs lead to the mode splitting of two counter-propagating modes inside the microcavity, exhibiting an Electromagnetically Induced Transparency (EIT)-like transmission spectrum. Moreover, the unique subwavelength characteristic of SPGs enables first-order quasi-phase-matching for backward second-harmonic generation, a long-standing problem in nonlinear optics. Also, free-space-to-chip vertical nonlinear frequency conversion can be achieved in a similar manner. These results provide a flexible approach towards fabricating subwavelength gratings, which holds significant potential in various applications such as nonlinear frequency conversion, optical communication, sensing, and quantum technologies.

physics.optics↗

arXiv2024

Enhanced Frequency Conversion in Parity-Time Symmetry Line

Non-Hermitian degeneracies reveal intriguing and non-trivial behaviors in open physical systems. Examples like Parity-Time (PT) symmetry breaking, topological encircling chirality, and enhanced sensing near an exceptional point (EP) are often associated with the abrupt nature of the phase transition around these degeneracies. Here we experimentally observe a cavity-enhanced second-harmonic frequency (SHG) conversion on a PT symmetry line, i.e. a set consisting of open-ended isofrequency or isoloss lines, both terminated at EPs on the Riemann surface in parameter space. The enhancement factor can reach as high as 300, depending on the crossing point whether in the symmetry or the broken phase of the PT line. Moreover, such enhancement of SHG enables sensitive distance sensing with a nanometer resolution. Our works may pave the way for practical applications in sensing, frequency conversion, and coherent wave control.

physics.optics↗

arXiv2022

Topic Driven Adaptive Network for Cross-Domain Sentiment Classification

Cross-domain sentiment classification has been a hot spot these years, which aims to learn a reliable classifier using labeled data from a source domain and evaluate it on a target domain. In this vein, most approaches utilized domain adaptation that maps data from different domains into a common feature space. To further improve the model performance, several methods targeted to mine domain-specific information were proposed. However, most of them only utilized a limited part of domain-specific information. In this study, we first develop a method of extracting domain-specific words based on the topic information derived from topic models. Then, we propose a Topic Driven Adaptive Network (TDAN) for cross-domain sentiment classification. The network consists of two sub-networks: a semantics attention network and a domain-specific word attention network, the structures of which are based on transformers. These sub-networks take different forms of input and their outputs are fused as the feature vector. Experiments validate the effectiveness of our TDAN on sentiment classification across domains. Case studies also indicate that topic models have the potential to add value to cross-domain sentiment classification by discovering interpretable and low-dimensional subspaces.

cs.CL↗