arXiv subjects

Yihan Zhao

Publications and source records attributed to Yihan Zhao.

10 recordsLinked to original sources

arXiv2026

Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision

Cross-embodiment transfer in vision-language-action (VLA) models remains challenging because low-level state and action spaces differ fundamentally across robot platforms. We observe that the high-level cognitive process underlying manipulation, including scene perception, object identification, task planning, and sub-task decomposition, is largely shared across embodiments. Based on this observation, we present ZR-0, a 2.6 billion parameter end-to-end VLA model that uses dense Embodied Chain-of-Thought (ECoT) supervision to align cross-embodiment representations within the vision-language model (VLM). ZR-0 adopts a dual-stream architecture: a pre-trained VLM (System 2) generates structured ECoT reasoning during training, while a Diffusion Transformer-based action expert (System 1) produces continuous action chunks via flow matching. The two components are coupled through cross-attention, with an attention mask that restricts the action expert to input prompt features only, enabling ECoT generation to be entirely skipped at inference without any performance loss. ZR-0 is pre-trained on ProcCorpus-60M, a large-scale dataset comprising approximately 60 million frames (approximately 1,000 hours) from over 400K trajectories, with dense ECoT annotations covering 96.8% of all frames. We evaluate ZR-0 on three simulation benchmarks spanning single-arm (LIBERO), bimanual (RoboTwin 2.0), and humanoid (RoboCasa GR-1 Tabletop) embodiments, as well as real-world experiments on the xArm platform, demonstrating strong performance across all settings. Code and model checkpoints are available at https://github.com/RUCKBReasoning/ZR-0.

cs.RO↗

arXiv2026

From Pixels to Tokens: A Systematic Study of Latent Action Supervision for Vision-Language-Action Models

Latent actions serve as an intermediate representation that enables consistent modeling of vision-language-action (VLA) models across heterogeneous datasets. However, approaches to supervising VLAs with latent actions are fragmented and lack a systematic comparison. This work structures the study of latent action supervision from two perspectives: (i) regularizing the trajectory via image-based latent actions, and (ii) unifying the target space with action-based latent actions. Under a unified VLA baseline, we instantiate and compare four representative integration strategies. Our results reveal a formulation-task correspondence: image-based latent actions benefit long-horizon reasoning and scene-level generalization, whereas action-based latent actions excel at complex motor coordination. Furthermore, we find that directly supervising the VLM with discrete latent action tokens yields the most effective performance. Finally, our experiments offer initial insights into the benefits of latent action supervision in mixed-data, suggesting a promising direction for VLA training. Code is available at https://github.com/RUCKBReasoning/From_Pixels_to_Tokens.

cs.RO↗

arXiv2026

Agentic Artificial Intelligence in Finance: A Comprehensive Survey

The emergence of agentic artificial intelligence (AI) represents a fundamental transformation in financial markets, characterized by autonomous systems capable of reasoning, planning, and adaptive decision-making with minimal human intervention. This comprehensive survey synthesizes recent advances in agentic AI across multiple dimensions of financial operations, including system architecture, market applications, regulatory frameworks, and systemic implications. We examine how agentic AI differs from traditional algorithmic trading and generative AI through its capacity for goal-oriented autonomy, continuous learning, and multi-agent coordination. Our analysis shows that while agentic AI offers substantial potential for enhanced market efficiency, liquidity provision, and risk management, it also introduces novel challenges related to market stability, regulatory compliance, interpretability, and systemic risk. Through a systematic review of foundational research, technical architectures, market applications, and governance frameworks, this survey provides scholars and practitioners with a structured understanding of how agentic AI is reshaping financial markets and identifies critical research directions for ensuring that these systems enhance both operational efficiency and market resilience.

econ.EM↗

arXiv2026

A statistical study of the environmental age of core-collapse supernovae based on VLT/MUSE integral-field-unit spectroscopy

We aim to understand the progenitor channels of CCSNe via a statistical study of the ages of their environments. We compiled a large and minimally biased sample of 128 CCSNe discovered by untargeted wide-field transient surveys and with archival VLT/MUSE integral-field-unit spectroscopy. We measured the local H{\alpha} luminosity within a 300-pc aperture centered on the SN explosion site as an empirical proxy for the environmental age. We find that the mean local H$\alpha$ luminosities are ordered as II(P) $\approx$ IIb $\lesssim$ Ib $<$ Ic. The differences among Types~II(P), IIb and Ib are very small, if any. Type~Ic SNe are located in clearly younger environments than the other types. Our result suggests that Type Ic SNe have much younger and more massive progenitors than the other CCSN types and they likely originate from a distinct progenitor channel. The distinction between Types II(P), IIb and Ib SNe is insensitive to progenitor mass and mainly due to the different binary separation; in contrast, Type Ic SNe predominantly require much higher-mass progenitors accompanied by close companions with large mass ratios and/or much stronger stellar wind that depends sensitively on progenitor mass.

astro-ph.SR↗

arXiv2026

Data-driven active learning approaches for accelerating materials discovery

Materials discovery is a cornerstone of modern technological advancement, yet it remains constrained by traditional trial-and-error paradigms and the inherent bias of human intuition. Artificial intelligence (AI) has emerged as a transformative tool in materials science by effectively modeling structure-property relationships. Despite substantial efforts to enhance model expressiveness, data efficiency remains an equally critical challenge, given the limited availability of experimental and computational resources. Active learning (AL), as a data-driven machine learning paradigm, has shown great promise for discovering novel materials and enabling the efficient navigation of vast materials spaces. In this review, we follow the evolution of sampling strategy design techniques in AL, from Bayesian optimization to advanced deep learning-based strategies. We then highlight how AL enhances data efficiency across various data regimes, ranging from task-specific settings with limited data to the development of general-purpose datasets and large-scale models. We further provide a systematic overview of AL applications throughout the materials research pipeline, including computational simulation, composition and structural design, process optimization, and self-driving laboratory systems. Finally, we pinpoint key challenges and future perspectives of AL in materials discovery.

cond-mat.mtrl-sci↗

arXiv2025

High-dimensional Asymptotics of Generalization Performance in Continual Ridge Regression

Continual learning is motivated by the need to adapt to real-world dynamics in tasks and data distribution while mitigating catastrophic forgetting. Despite significant advances in continual learning techniques, the theoretical understanding of their generalization performance lags behind. This paper examines the theoretical properties of continual ridge regression in high-dimensional linear models, where the dimension is proportional to the sample size in each task. Using random matrix theory, we derive exact expressions of the asymptotic prediction risk, thereby enabling the characterization of three evaluation metrics of generalization performance in continual learning: average risk, backward transfer, and forward transfer. Furthermore, we present the theoretical risk curves to illustrate the trends in these evaluation metrics throughout the continual learning process. Our analysis reveals several intriguing phenomena in the risk curves, demonstrating how model specifications influence the generalization performance. Simulation studies are conducted to validate our theoretical findings.

stat.ME↗

arXiv2025

VisualSimpleQA: A Benchmark for Decoupled Evaluation of Large Vision-Language Models in Fact-Seeking Question Answering

Large vision-language models (LVLMs) have demonstrated remarkable achievements, yet the generation of non-factual responses remains prevalent in fact-seeking question answering (QA). Current multimodal fact-seeking benchmarks primarily focus on comparing model outputs to ground truth answers, providing limited insights into the performance of modality-specific modules. To bridge this gap, we introduce VisualSimpleQA, a multimodal fact-seeking benchmark with two key features. First, it enables streamlined and decoupled evaluation of LVLMs in visual and linguistic modalities. Second, it incorporates well-defined difficulty criteria to guide human annotation and facilitates the extraction of a challenging subset, VisualSimpleQA-hard. Experiments on 15 LVLMs show that even state-of-the-art models such as GPT-4o achieve merely 60%+ correctness in multimodal fact-seeking QA on VisualSimpleQA and 30%+ on VisualSimpleQA-hard. Furthermore, the decoupled evaluation across these models highlights substantial opportunities for improvement in both visual and linguistic modules. The dataset is available at https://huggingface.co/datasets/WYLing/VisualSimpleQA.

cs.CL↗

arXiv2024

MobileExperts: A Dynamic Tool-Enabled Agent Team in Mobile Devices

The attainment of autonomous operations in mobile computing devices has consistently been a goal of human pursuit. With the development of Large Language Models (LLMs) and Visual Language Models (VLMs), this aspiration is progressively turning into reality. While contemporary research has explored automation of simple tasks on mobile devices via VLMs, there remains significant room for improvement in handling complex tasks and reducing high reasoning costs. In this paper, we introduce MobileExperts, which for the first time introduces tool formulation and multi-agent collaboration to address the aforementioned challenges. More specifically, MobileExperts dynamically assembles teams based on the alignment of agent portraits with the human requirements. Following this, each agent embarks on an independent exploration phase, formulating its tools to evolve into an expert. Lastly, we develop a dual-layer planning mechanism to establish coordinate collaboration among experts. To validate our effectiveness, we design a new benchmark of hierarchical intelligence levels, offering insights into algorithm's capability to address tasks across a spectrum of complexity. Experimental results demonstrate that MobileExperts performs better on all intelligence levels and achieves ~ 22% reduction in reasoning costs, thus verifying the superiority of our design.

cs.AI↗

arXiv2023

UFDA: Universal Federated Domain Adaptation with Practical Assumptions

Conventional Federated Domain Adaptation (FDA) approaches usually demand an abundance of assumptions, which makes them significantly less feasible for real-world situations and introduces security hazards. This paper relaxes the assumptions from previous FDAs and studies a more practical scenario named Universal Federated Domain Adaptation (UFDA). It only requires the black-box model and the label set information of each source domain, while the label sets of different source domains could be inconsistent, and the target-domain label set is totally blind. Towards a more effective solution for our newly proposed UFDA scenario, we propose a corresponding methodology called Hot-Learning with Contrastive Label Disambiguation (HCLD). It particularly tackles UFDA's domain shifts and category gaps problems by using one-hot outputs from the black-box models of various source domains. Moreover, to better distinguish the shared and unknown classes, we further present a cluster-level strategy named Mutual-Voting Decision (MVD) to extract robust consensus knowledge across peer classes from both source and target domains. Extensive experiments on three benchmark datasets demonstrate that our method achieves comparable performance for our UFDA scenario with much fewer assumptions, compared to previous methodologies with comprehensive additional assumptions.

cs.LG↗

arXiv2023

LATTE: Label-efficient Incident Phenotyping from Longitudinal Electronic Health Records

Electronic health record (EHR) data are increasingly used to support real-world evidence (RWE) studies. Yet its ability to generate reliable RWE is limited by the lack of readily available precise information on the timing of clinical events such as the onset time of heart failure. We propose a LAbel-efficienT incidenT phEnotyping (LATTE) algorithm to accurately annotate the timing of clinical events from longitudinal EHR data. By leveraging the pre-trained semantic embedding vectors from large-scale EHR data as prior knowledge, LATTE selects predictive EHR features in a concept re-weighting module by mining their relationship to the target event and compresses their information into longitudinal visit embeddings through a visit attention learning network. LATTE employs a recurrent neural network to capture the sequential dependency between the target event and visit embeddings before/after it. To improve label efficiency, LATTE constructs highly informative longitudinal silver-standard labels from large-scale unlabeled patients to perform unsupervised pre-training and semi-supervised joint training. Finally, LATTE enhances cross-site portability via contrastive representation learning. LATTE is evaluated on three analyses: the onset of type-2 diabetes, heart failure, and the onset and relapses of multiple sclerosis. We use various evaluation metrics present in the literature including the $ABC_{gain}$, the proportion of reduction in the area between the observed event indicator and the predicted cumulative incidences in reference to the prediction per incident prevalence. LATTE consistently achieves substantial improvement over benchmark methods such as SAMGEP and RETAIN in all settings.

cs.AI↗