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Yihang Ding

Publications and source records attributed to Yihang Ding.

6 recordsLinked to original sources

FM-LLM: A frequency-enhanced mixture-of-experts framework for adapting LLMs to time series forecasting

Recent advances in Large Language Models (LLMs) have spurred cross-modal solutions for time-series forecasting. However, existing methods rely heavily on textual prompts for modality alignment-introducing nontrivial computational overhead and failing to leverage the rich spectral dynamics inherent in time-series data. To enable prompt-free, frequency-aware adaptation of frozen LLMs, we propose FM-LLM (Frequency-Enhanced Mixture-of-Experts for adapting LLMs to Time Series Forecasting), an autoregressive framework grounded in constrained asymmetric coupling. A Fourier Analysis Network (FAN)-based spectral token aligner injects structured harmonic representations directly into the frozen LLM with numerical compatibility. An asymmetric Mixture-of-Experts (MoE) decoder enforces role separation: shared experts with lightweight FAN layers reconstruct the global periodic backbone, while routed experts-restricted to standard FFNs-specialize in modeling non-periodic residual dynamics. A time-frequency hybrid loss function jointly optimizes temporal accuracy and spectral consistency, mitigating error accumulation during long-horizon autoregressive rollouts. Evaluated across eleven public benchmarks, FM-LLM achieves state-of-the-art performance on 59 out of 78 evaluation metrics. Compared to the strongest autoregressive LLM-based baseline, it delivers average improvements of 5.3% in MSE and 5.6% in MAE, with maximum gains reaching 8.0% for MSE and 8.4% for MAE. FM-LLM also demonstrates robust transferability, maintaining superior performance in 10% few-shot and zero-shot forecasting scenarios.

cs.LG

MemGround: Long-Term Memory Evaluation Kit for Large Language Models in Gamified Scenarios

Current evaluations of long-term memory in LLMs are fundamentally static. By fixating on simple retrieval and short-context inference, they neglect the multifaceted nature of complex memory systems, such as dynamic state tracking and hierarchical reasoning in continuous interactions. To overcome these limitations, we propose MemGround, a rigorous long-term memory benchmark natively grounded in rich, gamified interactive scenarios. To systematically assess these capabilities, MemGround introduces a three-tier hierarchical framework that evaluates Surface State Memory, Temporal Associative Memory, and Reasoning-Based Memory through specialized interactive tasks. Furthermore, to comprehensively quantify both memory utilization and behavioral trajectories, we propose a multi-dimensional metric suite comprising Question-Answer Score (QA Overall), Memory Fragments Unlocked (MFU), Memory Fragments with Correct Order (MFCO), and Exploration Trajectory Diagrams (ETD). Extensive experiments reveal that state-of-the-art LLMs and memory agents still struggle with sustained dynamic tracking, temporal event association, and complex reasoning derived from long-term accumulated evidence in interactive environments.

cs.CL

TactV: A Class of Hybrid Terrestrial/Aerial Coaxial Tilt-Rotor Vehicles

To enhance the obstacle-crossing and endurance capabilities of vehicles operating in complex environments, this paper presents the design of a hybrid terrestrial/aerial coaxial tilt-rotor vehicle, TactV, which integrates advantages such as lightweight construction and high maneuverability. Unlike existing tandem dual-rotor vehicles, TactV employs a tiltable coaxial dual-rotor design and features a spherical cage structure that encases the body, allowing for omnidirectional movement while further reducing its overall dimensions. To enable TactV to maneuver flexibly in aerial, planar, and inclined surfaces, we established corresponding dynamic and control models for each mode. Additionally, we leveraged TactV's tiltable center of gravity to design energy-saving and high-mobility modes for ground operations, thereby further enhancing its endurance. Experimental designs for both aerial and ground tests corroborated the superiority of TactV's movement capabilities and control strategies.

cs.RO

Chat-PM: A Class of Composite Hybrid Aerial/Terrestrial Precise Manipulator

This paper concentrates on the development of Chat-PM, a class of composite hybrid aerial/terrestrial manipulator, in concern with composite configuration design, dynamics modeling, motion control and force estimation. Compared with existing aerial or terrestrial mobile manipulators, Chat-PM demonstrates advantages in terms of reachability, energy efficiency and manipulation precision. To achieve precise manipulation in terrestrial mode, the dynamics is analyzed with consideration of surface contact, based on which a cascaded controller is designed with compensation for the interference force and torque from the arm. Benefiting from the kinematic constraints caused by the surface contact, the position deviation and the vehicle vibration are effectively decreased, resulting in higher control precision of the end gripper. For manipulation on surfaces with unknown inclination angles, the moving horizon estimation (MHE) is exploited to obtain the precise estimations of force and inclination angle, which are used in the control loop to compensate for the effect of the unknown surface. Real-world experiments are performed to evaluate the superiority of the developed manipulator and the proposed controllers.

cs.RO

Spatiotemporal mode-locking in lasers with large modal dispersion

Dissipative nonlinear wave dynamics have been investigated extensively in mode-locked lasers with single transverse-mode, whereas there are few studies related to three-dimensional nonlinear dynamics within lasers. Recently, spatiotemporal mode-locking (STML) was proposed in lasers with small modal (i.e., transverse-mode) dispersion, which has been considered to be critical for achieving STML in those cavities because the small dispersion can be easily balanced. Here, we demonstrate that STML can also be achieved in multimode lasers with much larger modal dispersion, where we find that the intracavity saturable absorber plays an important role for counteracting the large modal dispersion. Furthermore, we observe a new STML phenomenon of passive nonlinear auto-selection of single-mode mode-locking, resulting from the interaction between spatiotemporal saturable absorption and spatial gain competition. Our work significantly broadens the design possibilities for useful STML lasers thus making them much more accessible for applications, and extends the explorable parameter space of the novel dissipative spatiotemporal nonlinear dynamics that can be achieved in these lasers.

physics.optics

Period-doubling bifurcation in spatiotemporal mode-locked lasers

Period-doubling bifurcation is a universal dynamic of nonlinear systems, which has been extensively investigated in laser systems with a single transverse mode. This study presents an experimental observation and theoretical investigation of the period-doubling bifurcation in spatiotemporal mode-locked (STML) multimode fiber lasers. In the period-doubling state, it is observed that the pulse train modulation varies with the transverse-mode, and the output beam profile fluctuates rapidly and periodically. The numerical simulations conducted in this study are in good agreement with the experimental observations. Furthermore, a simple iterative model is proposed by considering the mode-dependent saturable absorption effect, and the experimental results can be qualitatively interpreted by this model. Based on these results, spatiotemporal saturable absorption is believed to be the key factor for the unique spatiotemporal characteristic of period-doubling bifurcation in multimode lasers. This study contributes to the understanding of the complex spatiotemporal dynamics in STML multimode lasers and to the discovery of novel dynamics in high-dimensional nonlinear systems.

physics.optics