arXiv subjects

Yiqing Xu

Publications and source records attributed to Yiqing Xu.

At least 37 records · Page 2Linked to original sources

arXiv2025

User Location Disclosure Fails to Deter Overseas Criticism but Amplifies Regional Divisions on Chinese Social Media

We examine the behavioral impact of a user location disclosure policy on Sina Weibo, China's largest microblogging platform, using a unique high-frequency dataset of uncensored engagement, including tens of thousands of comments and replies, on prominent government and media accounts. The policy, publicly justified as a measure to curb misinformation and counter foreign influence, was abruptly rolled out on April 28, 2022. Using an interrupted time series design, we find no decline in participation by overseas users. Instead, it significantly reduced domestic engagement with local issues outside users' home provinces, particularly among critical comments. Evidence indicates this decline was not driven by generalized fear or concerns about credibility, but by a surge in regionally discriminatory replies that raised the social cost of cross-provincial engagement. Our findings suggest that identity disclosure tools can have unintended consequences by activating existing social divisions in ways that reinforce state control without direct censorship.

econ.GN↗

arXiv2025

"Set It Up": Functional Object Arrangement with Compositional Generative Models (Journal Version)

Functional object arrangement (FORM) is the task of arranging objects to fulfill a function, e.g., "set up a dining table for two". One key challenge here is that the instructions for FORM are often under-specified and do not explicitly specify the desired object goal poses. This paper presents SetItUp, a neuro-symbolic framework that learns to specify the goal poses of objects from a few training examples and a structured natural-language task specification. SetItUp uses a grounding graph, which is composed of abstract spatial relations among objects (e.g., left-of), as its intermediate representation. This decomposes the FORM problem into two stages: (i) predicting this graph among objects and (ii) predicting object poses given the grounding graph. For (i), SetItUp leverages large language models (LLMs) to induce Python programs from a task specification and a few training examples. This program can be executed to generate grounding graphs in novel scenarios. For (ii), SetItUp pre-trains a collection of diffusion models to capture primitive spatial relations and online composes these models to predict object poses based on the grounding graph. We evaluated SetItUp on a dataset spanning three distinct task families: arranging tableware on a dining table, organizing items on a bookshelf, and laying out furniture in a bedroom. Experiments show that SetItUp outperforms existing models in generating functional, physically feasible, and aesthetically pleasing object arrangements. This article extends our conference paper published at Robotics: Science and Systems (RSS) 2024.

cs.RO↗

arXiv2025

"Stack It Up!": 3D Stable Structure Generation from 2D Hand-drawn Sketch

Imagine a child sketching the Eiffel Tower and asking a robot to bring it to life. Today's robot manipulation systems can't act on such sketches directly-they require precise 3D block poses as goals, which in turn demand structural analysis and expert tools like CAD. We present StackItUp, a system that enables non-experts to specify complex 3D structures using only 2D front-view hand-drawn sketches. StackItUp introduces an abstract relation graph to bridge the gap between rough sketches and accurate 3D block arrangements, capturing the symbolic geometric relations (e.g., left-of) and stability patterns (e.g., two-pillar-bridge) while discarding noisy metric details from sketches. It then grounds this graph to 3D poses using compositional diffusion models and iteratively updates it by predicting hidden internal and rear supports-critical for stability but absent from the sketch. Evaluated on sketches of iconic landmarks and modern house designs, StackItUp consistently produces stable, multilevel 3D structures and outperforms all baselines in both stability and visual resemblance.

cs.AI↗

arXiv2025

Soliton self-excitation under pulsed driving in a Kerr resonator

We present a novel regime of cavity soliton excitation in a Kerr resonator driven by a train of desynchronised pulses. In this regime, the soliton solution is shown to be the sole available state for the intracavity field, allowing for the automatic excitation of single solitons without the application of any external perturbations or parameter ramping. The self-excitation of cavity soliton frequency combs is validated through numerical continuation of the Lugiato-Lefever equation, direct numerical integration, and experimental observation. We show that this regime of CS self-excitation requires only the cavity detuning and pump desynchronisation parameters to be set within the correct range, thus considerably simplifying the usually complex task of deterministic cavity soliton excitation. Additionally, we show that this procedure can also be extended to allow the deterministic generation of different families of multi-soliton bound-states. We believe this research offers a promising approach to considerably simplify cavity soliton generation in both macro- and micro- scale Kerr resonators, while also offering greatly increased thermal, power, and nonlinear efficiencies intrinsic to pulsed-driven systems.

physics.optics↗

arXiv2025

Comparing Experimental and Nonexperimental Methods: What Lessons Have We Learned Four Decades After LaLonde (1986)?

In 1986, Robert LaLonde published an article comparing nonexperimental estimates to experimental benchmarks (LaLonde 1986). He concluded that the nonexperimental methods at the time could not systematically replicate experimental benchmarks, casting doubt on their credibility. Following LaLonde's critical assessment, there have been significant methodological advances and practical changes, including (i) an emphasis on the unconfoundedness assumption separated from functional form considerations, (ii) a focus on the importance of overlap in covariate distributions, (iii) the introduction of propensity score-based methods leading to doubly robust estimators, (iv) methods for estimating and exploiting treatment effect heterogeneity, and (v) a greater emphasis on validation exercises to bolster research credibility. To demonstrate the practical lessons from these advances, we reexamine the LaLonde data. We show that modern methods, when applied in contexts with sufficient covariate overlap, yield robust estimates for the adjusted differences between the treatment and control groups. However, this does not imply that these estimates are causally interpretable. To assess their credibility, validation exercises (such as placebo tests) are essential, whereas goodness-of-fit tests alone are inadequate. Our findings highlight the importance of closely examining the assignment process, carefully inspecting overlap, and conducting validation exercises when analyzing causal effects with nonexperimental data.

econ.EM↗

arXiv2025

"Set It Up!": Functional Object Arrangement with Compositional Generative Models

This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused on much more explicit instructions, such as "put object A on the table." We introduce a framework, SetItUp, for learning to interpret under-specified instructions. SetItUp takes a small number of training examples and a human-crafted program sketch to uncover arrangement rules for specific scene types. By leveraging an intermediate graph-like representation of abstract spatial relationships among objects, SetItUp decomposes the arrangement problem into two subproblems: i) learning the arrangement patterns from limited data and ii) grounding these abstract relationships into object poses. SetItUp leverages large language models (LLMs) to propose the abstract spatial relationships among objects in novel scenes as the constraints to be satisfied; then, it composes a library of diffusion models associated with these abstract relationships to find object poses that satisfy the constraints. We validate our framework on a dataset comprising study desks, dining tables, and coffee tables, with the results showing superior performance in generating physically plausible, functional, and aesthetically pleasing object arrangements compared to existing models.

cs.RO↗

arXiv2025

MovSAM: A Single-image Moving Object Segmentation Framework Based on Deep Thinking

Moving object segmentation plays a vital role in understanding dynamic visual environments. While existing methods rely on multi-frame image sequences to identify moving objects, single-image MOS is critical for applications like motion intention prediction and handling camera frame drops. However, segmenting moving objects from a single image remains challenging for existing methods due to the absence of temporal cues. To address this gap, we propose MovSAM, the first framework for single-image moving object segmentation. MovSAM leverages a Multimodal Large Language Model (MLLM) enhanced with Chain-of-Thought (CoT) prompting to search the moving object and generate text prompts based on deep thinking for segmentation. These prompts are cross-fused with visual features from the Segment Anything Model (SAM) and a Vision-Language Model (VLM), enabling logic-driven moving object segmentation. The segmentation results then undergo a deep thinking refinement loop, allowing MovSAM to iteratively improve its understanding of the scene context and inter-object relationships with logical reasoning. This innovative approach enables MovSAM to segment moving objects in single images by considering scene understanding. We implement MovSAM in the real world to validate its practical application and effectiveness for autonomous driving scenarios where the multi-frame methods fail. Furthermore, despite the inherent advantage of multi-frame methods in utilizing temporal information, MovSAM achieves state-of-the-art performance across public MOS benchmarks, reaching 92.5\% on J\&F. Our implementation will be available at https://github.com/IRMVLab/MovSAM.

cs.CV↗

arXiv2025

On the Effective Horizon of Inverse Reinforcement Learning

Inverse reinforcement learning (IRL) algorithms often rely on (forward) reinforcement learning or planning, over a given time horizon, to compute an approximately optimal policy for a hypothesized reward function; they then match this policy with expert demonstrations. The time horizon plays a critical role in determining both the accuracy of reward estimates and the computational efficiency of IRL algorithms. Interestingly, an *effective time horizon* shorter than the ground-truth value often produces better results faster. This work formally analyzes this phenomenon and provides an explanation: the time horizon controls the complexity of an induced policy class and mitigates overfitting with limited data. This analysis provides a guide for the principled choice of the effective horizon for IRL. It also prompts us to re-examine the classic IRL formulation: it is more natural to learn jointly the reward and the effective horizon rather than the reward alone with a given horizon. To validate our findings, we implement a cross-validation extension and the experimental results support the theoretical analysis. The project page and code are publicly available.

cs.LG↗

arXiv2025

A Response to Recent Critiques of Hainmueller, Mummolo and Xu (2019) on Estimating Conditional Relationships

Simonsohn (2024a) and Simonsohn (2024b) critique Hainmueller, Mummolo and Xu (2019, HMX), arguing that failing to model nonlinear relationships between the treatment and moderator leads to biased marginal effect estimates and uncontrolled Type-I error rates. While these critiques highlight the issue of under-modeling nonlinearity in applied research, they are fundamentally flawed in several key ways. First, the causal estimand for interaction effects and the necessary identifying assumptions are not clearly defined in these critiques. Once properly stated, the critiques no longer hold. Second, the kernel estimator HMX proposes recovers the true causal effects in the scenarios presented in these recent critiques, which compared effects to the wrong benchmark, producing misleading conclusions. Third, while Generalized Additive Models (GAM) can be a useful exploratory tool (as acknowledged in HMX), they are not designed to estimate marginal effects, and better alternatives exist, particularly in the presence of additional covariates. Our response aims to clarify these misconceptions and provide updated recommendations for researchers studying interaction effects through the estimation of conditional marginal effects.

stat.ME↗

arXiv2024

Polarization faticons: Chiral localized structures in self-defocusing Kerr resonators

We report on numerical predictions and experimental observations of a novel type of temporal localized dissipative structures that manifest themselves in the self-defocusing regime of driven nonlinear optical resonators with two polarization modes. These chiral dissipative solitons, which we term polarization faticons, break both temporal and polarization symmetry and consist of two bright lobes of opposite polarization handedness, interlocked by a domain wall. Our study reveals that faticons are connected to a vectorial modulational instability, from which they can be excited through a collapsing dynamic. Faticons could offer a novel pathway for frequency comb generation in normal dispersion resonators. More generally, they offer new fundamental insights into vectorial localized dissipative structures and could be relevant to other multi-component dissipative systems.

physics.optics↗

arXiv2024

Coherent Ising Machine Based on Polarization Symmetry Breaking in a Driven Kerr Resonator

Time-multiplexed networks of degenerate optical parametric oscillators have demonstrated remarkable success in simulating coupled Ising spins, thus providing a promising route to solving complex combinatorial optimization problems. In these systems $\unicode{x2014}$ referred to as coherent Ising machines $\unicode{x2014}$ the spins are encoded in the phases of the oscillators, and spin states are measured at the system output using phase-sensitive techniques. Here, we present an experimental demonstration of a conceptually new optical Ising machine based upon spontaneous polarization symmetry breaking within a coherently-driven optical fibre Kerr nonlinear resonator. In our scheme, the spin states are encoded using polarization, which allows the state of the network to be robustly read out using straightforward intensity measurements. Furthermore, by operating within a recently-discovered regime where the interplay between nonlinearity and topology fundamentally safeguards the system's symmetry, we ensure that our spins evolve without unwanted biases. This enables continuous Ising machine trials at optical data rates for up to an hour without resetting or manual adjustments. With an all-fibre implementation that relies solely on standard telecommunications components, we believe our work paves the way for substantial advances in the performance and stability of coherent optical Ising machines for applications ranging from financial modeling to drug discovery and machine learning.

physics.optics↗

arXiv2024

Continuous wave driving elucidates the desynchronisation dynamics of ultrashort dissipative Raman solitons generated in dispersive Kerr resonators

Phase-coherent pulsed driving of passive optical fiber resonators enable the generation of ultrashort dissipative Raman solitons with durations well below 100~fs. The existence and characteristics of such solitons critically depends on the desynchronisation between the pulsed driving source and the resonator roundtrip time, yet the full mechanism through which these dependencies arise remains unclear. Here, we numerically demonstrate that Raman solitons can exist even under conditions of continuous wave driving, and by numerically examining the existence and characteristics of Raman solitons under such conditions, we elucidate the role of desynchronisation in pulse-driven systems. In addition to providing new insights on the existence and characteristics of ultrashort Raman solitons, our analysis yields a qualitative explanation for the range of desynchronisations over which the solitons can exist.

physics.optics↗

arXiv2024

Differentiable Particles for General-Purpose Deformable Object Manipulation

Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algorithm, capable of manipulating many different types of objects: beans, rope, cloth, liquid, . . . . One key difficulty is a suitable representation, rich enough to capture object shape, dynamics for manipulation and yet simple enough to be acquired effectively from sensor data. Specifically, we propose Differentiable Particles (DiPac), a new algorithm for deformable object manipulation. DiPac represents a deformable object as a set of particles and uses a differentiable particle dynamics simulator to reason about robot manipulation. To find the best manipulation action, DiPac combines learning, planning, and trajectory optimization through differentiable trajectory tree optimization. Differentiable dynamics provides significant benefits and enable DiPac to (i) estimate the dynamics parameters efficiently, thereby narrowing the sim-to-real gap, and (ii) choose the best action by backpropagating the gradient along sampled trajectories. Both simulation and real-robot experiments show promising results. DiPac handles a variety of object types. By combining planning and learning, DiPac outperforms both pure model-based planning methods and pure data-driven learning methods. In addition, DiPac is robust and adapts to changes in dynamics, thereby enabling the transfer of an expert policy from one object to another with different physical properties, e.g., from a rigid rod to a deformable rope.

cs.RO↗

arXiv2024

LLMs for Robotic Object Disambiguation

The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making challenges within the realm of robotics? Our study reveals the LLM's aptitude for solving complex decision making challenges that are often previously modeled by Partially Observable Markov Decision Processes (POMDPs). A pivotal focus of our research is the object disambiguation capability of LLMs. We detail the integration of an LLM into a tabletop environment disambiguation task, a decision making problem where the robot's task is to discern and retrieve a user's desired object from an arbitrarily large and complex cluster of objects. Despite multiple query attempts with zero-shot prompt engineering (details can be found in the Appendix), the LLM struggled to inquire about features not explicitly provided in the scene description. In response, we have developed a few-shot prompt engineering system to improve the LLM's ability to pose disambiguating queries. The result is a model capable of both using given features when they are available and inferring new relevant features when necessary, to successfully generate and navigate down a precise decision tree to the correct object--even when faced with identical options.

cs.RO↗

arXiv2023

How Much Should We Trust Instrumental Variable Estimates in Political Science? Practical Advice Based on Over 60 Replicated Studies

Instrumental variable (IV) strategies are widely used in political science to establish causal relationships. However, the identifying assumptions required by an IV design are demanding, and it remains challenging for researchers to assess their validity. In this paper, we replicate 67 papers published in three top journals in political science during 2010-2022 and identify several troubling patterns. First, researchers often overestimate the strength of their IVs due to non-i.i.d. errors, such as a clustering structure. Second, the most commonly used t-test for the two-stage-least-squares (2SLS) estimates often severely underestimates uncertainty. Using more robust inferential methods, we find that around 19-30% of the 2SLS estimates in our sample are underpowered. Third, in the majority of the replicated studies, the 2SLS estimates are much larger than the ordinary-least-squares estimates, and their ratio is negatively correlated with the strength of the IVs in studies where the IVs are not experimentally generated, suggesting potential violations of unconfoundedness or the exclusion restriction. To help researchers avoid these pitfalls, we provide a checklist for better practice.

econ.EM↗

arXiv2023

Learning Reward for Physical Skills using Large Language Model

Learning reward functions for physical skills are challenging due to the vast spectrum of skills, the high-dimensionality of state and action space, and nuanced sensory feedback. The complexity of these tasks makes acquiring expert demonstration data both costly and time-consuming. Large Language Models (LLMs) contain valuable task-related knowledge that can aid in learning these reward functions. However, the direct application of LLMs for proposing reward functions has its limitations such as numerical instability and inability to incorporate the environment feedback. We aim to extract task knowledge from LLMs using environment feedback to create efficient reward functions for physical skills. Our approach consists of two components. We first use the LLM to propose features and parameterization of the reward function. Next, we update the parameters of this proposed reward function through an iterative self-alignment process. In particular, this process minimizes the ranking inconsistency between the LLM and our learned reward functions based on the new observations. We validated our method by testing it on three simulated physical skill learning tasks, demonstrating effective support for our design choices.

cs.RO↗

arXiv2023

"Tidy Up the Table": Grounding Common-sense Objective for Tabletop Object Rearrangement

Tidying up a messy table may appear simple for humans, but articulating clear criteria for tidiness is challenging due to the ambiguous nature of common sense reasoning. Large Language Models (LLMs) have proven capable of capturing common sense knowledge to reason over this vague concept of tidiness. However, they alone may struggle with table tidying due to the limited grasp on the spatio-visual aspects of tidiness. In this work, we aim to ground the common-sense concept of tidiness within the context of object arrangement. Our survey reveals that humans usually factorize tidiness into semantic and visual-spatial tidiness; our grounding approach aligns with this decomposition. We connect a language-based policy generator with an image-based tidiness score function: the policy generator utilizes the LLM's commonsense knowledge to cluster objects by their implicit types and functionalities for semantic tidiness; meanwhile, the tidiness score function assesses the visual-spatial relations of the object to achieve visual-spatial tidiness. Our tidiness score is trained using synthetic data generated cheaply from customized random walks, which inherently encode the order of tidiness, thereby bypassing the need for labor-intensive human demonstrations. The simulated experiment shows that our approach successfully generates tidy arrangements, predominately in 2D, with potential for 3D stacking, for tables with various novel objects.

cs.RO↗

arXiv2023

Random number generation using spontaneous symmetry breaking in a Kerr resonator

We experimentally demonstrate an all-optical random number generator based on spontaneous symmetry breaking in a coherently-driven Kerr resonator. Random bit sequences are generated by repeatedly tuning a control parameter across a symmetry-breaking bifurcation that enacts random selection between two possible steady-states of the system. Experiments are performed in a fibre ring resonator, where the two symmetry-broken steady-states are associated with orthogonal polarization modes. Detrimental biases due to system asymmetries are completely suppressed by leveraging a recently-discovered self-symmetrization phenomenon that ensures the symmetry breaking acts as an unbiased coin toss, with a genuinely random selection between the two available steady-states. We optically generate bits at a rate of over 3~MHz without post-processing and verify their randomness using the National Institute of Standards and Technology and Dieharder statistical test suites.

physics.optics↗