arXiv subjects

Yiming Huang

Publications and source records attributed to Yiming Huang.

At least 73 records · Page 4Linked to original sources

arXiv2025

UtilGen: Utility-Centric Generative Data Augmentation with Dual-Level Task Adaptation

Data augmentation using generative models has emerged as a powerful paradigm for enhancing performance in computer vision tasks. However, most existing augmentation approaches primarily focus on optimizing intrinsic data attributes -- such as fidelity and diversity -- to generate visually high-quality synthetic data, while often neglecting task-specific requirements. Yet, it is essential for data generators to account for the needs of downstream tasks, as training data requirements can vary significantly across different tasks and network architectures. To address these limitations, we propose UtilGen, a novel utility-centric data augmentation framework that adaptively optimizes the data generation process to produce task-specific, high-utility training data via downstream task feedback. Specifically, we first introduce a weight allocation network to evaluate the task-specific utility of each synthetic sample. Guided by these evaluations, UtilGen iteratively refines the data generation process using a dual-level optimization strategy to maximize the synthetic data utility: (1) model-level optimization tailors the generative model to the downstream task, and (2) instance-level optimization adjusts generation policies -- such as prompt embeddings and initial noise -- at each generation round. Extensive experiments on eight benchmark datasets of varying complexity and granularity demonstrate that UtilGen consistently achieves superior performance, with an average accuracy improvement of 3.87% over previous SOTA. Further analysis of data influence and distribution reveals that UtilGen produces more impactful and task-relevant synthetic data, validating the effectiveness of the paradigm shift from visual characteristics-centric to task utility-centric data augmentation.

cs.CV↗

arXiv2025

FormCoach: Lift Smarter, Not Harder

Good form is the difference between strength and strain, yet for the fast-growing community of at-home fitness enthusiasts, expert feedback is often out of reach. FormCoach transforms a simple camera into an always-on, interactive AI training partner, capable of spotting subtle form errors and delivering tailored corrections in real time, leveraging vision-language models (VLMs). We showcase this capability through a web interface and benchmark state-of-the-art VLMs on a dataset of 1,700 expert-annotated user-reference video pairs spanning 22 strength and mobility exercises. To accelerate research in AI-driven coaching, we release both the dataset and an automated, rubric-based evaluation pipeline, enabling standardized comparison across models. Our benchmarks reveal substantial gaps compared to human-level coaching, underscoring both the challenges and opportunities in integrating nuanced, context-aware movement analysis into interactive AI systems. By framing form correction as a collaborative and creative process between humans and machines, FormCoach opens a new frontier in embodied AI.

cs.CV↗

arXiv2025

Text2Interact: High-Fidelity and Diverse Text-to-Two-Person Interaction Generation

Modeling human-human interactions from text remains challenging because it requires not only realistic individual dynamics but also precise, text-consistent spatiotemporal coupling between agents. Currently, progress is hindered by 1) limited two-person training data, inadequate to capture the diverse intricacies of two-person interactions; and 2) insufficiently fine-grained text-to-interaction modeling, where language conditioning collapses rich, structured prompts into a single sentence embedding. To address these limitations, we propose our Text2Interact framework, designed to generate realistic, text-aligned human-human interactions through a scalable high-fidelity interaction data synthesizer and an effective spatiotemporal coordination pipeline. First, we present InterCompose, a scalable synthesis-by-composition pipeline that aligns LLM-generated interaction descriptions with strong single-person motion priors. Given a prompt and a motion for an agent, InterCompose retrieves candidate single-person motions, trains a conditional reaction generator for another agent, and uses a neural motion evaluator to filter weak or misaligned samples-expanding interaction coverage without extra capture. Second, we propose InterActor, a text-to-interaction model with word-level conditioning that preserves token-level cues (initiation, response, contact ordering) and an adaptive interaction loss that emphasizes contextually relevant inter-person joint pairs, improving coupling and physical plausibility for fine-grained interaction modeling. Extensive experiments show consistent gains in motion diversity, fidelity, and generalization, including out-of-distribution scenarios and user studies. We will release code and models to facilitate reproducibility.

cs.CV↗

arXiv2025

PhysHMR: Learning Humanoid Control Policies from Vision for Physically Plausible Human Motion Reconstruction

Reconstructing physically plausible human motion from monocular videos remains a challenging problem in computer vision and graphics. Existing methods primarily focus on kinematics-based pose estimation, often leading to unrealistic results due to the lack of physical constraints. To address such artifacts, prior methods have typically relied on physics-based post-processing following the initial kinematics-based motion estimation. However, this two-stage design introduces error accumulation, ultimately limiting the overall reconstruction quality. In this paper, we present PhysHMR, a unified framework that directly learns a visual-to-action policy for humanoid control in a physics-based simulator, enabling motion reconstruction that is both physically grounded and visually aligned with the input video. A key component of our approach is the pixel-as-ray strategy, which lifts 2D keypoints into 3D spatial rays and transforms them into global space. These rays are incorporated as policy inputs, providing robust global pose guidance without depending on noisy 3D root predictions. This soft global grounding, combined with local visual features from a pretrained encoder, allows the policy to reason over both detailed pose and global positioning. To overcome the sample inefficiency of reinforcement learning, we further introduce a distillation scheme that transfers motion knowledge from a mocap-trained expert to the vision-conditioned policy, which is then refined using physically motivated reinforcement learning rewards. Extensive experiments demonstrate that PhysHMR produces high-fidelity, physically plausible motion across diverse scenarios, outperforming prior approaches in both visual accuracy and physical realism.

cs.CV↗

arXiv2025

PALQO: Physics-informed Model for Accelerating Large-scale Quantum Optimization

Variational quantum algorithms (VQAs) are leading strategies to reach practical utilities of near-term quantum devices. However, the no-cloning theorem in quantum mechanics precludes standard backpropagation, leading to prohibitive quantum resource costs when applying VQAs to large-scale tasks. To address this challenge, we reformulate the training dynamics of VQAs as a nonlinear partial differential equation and propose a novel protocol that leverages physics-informed neural networks (PINNs) to model this dynamical system efficiently. Given a small amount of training trajectory data collected from quantum devices, our protocol predicts the parameter updates of VQAs over multiple iterations on the classical side, dramatically reducing quantum resource costs. Through systematic numerical experiments, we demonstrate that our method achieves up to a 30x speedup compared to conventional methods and reduces quantum resource costs by as much as 90\% for tasks involving up to 40 qubits, including ground state preparation of different quantum systems, while maintaining competitive accuracy. Our approach complements existing techniques aimed at improving the efficiency of VQAs and further strengthens their potential for practical applications.

quant-ph↗

arXiv2025

Learning to Perform Low-Contact Autonomous Nasotracheal Intubation by Recurrent Action-Confidence Chunking with Transformer

Nasotracheal intubation (NTI) is critical for establishing artificial airways in clinical anesthesia and critical care. Current manual methods face significant challenges, including cross-infection, especially during respiratory infection care, and insufficient control of endoluminal contact forces, increasing the risk of mucosal injuries. While existing studies have focused on automated endoscopic insertion, the automation of NTI remains unexplored despite its unique challenges: Nasotracheal tubes exhibit greater diameter and rigidity than standard endoscopes, substantially increasing insertion complexity and patient risks. We propose a novel autonomous NTI system with two key components to address these challenges. First, an autonomous NTI system is developed, incorporating a prosthesis embedded with force sensors, allowing for safety assessment and data filtering. Then, the Recurrent Action-Confidence Chunking with Transformer (RACCT) model is developed to handle complex tube-tissue interactions and partial visual observations. Experimental results demonstrate that the RACCT model outperforms the ACT model in all aspects and achieves a 66% reduction in average peak insertion force compared to manual operations while maintaining equivalent success rates. This validates the system's potential for reducing infection risks and improving procedural safety.

cs.RO↗

arXiv2025

Exploring Stiffness Gradient Effects in Magnetically Induced Metamorphic Materials via Continuum Simulation and Validation

Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced Metamorphic Materials (MIMMs)-based continuum (MC) exhibits similar bending behaviors. Based on the characteristics of its base material, MC is flexible in modifying unit stiffness and convenient in molding fabrication. However, recent studies on magnetic continuum robots have primarily focused on one or two design parameters, limiting the development of a comprehensive magnetic continuum bending model. In this work, we constructed graded-stiffness MCs (GMCs) and developed a numerical model for GMCs' bending performance, incorporating four key parameters that determine their performance. The simulated bending results were validated with real bending experiments in four different categories: varying magnetic field, cross-section, unit stiffness, and unit length. The graded-stiffness design strategy applied to GMCs prevents sharp bending at the fixed end and results in a more circular curvature. We also trained an expansion model for GMCs' bending performance that is highly efficient and accurate compared to the simulation process. An extensive library of bending prediction for GMCs was built using the trained model.

cs.RO↗

arXiv2025

Recognizing Surgical Phases Anywhere: Few-Shot Test-time Adaptation and Task-graph Guided Refinement

The complexity and diversity of surgical workflows, driven by heterogeneous operating room settings, institutional protocols, and anatomical variability, present a significant challenge in developing generalizable models for cross-institutional and cross-procedural surgical understanding. While recent surgical foundation models pretrained on large-scale vision-language data offer promising transferability, their zero-shot performance remains constrained by domain shifts, limiting their utility in unseen surgical environments. To address this, we introduce Surgical Phase Anywhere (SPA), a lightweight framework for versatile surgical workflow understanding that adapts foundation models to institutional settings with minimal annotation. SPA leverages few-shot spatial adaptation to align multi-modal embeddings with institution-specific surgical scenes and phases. It also ensures temporal consistency through diffusion modeling, which encodes task-graph priors derived from institutional procedure protocols. Finally, SPA employs dynamic test-time adaptation, exploiting the mutual agreement between multi-modal phase prediction streams to adapt the model to a given test video in a self-supervised manner, enhancing the reliability under test-time distribution shifts. SPA is a lightweight adaptation framework, allowing hospitals to rapidly customize phase recognition models by defining phases in natural language text, annotating a few images with the phase labels, and providing a task graph defining phase transitions. The experimental results show that the SPA framework achieves state-of-the-art performance in few-shot surgical phase recognition across multiple institutions and procedures, even outperforming full-shot models with 32-shot labeled data. Code is available at https://github.com/CAMMA-public/SPA

cs.CV↗

arXiv2025

SurgTPGS: Semantic 3D Surgical Scene Understanding with Text Promptable Gaussian Splatting

In contemporary surgical research and practice, accurately comprehending 3D surgical scenes with text-promptable capabilities is particularly crucial for surgical planning and real-time intra-operative guidance, where precisely identifying and interacting with surgical tools and anatomical structures is paramount. However, existing works focus on surgical vision-language model (VLM), 3D reconstruction, and segmentation separately, lacking support for real-time text-promptable 3D queries. In this paper, we present SurgTPGS, a novel text-promptable Gaussian Splatting method to fill this gap. We introduce a 3D semantics feature learning strategy incorporating the Segment Anything model and state-of-the-art vision-language models. We extract the segmented language features for 3D surgical scene reconstruction, enabling a more in-depth understanding of the complex surgical environment. We also propose semantic-aware deformation tracking to capture the seamless deformation of semantic features, providing a more precise reconstruction for both texture and semantic features. Furthermore, we present semantic region-aware optimization, which utilizes regional-based semantic information to supervise the training, particularly promoting the reconstruction quality and semantic smoothness. We conduct comprehensive experiments on two real-world surgical datasets to demonstrate the superiority of SurgTPGS over state-of-the-art methods, highlighting its potential to revolutionize surgical practices. SurgTPGS paves the way for developing next-generation intelligent surgical systems by enhancing surgical precision and safety. Our code is available at: https://github.com/lastbasket/SurgTPGS.

eess.IV↗

arXiv2025

Endo-4DGX: Robust Endoscopic Scene Reconstruction and Illumination Correction with Gaussian Splatting

Accurate reconstruction of soft tissue is crucial for advancing automation in image-guided robotic surgery. The recent 3D Gaussian Splatting (3DGS) techniques and their variants, 4DGS, achieve high-quality renderings of dynamic surgical scenes in real-time. However, 3D-GS-based methods still struggle in scenarios with varying illumination, such as low light and over-exposure. Training 3D-GS in such extreme light conditions leads to severe optimization problems and devastating rendering quality. To address these challenges, we present Endo-4DGX, a novel reconstruction method with illumination-adaptive Gaussian Splatting designed specifically for endoscopic scenes with uneven lighting. By incorporating illumination embeddings, our method effectively models view-dependent brightness variations. We introduce a region-aware enhancement module to model the sub-area lightness at the Gaussian level and a spatial-aware adjustment module to learn the view-consistent brightness adjustment. With the illumination adaptive design, Endo-4DGX achieves superior rendering performance under both low-light and over-exposure conditions while maintaining geometric accuracy. Additionally, we employ an exposure control loss to restore the appearance from adverse exposure to the normal level for illumination-adaptive optimization. Experimental results demonstrate that Endo-4DGX significantly outperforms combinations of state-of-the-art reconstruction and restoration methods in challenging lighting environments, underscoring its potential to advance robot-assisted surgical applications. Our code is available at https://github.com/lastbasket/Endo-4DGX.

cs.CV↗

arXiv2025

Vid2Sim: Generalizable, Video-based Reconstruction of Appearance, Geometry and Physics for Mesh-free Simulation

Faithfully reconstructing textured shapes and physical properties from videos presents an intriguing yet challenging problem. Significant efforts have been dedicated to advancing such a system identification problem in this area. Previous methods often rely on heavy optimization pipelines with a differentiable simulator and renderer to estimate physical parameters. However, these approaches frequently necessitate extensive hyperparameter tuning for each scene and involve a costly optimization process, which limits both their practicality and generalizability. In this work, we propose a novel framework, Vid2Sim, a generalizable video-based approach for recovering geometry and physical properties through a mesh-free reduced simulation based on Linear Blend Skinning (LBS), offering high computational efficiency and versatile representation capability. Specifically, Vid2Sim first reconstructs the observed configuration of the physical system from video using a feed-forward neural network trained to capture physical world knowledge. A lightweight optimization pipeline then refines the estimated appearance, geometry, and physical properties to closely align with video observations within just a few minutes. Additionally, after the reconstruction, Vid2Sim enables high-quality, mesh-free simulation with high efficiency. Extensive experiments demonstrate that our method achieves superior accuracy and efficiency in reconstructing geometry and physical properties from video data.

cs.GR↗

arXiv2025

Reasoning-Table: Exploring Reinforcement Learning for Table Reasoning

Table reasoning, encompassing tasks such as table question answering, fact verification, and text-to-SQL, requires precise understanding of structured tabular data, coupled with numerical computation and code manipulation for effective inference. Supervised fine-tuning (SFT) approaches have achieved notable success but often struggle with generalization and robustness due to biases inherent in imitative learning. We introduce Reasoning-Table, the first application of reinforcement learning (RL) to table reasoning, achieving state-of-the-art performance. Through rigorous data preprocessing, reward design, and tailored training strategies, our method leverages simple rule-based outcome rewards to outperform SFT across multiple benchmarks. Unified training across diverse tasks enables Reasoning-Table to emerge as a robust table reasoning large language model, surpassing larger proprietary models like Claude-3.7-Sonnet by 4.0% on table reasoning benchmarks. The approach also achieves excellent performance on text-to-SQL tasks, reaching 68.3% performance on the BIRD dev dataset with a 7B model. Further experiments demonstrate that Reasoning-Table enhances the model's generalization capabilities and robustness.

cs.CL↗

arXiv2025

Exploring the Landscape of Text-to-SQL with Large Language Models: Progresses, Challenges and Opportunities

Converting natural language (NL) questions into SQL queries, referred to as Text-to-SQL, has emerged as a pivotal technology for facilitating access to relational databases, especially for users without SQL knowledge. Recent progress in large language models (LLMs) has markedly propelled the field of natural language processing (NLP), opening new avenues to improve text-to-SQL systems. This study presents a systematic review of LLM-based text-to-SQL, focusing on four key aspects: (1) an analysis of the research trends in LLM-based text-to-SQL; (2) an in-depth analysis of existing LLM-based text-to-SQL techniques from diverse perspectives; (3) summarization of existing text-to-SQL datasets and evaluation metrics; and (4) discussion on potential obstacles and avenues for future exploration in this domain. This survey seeks to furnish researchers with an in-depth understanding of LLM-based text-to-SQL, sparking new innovations and advancements in this field.

cs.CL↗

arXiv2025

Do BERT-Like Bidirectional Models Still Perform Better on Text Classification in the Era of LLMs?

The rapid adoption of LLMs has overshadowed the potential advantages of traditional BERT-like models in text classification. This study challenges the prevailing "LLM-centric" trend by systematically comparing three category methods, i.e., BERT-like models fine-tuning, LLM internal state utilization, and zero-shot inference across six high-difficulty datasets. Our findings reveal that BERT-like models often outperform LLMs. We further categorize datasets into three types, perform PCA and probing experiments, and identify task-specific model strengths: BERT-like models excel in pattern-driven tasks, while LLMs dominate those requiring deep semantics or world knowledge. Based on this, we propose TaMAS, a fine-grained task selection strategy, advocating for a nuanced, task-driven approach over a one-size-fits-all reliance on LLMs.

cs.CL↗

arXiv2025

Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras

Accurate 3D scene reconstruction is essential for numerous medical tasks. Given the challenges in obtaining ground truth data, there has been an increasing focus on self-supervised learning (SSL) for endoscopic depth estimation as a basis for scene reconstruction. While foundation models have shown remarkable progress in visual tasks, their direct application to the medical domain often leads to suboptimal results. However, the visual features from these models can still enhance endoscopic tasks, emphasizing the need for efficient adaptation strategies, which still lack exploration currently. In this paper, we introduce Endo3DAC, a unified framework for endoscopic scene reconstruction that efficiently adapts foundation models. We design an integrated network capable of simultaneously estimating depth maps, relative poses, and camera intrinsic parameters. By freezing the backbone foundation model and training only the specially designed Gated Dynamic Vector-Based Low-Rank Adaptation (GDV-LoRA) with separate decoder heads, Endo3DAC achieves superior depth and pose estimation while maintaining training efficiency. Additionally, we propose a 3D scene reconstruction pipeline that optimizes depth maps' scales, shifts, and a few parameters based on our integrated network. Extensive experiments across four endoscopic datasets demonstrate that Endo3DAC significantly outperforms other state-of-the-art methods while requiring fewer trainable parameters. To our knowledge, we are the first to utilize a single network that only requires surgical videos to perform both SSL depth estimation and scene reconstruction tasks. The code will be released upon acceptance.

cs.CV↗

arXiv2025

Validation and extrapolation of atomic mass with physics-informed fully connected neural network

Machine learning offers a powerful framework for validating and predicting atomic mass. We compare three improved neural network methods for representation and extrapolation for atomic mass prediction. The powerful method, adopting a macroscopic-microscopic approach and treating complex nuclear effects as output labels, achieves superior accuracy in AME2020, yielding a much lower root-mean-square deviation of 0.122 MeV in the test set, significantly lower than alternative methods. It also exhibits a better extrapolation performance when predicting AME2020 from AME2016, with a root-mean-square deviation of 0.191 MeV. We further conduct sensitivity analyses against the model inputs to verify interpretable alignment beyond statistical metrics. Incorporating theoretical predictions of magic numbers and masses, our fully connected neural networks reproduce key nuclear phenomena including nucleon pairing correlation and magic number effects. The extrapolation capability of the framework is discussed and the accuracy of predicting new mass measurements for isotope chains has also been tested.

nucl-th↗

arXiv2025

GATE: Graph-based Adaptive Tool Evolution Across Diverse Tasks

Large Language Models (LLMs) have shown great promise in tool-making, yet existing frameworks often struggle to efficiently construct reliable toolsets and are limited to single-task settings. To address these challenges, we propose GATE (Graph-based Adaptive Tool Evolution), an adaptive framework that dynamically constructs and evolves a hierarchical graph of reusable tools across multiple scenarios. We evaluate GATE on open-ended tasks (Minecraft), agent-based tasks (TextCraft, DABench), and code generation tasks (MATH, Date, TabMWP). Our results show that GATE achieves up to 4.3x faster milestone completion in Minecraft compared to the previous SOTA, and provides an average improvement of 9.23% over existing tool-making methods in code generation tasks and 10.03% in agent tasks. GATE demonstrates the power of adaptive evolution, balancing tool quantity, complexity, and functionality while maintaining high efficiency. Code and data are available at \url{https://github.com/ayanami2003/GATE}.

cs.CL↗

arXiv2025

ModSkill: Physical Character Skill Modularization

Human motion is highly diverse and dynamic, posing challenges for imitation learning algorithms that aim to generalize motor skills for controlling simulated characters. Previous methods typically rely on a universal full-body controller for tracking reference motion (tracking-based model) or a unified full-body skill embedding space (skill embedding). However, these approaches often struggle to generalize and scale to larger motion datasets. In this work, we introduce a novel skill learning framework, ModSkill, that decouples complex full-body skills into compositional, modular skills for independent body parts. Our framework features a skill modularization attention layer that processes policy observations into modular skill embeddings that guide low-level controllers for each body part. We also propose an Active Skill Learning approach with Generative Adaptive Sampling, using large motion generation models to adaptively enhance policy learning in challenging tracking scenarios. Our results show that this modularized skill learning framework, enhanced by generative sampling, outperforms existing methods in precise full-body motion tracking and enables reusable skill embeddings for diverse goal-driven tasks.

cs.CV↗