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Yixuan Pan

Publications and source records attributed to Yixuan Pan.

15 recordsLinked to original sources

Training-free sparse attention based on cumulative energy filtering

Sparse attention accelerates Diffusion Transformers (DiTs) for video generation by computing only the important tokens while skipping the rest. The token selection strategy is key to balancing sparsity and accuracy. We formulate the token filtering process as a dual-goal optimization problem: maximizing sparsity and minimizing accuracy degradation. Existing algorithms cannot fulfill both objectives simultaneously. For example, Top-p only considers the accuracy constraint, while Top-k maintains a fixed computational budget but loosens the accuracy constraint. This paper demonstrates that maintaining a fixed recall rate is sufficient for ensuring accuracy, whereas a fixed threshold is suboptimal for reducing computational cost. Therefore, we propose a dynamic thresholding scheme to improve sparsity while maintaining the same level of accuracy. Furthermore, our algorithm is deeply integrated with Flash Attention (FA), eliminating the need for any additional masking computation overhead. Experimental results on Wan 2.2 validate that, compared to the BLASST algorithm which is also integrated with FA, our dynamic thresholding strategy enhances sparsity from 61.42\% to 82\% with a VBench metric drop of less than 5\%. This results in an approximate 15\% in attention computation and a $1.61\times$ increase in computational efficiency, which is 1.18x higher than that of BLASST.

cs.CV

RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning

Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy to targets. Motion tracking-driven reinforcement learning (RL) provides stability in whole-body movement coordination, but a fixed reference makes it hard to adapt to varied ball positions and strike timings; in contrast, task reward-driven RL struggles to explore and discover valid kicks from scratch. We therefore introduce RoboNaldo, a three-stage motion-guided curriculum RL framework for high-impulse humanoid interaction. A single human-kick reference is used as a scaffold and progressively shifts optimization towards shooting performance. The curriculum first learns a stable whole-body kicking prior, then adapts the kick to free-kick settings where the ball is stationary at random positions, and finally extends it to moving-ball shooting through a locomotion-command and kick-trigger interface. A high-level heuristic planner controls this interface during training, while alternative high-level controllers can drive the same low-level policy at inference. In simulation, RoboNaldo demonstrates free-kick shot error 48.6% lower and shoot velocity 2.96x than prior work baselines. In real world on a Unitree G1 with onboard perception, RoboNaldo attains 0.73 m and 0.86 m average target shooting error from 3 m away in free-kick and moving-ball cases, accordingly. And the post-contact ball velocity reaches 13.10 m/s, which is 59-71% of reported professional open-play shot speed. Project page: https://opendrivelab.com/RoboNaldo.

cs.RO

SMASH: Mastering Scalable Whole-Body Skills for Humanoid Ping-Pong with Egocentric Vision

Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations stem from two core challenges: achieving low-latency and robust onboard egocentric perception under fast robot motion, and obtaining sufficiently diverse task-aligned strike motions for learning precise yet natural whole-body behaviors. In this work, we present \methodname, a modular system for agile humanoid table tennis that unifies scalable whole-body skill learning with onboard egocentric perception, eliminating the need for external cameras during deployment. Our work advances prior humanoid table-tennis systems in three key aspects. First, we achieve agile and precise ball interaction with tightly coordinated whole-body control, rather than relying on decoupled upper- and lower-body behaviors. This enables the system to exhibit diverse strike motions, including explosive whole-body smashes and low crouching shots. Second, by augmenting and diversifying strike motions with a generative model, our framework benefits from scalable motion priors and produces natural, robust striking behaviors across a wide workspace. Third, to the best of our knowledge, we demonstrate the first humanoid table-tennis system capable of consecutive strikes using onboard sensing alone, despite the challenges of low-latency perception, ego-motion-induced instability, and limited field of view. Extensive real-world experiments demonstrate stable and precise ball exchanges under high-speed conditions, validating scalable, perception-driven whole-body skill learning for dynamic humanoid interaction tasks.

cs.RO

Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data

Humanoid robots are envisioned to perform a wide range of tasks in human-centered environments, requiring controllers that combine agility with robust balance. Recent advances in locomotion and whole-body tracking have enabled impressive progress in either agile dynamic skills or stability-critical behaviors, but existing methods remain specialized, focusing on one capability while compromising the other. In this work, we introduce AMS (Agility Meets Stability), the first framework that unifies both dynamic motion tracking and extreme balance maintenance in a single policy. Our key insight is to leverage heterogeneous data sources: human motion capture datasets that provide rich, agile behaviors, and physically constrained synthetic balance motions that capture stability configurations. To reconcile the divergent optimization goals of agility and stability, we design a hybrid reward scheme that applies general tracking objectives across all data while injecting balance-specific priors only into synthetic motions. Further, an adaptive learning strategy with performance-driven sampling and motion-specific reward shaping enables efficient training across diverse motion distributions. We validate AMS extensively in simulation and on a real Unitree G1 humanoid. Experiments demonstrate that a single policy can execute agile skills such as dancing and running, while also performing zero-shot extreme balance motions like Ip Man's Squat, highlighting AMS as a versatile control paradigm for future humanoid applications.

cs.RO

RLDBF: Enhancing LLMs Via Reinforcement Learning With DataBase FeedBack

While current large language models (LLMs) demonstrate remarkable linguistic capabilities through training on massive unstructured text corpora, they remain inadequate in leveraging structured scientific data (e.g., chemical molecular properties in databases) that encapsulate centuries of accumulated scientific expertise. These structured datasets hold strategic significance for advancing AI for Science yet current approaches merely treat them as auxiliary supplements to unstructured text. This study pioneers a systematic investigation into enhancing LLMs with structured scientific data, using chemical molecular science as a testbed. We investigate the impact of incorporating molecular property data on LLM across distinct training phases, including continual pre-training, supervised fine-tuning, and reinforcement learning. Notably, to address the inherent limitation of numerical insensitivity in large models, we propose an innovative methodology termed "Reinforcement Learning with Database Feedback" (RLDBF). Experimental evaluations demonstrate the efficacy of the proposed approach, with the model exhibiting remarkable generalization capabilities on previously unseen data and other chemical tasks. The results substantiate the potential of our method in advancing the field of structured scientific data processing within LLMs.

cs.LG

AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.

cs.RO

KALE-LM-Chem: Vision and Practice Toward an AI Brain for Chemistry

Recent advancements in large language models (LLMs) have demonstrated strong potential for enabling domain-specific intelligence. In this work, we present our vision for building an AI-powered chemical brain, which frames chemical intelligence around four core capabilities: information extraction, semantic parsing, knowledge-based QA, and reasoning & planning. We argue that domain knowledge and logic are essential pillars for enabling such a system to assist and accelerate scientific discovery. To initiate this effort, we introduce our first generation of large language models for chemistry: KALE-LM-Chem and KALE-LM-Chem-1.5, which have achieved outstanding performance in tasks related to the field of chemistry. We hope that our work serves as a strong starting point, helping to realize more intelligent AI and promoting the advancement of human science and technology, as well as societal development.

cs.AI

Cross-Domain Few-Shot Object Detection via Enhanced Open-Set Object Detector

This paper studies the challenging cross-domain few-shot object detection (CD-FSOD), aiming to develop an accurate object detector for novel domains with minimal labeled examples. While transformer-based open-set detectors, such as DE-ViT, show promise in traditional few-shot object detection, their generalization to CD-FSOD remains unclear: 1) can such open-set detection methods easily generalize to CD-FSOD? 2) If not, how can models be enhanced when facing huge domain gaps? To answer the first question, we employ measures including style, inter-class variance (ICV), and indefinable boundaries (IB) to understand the domain gap. Based on these measures, we establish a new benchmark named CD-FSOD to evaluate object detection methods, revealing that most of the current approaches fail to generalize across domains. Technically, we observe that the performance decline is associated with our proposed measures: style, ICV, and IB. Consequently, we propose several novel modules to address these issues. First, the learnable instance features align initial fixed instances with target categories, enhancing feature distinctiveness. Second, the instance reweighting module assigns higher importance to high-quality instances with slight IB. Third, the domain prompter encourages features resilient to different styles by synthesizing imaginary domains without altering semantic contents. These techniques collectively contribute to the development of the Cross-Domain Vision Transformer for CD-FSOD (CD-ViTO), significantly improving upon the base DE-ViT. Experimental results validate the efficacy of our model.

cs.CV

An elaborated pattern-based method of identifying data oscillations from mobile device location data

In recent years, passively collected GPS data have been popularly applied in various transportation studies, such as highway performance monitoring, travel behavior analysis, and travel demand estimation. Despite multiple advantages, one of the issues is data oscillations (aka outliers or data jumps), which are unneglectable since they may distort mobility patterns and lead to wrongly or biased conclusions. For transportation studies driven by GPS data, assuring the data quality by removing noises caused by data oscillations is undoubtedly important. Most GPS-based studies simply remove oscillations by checking the high speed. However, this method can mistakenly identify normal points as oscillations. Some other studies specifically discuss the removal of outliers in GPS data, but they all have limitations and do not fit passively collected GPS data. Many studies are well developed for addressing the ping-pong phenomenon in cellular data, or cellular tower data, but the oscillations in passively collected GPS data are very different for having much more various and complicated patterns and being more uncertain. Current methods are insufficient and inapplicable to passively collected GPS data. This paper aims to address the oscillated points in passively collected GPS data. A set of heuristics are proposed by identifying the abnormal movement patterns of oscillations. The proposed heuristics well fit the features of passively collected GPS data and are adaptable to studies of different scales, which are also computationally cost-effective in comparison to current methods.

cs.DB

A Big Data Driven Framework for Duplicate Device Detection from Multi-sourced Mobile Device Location Data

Mobile Device Location Data (MDLD) has been popularly utilized in various fields. Yet its large-scale applications are limited because of either biased or insufficient spatial coverage of the data from individual data vendors. One approach to improve the data coverage is to leverage the data from multiple data vendors and integrate them to build a more representative dataset. For data integration, further treatments on the multi-sourced dataset are required due to several reasons. First, the possibility of carrying more than one device could result in duplicated observations from the same data subject. Additionally, when utilizing multiple data sources, the same device might be captured by more than one data provider. Our paper proposes a data integration methodology for multi-sourced data to investigate the feasibility of integrating data from several sources without introducing additional biases to the data. By leveraging the uniqueness of travel pattern of each device, duplicate devices are identified. The proposed methodology is shown to be cost-effective while it achieves the desired accuracy level. Our findings suggest that devices sharing the same imputed home location and the top five most-visited locations during a month can represent the same user in the MDLD. It is shown that more than 99.6% of the sample devices having the aforementioned attribute in common are observed at the same location simultaneously. Finally, the proposed algorithm has been successfully applied to the national-level MDLD of 2020 to produce the national passenger origin-destination data for the NextGeneration National Household Travel Survey (NextGen NHTS) program.

cs.CY

A Data-Driven Travel Mode Share Estimation Framework based on Mobile Device Location Data

Mobile device location data (MDLD) contains abundant travel behavior information to support travel demand analysis. Compared to traditional travel surveys, MDLD has larger spatiotemporal coverage of population and its mobility. However, ground truth information such as trip origins and destinations, travel modes, and trip purposes are not included by default. Such important attributes must be imputed to maximize the usefulness of the data. This paper tends to study the capability of MDLD on estimating travel mode share at aggregated levels. A data-driven framework is proposed to extract travel behavior information from the MDLD. The proposed framework first identifies trip ends with a modified Spatiotemporal Density-based Spatial Clustering of Applications with Noise (ST-DBSCAN) algorithm. Then three types of features are extracted for each trip to impute travel modes using machine learning models. A labeled MDLD dataset with ground truth information is used to train the proposed models, resulting in 95% accuracy in identifying trip ends and 93% accuracy in imputing five travel modes (drive, rail, bus, bike and walk) with a Random Forest (RF) classifier. The proposed framework is then applied to two large-scale MDLD datasets, covering the Baltimore-Washington metropolitan area and the United States, respectively. The estimated trip distance, trip time, trip rate distribution, and travel mode share are compared against travel surveys at different geographies. The results suggest that the proposed framework can be readily applied in different states and metropolitan regions with low cost in order to study multimodal travel demand, understand mobility trends, and support decision making.

cs.CY

A Data-Driven Analytical Framework of Estimating Multimodal Travel Demand Patterns using Mobile Device Location Data

While benefiting people's daily life in so many ways, smartphones and their location-based services are generating massive mobile device location data that has great potential to help us understand travel demand patterns and make transportation planning for the future. While recent studies have analyzed human travel behavior using such new data sources, limited research has been done to extract multimodal travel demand patterns out of them. This paper presents a data-driven analytical framework to bridge the gap. To be able to successfully detect travel modes using the passively collected location information, we conduct a smartphone-based GPS survey to collect ground truth observations. Then a jointly trained single-layer model and deep neural network for travel mode imputation is developed. Being "wide" and "deep" at the same time, this model combines the advantages of both types of models. The framework also incorporates the multimodal transportation network in order to evaluate the closeness of trip routes to the nearby rail, metro, highway and bus lines and therefore enhance the imputation accuracy. To showcase the applications of the introduced framework in answering real-world planning needs, a separate mobile device location data is processed through trip end identification and attribute generation, in a way that the travel mode imputation can be directly applied. The estimated multimodal travel demand patterns are then validated against typical household travel surveys in the same Washington D.C. and Baltimore Metropolitan Regions.

cs.LG

Quantifying the influence of inter-county mobility patterns on the COVID-19 outbreak in the United States

As a highly infectious respiratory disease, COVID-19 has become a pandemic that threatens global health. Without an effective treatment, non-pharmaceutical interventions, such as travel restrictions, have been widely promoted to mitigate the outbreak. Current studies analyze mobility metrics such as travel distance; however, there is a lack of research on interzonal travel flow and its impact on the pandemic. Our study specifically focuses on the inter-county mobility pattern and its influence on the COVID-19 spread in the United States. To retrieve real-world mobility patterns, we utilize an integrated set of mobile device location data including over 100 million anonymous devices. We first investigate the nationwide temporal trend and spatial distribution of inter-county mobility. Then we zoom in on the epicenter of the U.S. outbreak, New York City, and evaluate the impacts of its outflow on other counties. Finally, we develop a "log-linear double-risk" model at the county level to quantify the influence of both "external risk" imported by inter-county mobility flows and the "internal risk" defined as the vulnerability of a county in terms of population with high-risk phenotypes. Our study enhances the situation awareness of inter-county mobility in the U.S. and can help improve non-pharmaceutical interventions for COVID-19.

cs.SI

Human Mobility Trends during the COVID-19 Pandemic in the United States

In March of this year, COVID-19 was declared a pandemic and it continues to threaten public health. This global health crisis imposes limitations on daily movements, which have deteriorated every sector in our society. Understanding public reactions to the virus and the non-pharmaceutical interventions should be of great help to fight COVID-19 in a strategic way. We aim to provide tangible evidence of the human mobility trends by comparing the day-by-day variations across the U.S. Large-scale public mobility at an aggregated level is observed by leveraging mobile device location data and the measures related to social distancing. Our study captures spatial and temporal heterogeneity as well as the sociodemographic variations regarding the pandemic propagation and the non-pharmaceutical interventions. All mobility metrics adapted capture decreased public movements after the national emergency declaration. The population staying home has increased in all states and becomes more stable after the stay-at-home order with a smaller range of fluctuation. There exists overall mobility heterogeneity between the income or population density groups. The public had been taking active responses, voluntarily staying home more, to the in-state confirmed cases while the stay-at-home orders stabilize the variations. The study suggests that the public mobility trends conform with the government message urging to stay home. We anticipate our data-driven analysis offers integrated perspectives and serves as evidence to raise public awareness and, consequently, reinforce the importance of social distancing while assisting policymakers.

physics.soc-ph

Quantifying human mobility behavior changes in response to non-pharmaceutical interventions during the COVID-19 outbreak in the United States

Ever since the first case of the novel coronavirus disease (COVID-19) was confirmed in Wuhan, China, social distancing has been promoted worldwide, including the United States. It is one of the major community mitigation strategies, also known as non-pharmaceutical interventions. However, our understanding is remaining limited in how people practice social distancing. In this study, we construct a Social Distancing Index (SDI) to evaluate people's mobility pattern changes along with the spread of COVID-19. We utilize an integrated dataset of mobile device location data for the contiguous United States plus Alaska and Hawaii over a 100-day period from January 1, 2020 to April 9, 2020. The major findings are: 1) the declaration of the national emergency concerning the COVID-19 outbreak greatly encouraged social distancing and the mandatory stay-at-home orders in most states further strengthened the practice; 2) the states with more confirmed cases have taken more active and timely responses in practicing social distancing; 3) people in the states with fewer confirmed cases did not pay much attention to maintaining social distancing and some states, e.g., Wyoming, North Dakota, and Montana, already began to practice less social distancing despite the high increasing speed of confirmed cases; 4) some counties with the highest infection rates are not performing much social distancing, e.g., Randolph County and Dougherty County in Georgia, and some counties began to practice less social distancing right after the increasing speed of confirmed cases went down, e.g., in Blaine County, Idaho, which may be dangerous as well.

cs.CY