arXiv subjects

Yihan Yang

Publications and source records attributed to Yihan Yang.

8 recordsLinked to original sources

arXiv2026

A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation

Multi-robot systems provide the parallelism and redundancy necessary for long-horizon tasks, while Large Language Models (LLMs) offer the reasoning capabilities to decompose these objectives into actionable plans. However, effectively grounding this high-level reasoning in physical multi-robot execution remains an open challenge. Existing LLM-based approaches fall mainly into two categories: Single-robot methods achieve robust contact-rich manipulation but lack the coordination mechanisms required for tasks spanning multiple workspaces. Current multi-robot frameworks focus on high-level planning, often treating manipulation as an idealized primitive that fails to account for real-world execution uncertainties. To address this, we propose a hierarchical closed-loop agentic LLM-based framework to ensure robust multi-robot manipulation. Our system consists of three specialized agents: the Planning Agent decomposes instructions into allocated sub-tasks, the Manipulation Agent for each robot executes actions via adaptive tool use, and the Verification Agent closes the loop by monitoring physical outcomes and feeding back semantic corrections. Extensive real-world experiments demonstrate that our framework achieves superior success rates, ensures robust adaptability ranging from single to cross workspace manipulation, and offers a generalizable approach for diverse manipulation tasks.

cs.RO↗

arXiv2026

StreamPPG: Low-Latency rPPG Estimation via Consistent Privileged Learning

Remote photoplethysmography (rPPG) estimates the blood volume pulse (BVP) signal from facial videos, enabling contact-free health monitoring. Conventional clip-wise approaches, which use video clips as input, require capturing over one hundred frames before inference, thus introducing several seconds of delay and hindering real-time use. Meanwhile, frame-wise approaches struggle to capture long-range temporal and periodic features of physiological rhythms, and therefore lead to reduced estimation accuracy. To overcome these issues, we propose StreamPPG, a unified architecture that enables low-latency frame-wise physiological signal estimation while achieving competitive accuracy compared with clip-wise approaches. StreamPPG is trained under a consistent privileged learning (CPL) strategy, which leverages ground-truth rPPG signals as privileged information to enhance the model's representation capability. Extensive experiments demonstrate that StreamPPG achieves state-of-the-art accuracy across multiple datasets while maintaining real-time throughput on edge devices.

cs.CV↗

arXiv2026

Ossim: OS-Driven Live Simulation for Cluster-Scale Full-Stack Evaluation

Cluster-scale full-stack simulation is essential for evaluating distributed software stacks and emerging hardware components before deployment. Such simulation must achieve both full-stack fidelity for the unmodified production stack and the simulation performance required for iterative configuration exploration. However, no existing method achieves both. We present Ossim, an OS-level approach to cluster-scale full-stack simulation built on top of the Linux virtualization stack. Ossim comprises four subsystems: simulation-oriented scheduling, live memory hierarchy management, simulation-aware IPC, and distributed simulation orchestration. Together, they coordinate live and modeled components under shared simulated time while controlling interference among co-located live hosts. These mechanisms point toward simulation-native OS support, where simulation control and orchestration become core OS responsibilities.

cs.DC↗

arXiv2026

AnyPoC: Universal Proof-of-Concept Test Generation for Scalable LLM-Based Bug Detection

While recent LLM-based agents can identify many candidate bugs in source code, their reports remain static hypotheses that require manual validation, limiting the practicality of automated bug detection. We frame this challenge as a test generation task: given a candidate report, synthesizing an executable proof-of-concept (PoC) - such as a script, command sequence, or crafted input - to trigger the suspected defect. Automated PoC generation can act as a scalable validation oracle, enabling end-to-end autonomous bug detection by providing concrete execution evidence. However, naive LLM agents are unreliable validators: they are biased toward "success" and may reward-hack by producing plausible but non-functional PoCs or even hallucinated traces. To address this, we present ANYPoC, a general multi-agent framework that (1) analyzes and fact-checks a candidate bug report, (2) iteratively synthesizes and executes a PoC while collecting execution traces, and (3) independently re-executes and scrutinizes the PoC to mitigate hallucination and reward hacking. In addition, ANYPoC also continuously extracts and evolves a PoC knowledge base to handle heterogeneous tasks. ANYPoC operates on candidate bug reports regardless of their source and can be paired with different bug reporters. To demonstrate practicality and generality, we apply ANYPoC, together with a simple agentic bug reporter, on 12 large-scale, critical software systems, including Firefox, Chromium, LLVM, OpenSSL, SQLite, FFmpeg, and Redis. Compared to the state-of-the-art coding agents, e.g., Claude Code and Codex, ANYPoC produces 37% more valid PoCs for true-positive bug reports and rejects 9.7x more false-positive bug reports. ANYPoC also enables the discovery of 121 new bugs from over two thousand noisy bug reports, with 108 confirmed by developers and 92 fixed. 46 PoCs have also been adopted as official regression tests.

cs.SE↗

arXiv2025

SHIFT: Exploring the Boundary of RDMA Network Fault Tolerance

Under gang scheduling for large-scale distributed large language model (LLM) training, a single network anomaly can stall or abort an entire job. Current network fault tolerance mechanisms typically adopt a ``fallback and bypass'' approach within the switching fabric and at the access layer, tolerating in-network and access-layer failures. We explore whether RDMA fault tolerance can be extended to the cross-NIC level by failing over traffic to intra-host backup NICs. For the first time, we prove a fundamental Trilemma: it is impossible to have Cross-NIC RDMA failover that simultaneously preserves Exactly-Once Execution, Receiver-NIC Opacity, and a Zero-Copy datapath. Fortunately, we observe that dominant training frameworks (e.g., NCCL) rely on idempotent bulk transfers that tolerate relaxed memory ordering, as long as notification ordering is preserved. Leveraging this insight, we present SHIFT, a user-space RDMA layer that provides cross-NIC fault tolerance while preserving correct memory semantics. We implement SHIFT in \texttt{rdma-core} and evaluate it with PyTorch distributed training. Results show that SHIFT incurs negligible overhead during normal operation and successfully masks fatal NIC failures and link anomalies, allowing training to continue without costly restarts.

cs.NI↗

arXiv2024

Samba: Semantic Segmentation of Remotely Sensed Images with State Space Model

High-resolution remotely sensed images pose a challenge for commonly used semantic segmentation methods such as Convolutional Neural Network (CNN) and Vision Transformer (ViT). CNN-based methods struggle with handling such high-resolution images due to their limited receptive field, while ViT faces challenges in handling long sequences. Inspired by Mamba, which adopts a State Space Model (SSM) to efficiently capture global semantic information, we propose a semantic segmentation framework for high-resolution remotely sensed images, named Samba. Samba utilizes an encoder-decoder architecture, with Samba blocks serving as the encoder for efficient multi-level semantic information extraction, and UperNet functioning as the decoder. We evaluate Samba on the LoveDA, ISPRS Vaihingen, and ISPRS Potsdam datasets, comparing its performance against top-performing CNN and ViT methods. The results reveal that Samba achieved unparalleled performance on commonly used remote sensing datasets for semantic segmentation. Our proposed Samba demonstrates for the first time the effectiveness of SSM in semantic segmentation of remotely sensed images, setting a new benchmark in performance for Mamba-based techniques in this specific application. The source code and baseline implementations are available at https://github.com/zhuqinfeng1999/Samba.

cs.CV↗

arXiv2023

Protected Data Plane OS Using Memory Protection Keys and Lightweight Activation

Increasing data center network speed coupled with application requirements for high throughput and low latencies have raised the efficiency bar for network stacks. To reduce substantial kernel overhead in network processing, recent proposals bypass the kernel or implement the stack as user space OS service -- both with performance isolation, security, and resource efficiency trade-offs. We present Tardis, a new network stack architecture that combines the performance and resource efficiency benefits of kernel-bypass and the security and performance enforcement of in-kernel stacks. Tardis runs the OS I/O stack in user-level threads that share both address spaces and kernel threads with applications, avoiding almost all kernel context switch and cross-core communication overheads. To provide sufficient protection, Tardis leverages x86 protection keys (MPK) extension to isolate the I/O stack from application code. And to enforce timely scheduling of network processing and fine-grained performance isolation, Tardis implements lightweight scheduler activations with preemption timers.

cs.OS↗

arXiv2022

Multi-Head Online Learning for Delayed Feedback Modeling

In online advertising, it is highly important to predict the probability and the value of a conversion (e.g., a purchase). It not only impacts user experience by showing relevant ads, but also affects ROI of advertisers and revenue of marketplaces. Unlike clicks, which often occur within minutes after impressions, conversions are expected to happen over a long period of time (e.g., 30 days for online shopping). It creates a challenge, as the true labels are only available after the long delays. Either inaccurate labels (partial conversions) are used, or models are trained on stale data (e.g., from 30 days ago). The problem is more eminent in online learning, which focuses on the live performance on the latest data. In this paper, a novel solution is presented to address this challenge using multi-head modeling. Unlike traditional methods, it directly quantizes conversions into multiple windows, such as day 1, day 2, day 3-7, and day 8-30. A sub-model is trained specifically on conversions within each window. Label freshness is maximally preserved in early models (e.g., day 1 and day 2), while late conversions are accurately utilized in models with longer delays (e.g., day 8-30). It is shown to greatly exceed the performance of known methods in online learning experiments for both conversion rate (CVR) and value per click (VPC) predictions. Lastly, as a general method for delayed feedback modeling, it can be combined with any advanced ML techniques to further improve the performance.

cs.LG↗