arXiv subjects

Yingjie Niu

Publications and source records attributed to Yingjie Niu.

12 recordsLinked to original sources

arXiv2026

EmbodiedSkills: A Unified Framework for Orchestrating, Training, and Deploying VLA Agents

Vision-language-action (VLA) models map visual observations and language instructions directly to robot actions, but long-horizon tasks require more than action prediction. An agent must coordinate perception, planning, execution, progress verification, and recovery as the physical state evolves. An action prediction or a model-generated skill decision does not, by itself, guarantee that the proposed operation is valid in the current state or that its outcome will be verified. We propose EmbodiedSkills, a unified framework that treats each skill decision as an execution proposal: the runtime checks its prerequisites before execution and verifies the outcome afterward. A shared executable-skill interface connects high-level skill selection, bounded low-level VLA execution, and post-action verification within a single agent loop. Because this interface remains fixed, low-level VLA policies can be replaced or adapted without changing the agent loop. The interface also records planning, execution, verification, and recovery events as structured trajectories, which provide supervision for individual components and can support optional online adaptation when interactive feedback is available. We instantiate EmbodiedSkills with Qwen3-VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO. Task-adapted low-level VLA policies achieve an average success rate of 86.20% across 50 RoboTwin 2.0 tasks and 97.40% across the four LIBERO suites. These results establish the execution performance of the task-adapted low-level VLA policies used in EmbodiedSkills. On four memory-dependent RMBench tasks, the same task-adapted execution approach achieves 12.5% average success. The framework provides a trainable and inspectable agent layer for turning these policies into closed-loop embodied systems.

cs.RO↗

arXiv2026

From Raw IDs to Semantic Planning: How Recommender Systems Utilize Information at Scale

The evolution of recommender systems can be explored by asking how they utilize information at scale. Throughout most of the historical period under consideration during the past two decades, industrial systems have relied on raw IDs, which are discrete, globally unique, and semantically opaque identifiers that enable exact lookup, logging, and item-specific memorization at scale. Over time, however, recommender systems have sought to utilize richer sources of information, including item content, context, multimodal signals, and cross-domain structure. This development has led to a new stage in which part of such information is no longer used solely as auxiliary features around item identity, but is increasingly encapsulated in semantic IDs that provide a more structured, model-facing form of identity. We argue that this shift goes beyond the rise of generative recommendation over traditional methods. Indeed, it reflects a broader evolution in how recommender systems utilize information under industrial-scale constraints. This paper looks at the past, present, and future to examine three connected questions: why raw IDs dominated the early development of recommender systems, why semantic information is increasingly being encapsulated in IDs today, and what may come next once recommendations move beyond semantic retrieval. In particular, we introduce semantic planning as a possible future direction in which the system first predicts the semantic target of the next exposure, and only then instantiates that target as a specific item or generated creative. We further argue that such a shift may require changes not only in model design but also in evaluation and in the way recommender systems coordinate the objectives of users, platforms, and providers.

cs.IR↗

arXiv2026

LiveFact: A Dynamic, Time-Aware Benchmark for LLM-Driven Fake News Detection

The rapid development of Large Language Models (LLMs) has transformed fake news detection and fact-checking tasks from simple classification to complex reasoning. However, evaluation frameworks have not kept pace. Current benchmarks are static, making them vulnerable to benchmark data contamination (BDC) and ineffective at assessing reasoning under temporal uncertainty. To address this, we introduce LiveFact a continuously updated benchmark that simulates the real-world "fog of war" in misinformation detection. LiveFact uses dynamic, temporal evidence sets to evaluate models on their ability to reason with evolving, incomplete information rather than on memorized knowledge. We propose a dual-mode evaluation: Classification Mode for final verification and Inference Mode for evidence-based reasoning, along with a component to monitor BDC explicitly. Tests with 22 LLMs show that open-source Mixture-of-Experts models, such as Qwen3-235B-A22B, now match or outperform proprietary state-of-the-art systems. More importantly, our analysis finds a significant "reasoning gap." Capable models exhibit epistemic humility by recognizing unverifiable claims in early data slices-an aspect traditional static benchmarks overlook. LiveFact sets a sustainable standard for evaluating robust, temporally aware AI verification.

cs.CL↗

arXiv2026

Relational Probing: LM-to-Graph Adaptation for Financial Prediction

Language models can be used to identify relationships between financial entities in text. However, while structured output mechanisms exist, prompting-based pipelines still incur autoregressive decoding costs and decouple graph construction from downstream optimization. We propose \emph{Relational Probing}, which replaces the standard language-model head with a relation head that induces a relational graph directly from language-model hidden states and is trained jointly with the downstream task model for stock-trend prediction. This approach both learns semantic representations and preserves the strict structure of the induced relational graph. It enables language-model outputs to go beyond text, allowing them to be reshaped into task-specific formats for downstream models. To enhance reproducibility, we provide an operational definition of small language models (SLMs): models that can be fine-tuned end-to-end on a single 24GB GPU under specified batch-size and sequence-length settings. Experiments use Qwen3 backbones (0.6B/1.7B/4B) as upstream SLMs and compare against a co-occurrence baseline. Relational Probing yields consistent performance improvements at competitive inference cost.

cs.CL↗

arXiv2026

Fly360: Omnidirectional Obstacle Avoidance within Drone View

Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited field-of-view sensors and are ill-suited for UAV scenarios which require full-spatial awareness when the movement direction differs from the UAV's heading. This limitation motivates us to explore omnidirectional obstacle avoidance for panoramic drones with full-view perception. We first study an under explored problem setting in which a UAV must generate collision-free motion in environments with obstacles from arbitrary directions, and then construct a benchmark that consists of three representative flight tasks. Based on such settings, we propose Fly360, a two-stage perception-decision pipeline with a fixed random-yaw training strategy. At the perception stage, panoramic RGB observations are input and converted into depth maps as a robust intermediate representation. For the policy network, it is lightweight and used to output body-frame velocity commands from depth inputs. Extensive simulation and real-world experiments demonstrate that Fly360 achieves stable omnidirectional obstacle avoidance and outperforms forward-view baselines across all tasks. Our model is available at https://zxkai.github.io/fly360/

cs.RO↗

arXiv2026

GAPNet: Plug-in Jointly Learning Task-Specific Graph for Dynamic Stock Relation

The advent of the web has led to a paradigm shift in the financial relations, with the real-time dissemination of news, social discourse, and financial filings contributing significantly to the reshaping of financial forecasting. The existing methods rely on establishing relations a priori, i.e. predefining graphs to capture inter-stock relationships. However, the stock-related web signals are characterised by high levels of noise, asynchrony, and challenging to obtain, resulting in poor generalisability and non-alignment between the predefined graphs and the downstream tasks. To address this, we propose GAPNet, a Graph Adaptation Plug-in Network that jointly learns task-specific topology and representations in an end-to-end manner. GAPNet attaches to existing pairwise graph or hypergraph backbone models, enabling the dynamic adaptation and rewiring of edge topologies via two complementary components: a Spatial Perception Layer that captures short-term co-movements across assets, and a Temporal Perception Layer that maintains long-term dependency under distribution shift. Across two real-world stock datasets, GAPNet has been shown to consistently enhance the profitability and stability in comparision to the state-of-the-art models, yielding annualised cumulative returns of up to 0.47 for RT-GCN and 0.63 for CI-STHPAN, with peak Sharpe Ratio of 2.20 and 2.12 respectively. The plug-and-play design of GAPNet ensures its broad applicability to diverse GNN-based architectures. Our results underscore that jointly learning graph structures and representations is essential for task-specific relational modeling.

cs.LG↗

arXiv2025

NGAT: A Node-level Graph Attention Network for Long-term Stock Prediction

Graph representation learning methods have been widely adopted in financial applications to enhance company representations by leveraging inter-firm relationships. However, current approaches face three key challenges: (1) The advantages of relational information are obscured by limitations in downstream task designs; (2) Existing graph models specifically designed for stock prediction often suffer from excessive complexity and poor generalization; (3) Experience-based construction of corporate relationship graphs lacks effective comparison of different graph structures. To address these limitations, we propose a long-term stock prediction task and develop a Node-level Graph Attention Network (NGAT) specifically tailored for corporate relationship graphs. Furthermore, we experimentally demonstrate the limitations of existing graph comparison methods based on model downstream task performance. Experimental results across two datasets consistently demonstrate the effectiveness of our proposed task and model. The project is publicly available on GitHub to encourage reproducibility and future research.

q-fin.ST↗

arXiv2024

Evaluating Financial Relational Graphs: Interpretation Before Prediction

Accurate and robust stock trend forecasting has been a crucial and challenging task, as stock price changes are influenced by multiple factors. Graph neural network-based methods have recently achieved remarkable success in this domain by constructing stock relationship graphs that reflect internal factors and relationships between stocks. However, most of these methods rely on predefined factors to construct static stock relationship graphs due to the lack of suitable datasets, failing to capture the dynamic changes in stock relationships. Moreover, the evaluation of relationship graphs in these methods is often tied to the performance of neural network models on downstream tasks, leading to confusion and imprecision. To address these issues, we introduce the SPNews dataset, collected based on S\&P 500 Index stocks, to facilitate the construction of dynamic relationship graphs. Furthermore, we propose a novel set of financial relationship graph evaluation methods that are independent of downstream tasks. By using the relationship graph to explain historical financial phenomena, we assess its validity before constructing a graph neural network, ensuring the graph's effectiveness in capturing relevant financial relationships. Experimental results demonstrate that our evaluation methods can effectively differentiate between various financial relationship graphs, yielding more interpretable results compared to traditional approaches. We make our source code publicly available on GitHub to promote reproducibility and further research in this area.

q-fin.ST↗

arXiv2023

DRUformer: Enhancing the driving scene Important object detection with driving relationship self-understanding

Traffic accidents frequently lead to fatal injuries, contributing to over 50 million deaths until 2023. To mitigate driving hazards and ensure personal safety, it is crucial to assist vehicles in anticipating important objects during travel. Previous research on important object detection primarily assessed the importance of individual participants, treating them as independent entities and frequently overlooking the connections between these participants. Unfortunately, this approach has proven less effective in detecting important objects in complex scenarios. In response, we introduce Driving scene Relationship self-Understanding transformer (DRUformer), designed to enhance the important object detection task. The DRUformer is a transformer-based multi-modal important object detection model that takes into account the relationships between all the participants in the driving scenario. Recognizing that driving intention also significantly affects the detection of important objects during driving, we have incorporated a module for embedding driving intention. To assess the performance of our approach, we conducted a comparative experiment on the DRAMA dataset, pitting our model against other state-of-the-art (SOTA) models. The results demonstrated a noteworthy 16.2\% improvement in mIoU and a substantial 12.3\% boost in ACC compared to SOTA methods. Furthermore, we conducted a qualitative analysis of our model's ability to detect important objects across different road scenarios and classes, highlighting its effectiveness in diverse contexts. Finally, we conducted various ablation studies to assess the efficiency of the proposed modules in our DRUformer model.

cs.CV↗

arXiv2023

R-Cut: Enhancing Explainability in Vision Transformers with Relationship Weighted Out and Cut

Transformer-based models have gained popularity in the field of natural language processing (NLP) and are extensively utilized in computer vision tasks and multi-modal models such as GPT4. This paper presents a novel method to enhance the explainability of Transformer-based image classification models. Our method aims to improve trust in classification results and empower users to gain a deeper understanding of the model for downstream tasks by providing visualizations of class-specific maps. We introduce two modules: the ``Relationship Weighted Out" and the ``Cut" modules. The ``Relationship Weighted Out" module focuses on extracting class-specific information from intermediate layers, enabling us to highlight relevant features. Additionally, the ``Cut" module performs fine-grained feature decomposition, taking into account factors such as position, texture, and color. By integrating these modules, we generate dense class-specific visual explainability maps. We validate our method with extensive qualitative and quantitative experiments on the ImageNet dataset. Furthermore, we conduct a large number of experiments on the LRN dataset, specifically designed for automatic driving danger alerts, to evaluate the explainability of our method in complex backgrounds. The results demonstrate a significant improvement over previous methods. Moreover, we conduct ablation experiments to validate the effectiveness of each module. Through these experiments, we are able to confirm the respective contributions of each module, thus solidifying the overall effectiveness of our proposed approach.

cs.CV↗

arXiv2023

Learning to Generalize for Cross-domain QA

There have been growing concerns regarding the out-of-domain generalization ability of natural language processing (NLP) models, particularly in question-answering (QA) tasks. Current synthesized data augmentation methods for QA are hampered by increased training costs. To address this issue, we propose a novel approach that combines prompting methods and linear probing then fine-tuning strategy, which does not entail additional cost. Our method has been theoretically and empirically shown to be effective in enhancing the generalization ability of both generative and discriminative models. Our approach outperforms state-of-the-art baselines, with an average increase in F1 score of 4.5%-7.9%. Furthermore, our method can be easily integrated into any pre-trained models and offers a promising solution to the under-explored cross-domain QA task. We release our source code at GitHub*.

cs.CL↗

arXiv2021

TsFeX: Contact Tracing Model using Time Series Feature Extraction and Gradient Boosting

With the outbreak of COVID-19 pandemic, a dire need to effectively identify the individuals who may have come in close-contact to others who have been infected with COVID-19 has risen. This process of identifying individuals, also termed as 'Contact tracing', has significant implications for the containment and control of the spread of this virus. However, manual tracing has proven to be ineffective calling for automated contact tracing approaches. As such, this research presents an automated machine learning system for identifying individuals who may have come in contact with others infected with COVID-19 using sensor data transmitted through handheld devices. This paper describes the different approaches followed in arriving at an optimal solution model that effectually predicts whether a person has been in close proximity to an infected individual using a gradient boosting algorithm and time series feature extraction.

cs.LG↗