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Yixuan Huang

Publications and source records attributed to Yixuan Huang.

At least 19 recordsLinked to original sources
arXiv2026

DATAFARM: Distribution-Aligned Task and Motion Planning for Fine-Tuning Vision-Language-Action Models

Collecting high-quality robot data remains a fundamental challenge for training robot foundation models. Task and motion planning (TAMP) offers a scalable way to generate demonstrations, but our experiments show that raw TAMP trajectories provide surprisingly little benefit when used to fine-tune pretrained vision-language-action (VLA) models, despite successfully solving the target tasks. We hypothesize that this failure arises from a behavioral distribution mismatch between planner-generated trajectories and the data used to pretrain the VLA. To address this mismatch, we introduce DATAFARM: Distribution-Aligned Task And motion planning for Fine-tuning A Robot foundation Model, an approach that incorporates the pretraining distribution directly into TAMP trajectory generation. DATAFARM aligns generated trajectories with the pretraining data in robot joint configurations, motion style, and temporal execution profiles. We evaluate DATAFARM on three tabletop manipulation tasks that TAMP can perform and a cloth-folding task beyond the capability of TAMP. DATAFARM achieves an average success rate of 56.7%, substantially outperforming raw TAMP (8.3%) while approaching human teleoperation (61.7%). On Deformable Object Manipulation, which is outside the fine-tuning distribution, the fine-tuned model retains 85% success, compared with 90% for the pretrained model. These results show that aligning planner-generated demonstrations with the pretraining distribution can make TAMP an effective source of data for VLA fine-tuning. Website and code: https://prpl-group.com/datafarm/

cs.RO↗
arXiv2026

Dynamical signatures of Hardcore-Boson Supersolid on the Triangular Lattice

We investigate the dynamical signatures of the supersolid phase in the triangular-lattice hardcore Bose-Hubbard model via large-scale quantum Monte Carlo simulations and linear spin-wave theory. We reveal a distinct momentum-space separation in the spectral weights. The transverse spectrum shows gapless Goldstone modes at the $Γ$ and $K$ points, while the longitudinal spectrum features a gapless mode at $K$ and a roton-like minimum at $M$. Directly in the imaginary-time domain, the supersolid is unambiguously characterized by the coexistence of transverse spectral lines at $Γ$ and $K$. Furthermore, we show that strong quantum fluctuations induce a breakdown of the sharp quasiparticle picture, leading to asymmetric line shapes and broad continua. Our work establishes the definitive dynamical signatures of the hardcore-boson supersolid, providing key insights into analogous spin supersolids in triangular quantum magnets.

cond-mat.quant-gas↗
arXiv2026

Dipolar and quadrupolar spin supersolid states in a spin-1 triangular antiferromagnet

We present a systematic numerical study of the spin-1 antiferromagnetic Heisenberg model on the triangular lattice in an out-of-plane magnetic field, using Density Matrix Renormalization Group (DMRG) methods. By mapping out the quantum phase diagram as a function of the single-ion anisotropy $D_z$ and magnetic field, we identify distinct dipolar and quadrupolar spin supersolid states, characterized by spontaneous U(1) symmetry breaking with finite spin superfluid stiffness coexisting with longitudinal translational symmetry breaking. At zero field, the dipolar spin supersolid with a 'Y'-type spin configuration persists down to $D_z = 0$, whereas the quadrupolar spin supersolid prevails at large $D_z$. At intermediate fields, the phase diagram is dominated by an up-up-down phase. At high fields below saturation, a quadrupolar spin superfluid emerges in the large-$D_z$ regime, whereas a dipolar spin supersolid with a 'V'-type spin configuration dominates at small $D_z$. These phases are characterized through their order parameters and spin superfluid stiffness using calculations on various system sizes. Furthermore, the dynamical spin structure factor is obtained across the phase diagram, where characteristic spectral signatures of different phases are observed, including the gapless Goldstone mode and the roton-like minima. These features are directly accessible to inelastic neutron scattering experiments. Our results provide a theoretical understanding of the interplay between frustrations, anisotropy, and Zeeman interactions in driving distinct spin supersolid phases in the spin-1 system, which are relevant to various triangular-lattice antiferromagnets such as Na$_2$BaNi(PO$_4$)$_2$ and K$_2$Ni(SeO$_3$)$_2$.

cond-mat.str-el↗
arXiv2026

Incommensurate spin fluctuations in one-dimensional Kondo metal CeCo2Ga8

We present an experimental and numerical study of the spin fluctuations in 1D Kondo metal CeCo$_2$Ga$_8$. Using inelastic neutron spectroscopy, we measure highly one-dimensional magnetism with low-energy incommensurate short-ranged magnetic fluctuations. ARPES similarly shows a highly one-dimensional electronic band structure, confirming the one-dimensional nature of the system. We use density matrix renormalization group (DMRG) simulations of the 1D Kondo lattice model to interpret the measured spectrum, which successfully reproduce the neutron scattering features. We are thus able to place CeCo$_2$Ga$_8$ within the emergent incommensurate phase of the 1D Kondo lattice phase diagram, and demonstrate that the Kondo lattice simulated non-perturbatively is an accurate microscopic model for heavy fermion physics. This shows CeCo$_2$Ga$_8$ to be one-dimensional despite its complexities, and reveals a coexistence of low-energy Kondo and magnetic features in its inelastic spectrum.

cond-mat.str-el↗
arXiv2026

Explicit exposure of Haar measure

We solve the problem of explicitly constructing a continuous function whose unique maximizing measure for the doubling map is Lebesgue measure. More generally, given a nontrivial compact metrizable abelian group and a continuous surjective endomorphism for which normalised Haar measure is ergodic, we explicitly construct a continuous function on the group for which Haar measure is the unique invariant maximizing measure. The function is the uniform limit of a recursively defined sequence of trigonometric polynomials with rational coefficients; every parameter of the recursion is given by a closed formula, every step is exact, and the rate of convergence is explicit. In specific cases, we further obtain a uniformly convergent Fourier expansion in the classical frequency order, each of whose coefficients is rational and computable exactly, by a finite procedure.

math.DS↗
arXiv2026

BGA: A noise-immune neural distillation framework for malicious signature extraction in high-entropy encrypted flows

To mitigate attention dilution in high-entropy TLS 1.3 flows, we propose BGA, a noise-immune neural distillation framework for encrypted threat intelligence.The methodology first employs Analysis of Variance (ANOVA) to decouple high-discriminatory control-plane features - specifically industrial setpoints - from stochastic cryptographic noise. To resolve the extreme class imbalance within a corpus of 86,878 flow records, a Wasserstein GAN with Gradient Penalty (WGAN-GP) module, enforcing the 1-Lipschitz constraint, is integrated to synthesize high-fidelity minority samples, elevating the detection recall of rare Malicious State Command Injections(MSCI) attacks by 43.2%. At its core, the BGA architecture integrates Bidirectional Long Short-Term Memory (BiLSTM) for temporal dependency extraction and an Adaptive Gated Multi-Head Attention mechanism. This gated unit functions as a neural filter to dynamically suppress encryption artifacts while amplifying malicious signatures. Extensive evaluations on CIC-IDS-2018 and Edge-IIoT benchmarks demonstrate a performance ceiling exceeding 95.2% across all key metrics. Furthermore, noise-injection stress tests confirm BGAs superior structural resilience with a 8.57% performance margin over vanilla Transformers, while its ultra-low inference latency of 0.2820 ms (estimated 1.6920 ms via theoretical scaling for ARM) indicates a high potential for real-time feasibility on heterogeneous industrial edge gateways, providing a promising architectural baseline for future hardware implementation.

cs.CR↗
arXiv2026

Wireless Imaging for Low-Altitude Surveillance: A New Paradigm for ISAC Networks

The rapid growth of the low-altitude economy calls for integrated sensing and communication (ISAC) networks capable of robust flight monitoring. This article advocates wireless imaging as a unifying sensing paradigm that enables ISAC networks to function as comprehensive low-altitude guardians. We present a hierarchical imaging framework that enhances sensing capability from wide-area snapshot imaging to dynamic trajectory-aware imaging and target-centric fine-grained characterization. At the wide-area level, low-altitude sensing is reformulated as a spatial imaging problem, where distributed base stations and communication users collaboratively construct a holistic view of the aerial space. Building on this foundation, multi-frame dynamic imaging exploits temporal correlations to support robust trajectory tracking and prediction under mobility induced challenges such as occlusions. For security-critical scenarios, the framework further enables fine-grained imaging of flying and hovering uncrewed aerial vehicles, providing detailed characterization beyond conventional point-target abstractions. Additionally, we propose a novel evaluation metric named imaging coverage to examine the sensing fidelity of the proposed framework. Illustrative case studies demonstrate the potential of imaging in ISAC networks to support wide-area monitoring, motion-aware tracking, and fine-grained target analysis.

eess.SP↗
arXiv2026

WrAFT: a Modularized Automated Writing Evaluation System for Argumentative Essays

This study presents WrAFT, a Writing Assessment and Feedback Tool, that delivers both accurate and reliable scores and effective comprehensive feedback to argumentative essays. WrAFT adopts a modular design by dividing automated writing evaluation (AWE) tasks into scoring, surface-level feedback, and deep-level feedback. In building the system, various Large Language Models (LLMs) have been evaluated, including LLaMA-3.3-70B-Instruct, GPT-4o, and Claude 3.7, through both direct prompting and supervised fine-tuning approaches. A proprietary dataset of 480 TOEFL Independent Writing essays with official benchmark scores was utilized. Benchmark-based evaluation shows that WrAFT achieves state-of-the-art performance in scoring, with a quadratic weighted kappa (QWK) of 0.84 and a root mean square error (RMSE) of 0.44 against official scores on a scale of 0-5. Human evaluation of system-generated feedback also reveals high approval ratings: 96.14 percent for surface-level feedback, 93.03 percent for deep-level macro feedback, and 94.69 percent for deep-level micro feedback. An interactive user interface has been developed for the system and is publicly available and free to use.

cs.AI↗
arXiv2026

Dissipationless dynamics of spin supersolid states in a spin-1/2 triangular antiferromagnet with impurities

Motivated by recent experimental evidence for spin supersolid states in triangular-lattice compounds, we numerically investigate the dynamical properties of magnetic field-induced phases in the spin-1/2 easy-axis triangular antiferromagnetic Heisenberg model in the presence of magnetic impurities. In both weak- and strong-field spin supersolid states, the gapless Goldstone mode at the $K$ points remains robust against impurities, which is a direct manifestation of spin superfluidity. By contrast, at the same impurity density, impurities induce a splitting of the magnon bands in the conventional magnetic state, the so-called up-up-down state. In addition, the finite superfluid stiffness probed by the twisted phase in the spin supersolid states is consistent with the excitation spectrum. We argue that the excitation spectrum with impurities provides direct spectroscopic evidence for dissipationless spin dynamics in the spin supersolid states, which is experimentally accessible via inelastic neutron scattering.

cond-mat.str-el↗
arXiv2026

RoboVista: Evaluating Vision Language Models for Diverse Robot Applications

Diverse applications for robotics, such as industry and agriculture, require robots to operate across various embodiments, changing visual conditions, and complex planning. Vision-Language Models (VLMs) offer a promising foundation for general-purpose and interpretable robotic reasoning. Aligning VLMs with diverse robot applications requires a modular understanding of the individual decision components that underlie robotic behavior. Capturing such structure is challenging for conventional robot benchmarks that are primarily based on teleoperated, end-to-end datasets. We propose Robot Question Answering (RQA), a modular evaluation framework and RoboVista, a benchmark curated from real robotic systems, research papers, and expert annotations. RoboVista contains 474 Visual Question Answering (VQA) instances with human annotated reasoning and covers 39 unique task types in agricultural, industrial, domestic, surgical robotics, autonomous driving, and open robot datasets. Experiments on RoboVista show that state-of-the-art VLMs exhibit substantial gaps. Physical robot experiments suggest strong correlation between RoboVista performance and real-world task execution.

cs.RO↗
arXiv2026

Emergent Spin Supersolids in Frustrated Quantum Materials

Recent years have witnessed the emergence of spin supersolids in frustrated quantum magnets, establishing a material-based platform for supersolidity beyond its original context in solid helium. A spin supersolid is characterized by the coexistence of longitudinal spin order that breaks lattice translational symmetry and transverse spin order associated with the spontaneous breaking of the spin U(1) symmetry. Extensive experimental investigations, together with advanced numerical studies, have now revealed a coherent and internally consistent picture of these phases, substantially deepening our understanding of supersolidity in quantum magnetic materials. Beyond their fundamental interest as exotic quantum states, potential applications in highly efficient demagnetization cooling have been supported by a giant magnetocaloric effect observed in candidate materials. Moreover, the possible dissipationless spin supercurrents could open promising perspectives for spin transport and spintronic applications. This review summarizes recent progress on emergent spin supersolids in frustrated triangular-lattice quantum antiferromagnets, surveys experimental evidence from thermodynamic and spectroscopic measurements, and compares these results with theoretical studies of minimal models addressing global phase diagrams, ground state properties, and collective excitations. In addition, this review discusses characteristic spin-transport phenomena and outlines future directions for exploring spin supersolids as functional quantum materials.

cond-mat.str-el↗
arXiv2026

An analysis on stochastic Lanczos quadrature with asymmetric quadrature nodes

This paper revisits the error analysis of the Stochastic Lanczos Quadrature (SLQ) method for approximating the trace of matrix functions, with a specific focus on asymmetric Lanczos quadrature rules. We reexplain an existing theoretical discrepancy regarding the necessity of a scaling factor when applying an affine transformation from the reference interval to the physical spectral interval. Furthermore, we introduce an optimized error reallocation technique for log-determinant estimation. Rather than evenly splitting the error tolerance between the Hutchinson trace estimator and the Lanczos quadrature, we formulate an optimization problem to strategically distribute the error budget. This approach minimizes the total number of matrix-vector multiplications (MVMs) required to reach a target accuracy for both Rademacher and Gaussian queries. Numerical experiments validate that this reallocation yields tighter theoretical bounds and provides a concrete rule-of-thumb for parameter configuration: to achieve a target accuracy efficiently, more computational resources should be allocated to the Lanczos process (larger m) rather than Monte Carlo sampling (smaller N).

math.NA↗
arXiv2026

Improving Human Image Animation via Semantic Representation Alignment

The field of image-to-video generation has made remarkable progress. However, challenges such as human limb twisting and facial distortion persist, especially when generating long videos or modeling intensive motions. Existing human image animation works address these issues by incorporating human-specific semantic representations, e.g., dense poses or ID embeddings, as additional conditions. However, conditioning on these representations could decrease the generation flexibility. Moreover, their reliance on RGB pixel supervision also lacks emphasis on learning necessary 3D geometric relationships and temporal coherence. In contrast, we introduce a novel approach named SemanticREPA that leverages these semantic representations as supervision signals through representation alignment. Specifically, we begin by training a structure alignment module that aligns the structure representations obtained from video latents with video depth estimation features. We then fix the pretrained module, and utilize it to provide additional supervision on the structure representations of the diffusion models, achieving structure rectification to generate coherent and stable human structures. Simultaneously, we develop an ID alignment module to align the ID representations of the generated videos to face recognition features. We further propose to use the predicted structure representations to refine identity restoration in relevant regions. With structure and ID alignment, our method demonstrates superior quality on extended character motions and enhanced character consistency.

cs.CV↗
arXiv2026

Multi-Dimensional Evaluation of LLMs for Grammatical Error Correction

Automated assistants for Grammatical Error Correction are now embedded in educational platforms serving millions of learners, yet three critical gaps remain in this domain: (1) latest-generation Large Language Models (LLMs) lack comprehensive evaluation on grammar correction tasks; (2) whether combining these LLMs improves correction quality is unexplored; and (3) the extent to which reference-based metrics underestimate GEC system performance has not been adequately quantified. In this study, first, we evaluate latest-generation LLMs on edit precision, fluency preservation, and meaning retention, showing fine-tuned GPT-4o achieves state-of-the-art performance across all three dimensions. Second, through grammatical error type analysis we demonstrate that individual LLMs exhibit highly similar error correction patterns ($ρ=0.947$). Third, we show that reference-based metrics underestimate GEC performance with 73.76% of GPT-4o corrections different from gold standards being equally valid or even superior. These GEC evaluation findings equip educators with guidance for selecting GEC assistants that enhance rather than constrain student linguistic development. We make our data, code, and models publicly available.

cs.CL↗
arXiv2026

KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning

Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic Embodied Reasoning that targets physical reasoning challenges arising in robot learning and planning. KinDER comprises 25 procedurally generated environments, a Gymnasium-compatible Python library with parameterized skills and demonstrations, and a standardized evaluation suite with 13 implemented baselines spanning task and motion planning, imitation learning, reinforcement learning, and foundation-model-based approaches. The environments are designed to isolate five core physical reasoning challenges: basic spatial relations, nonprehensile multi-object manipulation, tool use, combinatorial geometric constraints, and dynamic constraints, disentangled from perception, language understanding, and application-specific complexity. Empirical evaluation shows that existing methods struggle to solve many of the environments, indicating substantial gaps in current approaches to physical reasoning. We additionally include real-to-sim-to-real experiments on a mobile manipulator to assess the correspondence between simulation and real-world physical interaction. KinDER is fully open-sourced and intended to enable systematic comparison across diverse paradigms for advancing physical reasoning in robotics. Website and code: https://prpl-group.com/kinder-site/

cs.RO↗
arXiv2026

MMCORE: MultiModal COnnection with Representation Aligned Latent Embeddings

We present MMCORE, a unified framework designed for multimodal image generation and editing. MMCORE leverages a pre-trained Vision-Language Model (VLM) to predict semantic visual embeddings via learnable query tokens, which subsequently serve as conditioning signals for a diffusion model. This streamlined design effectively transfers the rich understanding and reasoning capabilities of VLMs into the visual generation process. By obviating the need for deep fusion between autoregressive and diffusion models or training from scratch, MMCORE significantly reduces computational overhead while maintaining high-fidelity synthesis. MMCORE seamlessly integrates text-to-image synthesis with interleaved image generation, demonstrating robust multimodal comprehension in complex scenarios such as spatial reasoning and visual grounding. Comprehensive evaluations indicate that MMCORE consistently outperforms state-of-the-art baselines across a broad spectrum of text-to-image and single/multi-image editing benchmarks.

cs.CV↗
arXiv2026

Hierarchical DLO Routing with Reinforcement Learning and In-Context Vision-language Models

Long-horizon routing tasks of deformable linear objects (DLOs), such as cables and ropes, are common in industrial assembly lines and everyday life. These tasks are particularly challenging because they require robots to manipulate DLO with long-horizon planning and reliable skill execution. Successfully completing such tasks demands adapting to their nonlinear dynamics, decomposing abstract routing goals, and generating multi-step plans composed of multiple skills, all of which require accurate high-level reasoning during execution. In this paper, we propose a fully autonomous hierarchical framework for solving challenging DLO routing tasks. Given an implicit or explicit routing goal expressed in language, our framework leverages vision-language models~(VLMs) for in-context high-level reasoning to synthesize feasible plans, which are then executed by low-level skills trained via reinforcement learning. To improve robustness over long horizons, we further introduce a failure recovery mechanism that reorients the DLO into insertion-feasible states. Our approach generalizes to diverse scenes involving object attributes, spatial descriptions, implicit language commands, and \myred{extended 5-clip settings}. It achieves an overall success rate of 92\% across long-horizon routing scenarios. Please refer to our project page: https://icra2026-dloroute.github.io/DLORoute/

cs.RO↗
arXiv2026

A Wireless World Model for AI-Native 6G Networks

Integrating AI into the physical layer is a cornerstone of 6G networks. However, current data-driven approaches struggle to generalize across dynamic environments because they lack an intrinsic understanding of electromagnetic wave propagation. We introduce the Wireless World Model (WWM), a multi-modal foundation framework predicting the spatiotemporal evolution of wireless channels by internalizing the causal relationship between 3D geometry and signal dynamics. Pre-trained on a massive ray-traced multi-modal dataset, WWM overcomes the data authenticity gap, further validated under real-world measurement data. Using a joint-embedding predictive architecture with a multi-modal mixture-of-experts Transformer, WWM fuses channel state information, 3D point clouds, and user trajectories into a unified representation. Across the five key downstream tasks supported by WWM, it achieves remarkable performance in seen environments, unseen generalization scenarios, and real-world measurements, consistently outperforming SOTA uni-modal foundation models and task-specific models. This paves the way for physics-aware 6G intelligence that adapts to the physical world.

cs.NI↗