arXiv subjects

Yu Cao

Publications and source records attributed to Yu Cao.

At least 55 records · Page 3Linked to original sources

arXiv2025

RTGS: Real-Time 3D Gaussian Splatting SLAM via Multi-Level Redundancy Reduction

3D Gaussian Splatting (3DGS) based Simultaneous Localization and Mapping (SLAM) systems can largely benefit from 3DGS's state-of-the-art rendering efficiency and accuracy, but have not yet been adopted in resource-constrained edge devices due to insufficient speed. Addressing this, we identify notable redundancies across the SLAM pipeline for acceleration. While conceptually straightforward, practical approaches are required to minimize the overhead associated with identifying and eliminating these redundancies. In response, we propose RTGS, an algorithm-hardware co-design framework that comprehensively reduces the redundancies for real-time 3DGS-SLAM on edge. To minimize the overhead, RTGS fully leverages the characteristics of the 3DGS-SLAM pipeline. On the algorithm side, we introduce (1) an adaptive Gaussian pruning step to remove the redundant Gaussians by reusing gradients computed during backpropagation; and (2) a dynamic downsampling technique that directly reuses the keyframe identification and alpha computing steps to eliminate redundant pixels. On the hardware side, we propose (1) a subtile-level streaming strategy and a pixel-level pairwise scheduling strategy that mitigates workload imbalance via a Workload Scheduling Unit (WSU) guided by previous iteration information; (2) a Rendering and Backpropagation (R&B) Buffer that accelerates the rendering backpropagation by reusing intermediate data computed during rendering; and (3) a Gradient Merging Unit (GMU) to reduce intensive memory accesses caused by atomic operations while enabling pipelined aggregation. Integrated into an edge GPU, RTGS achieves real-time performance (>= 30 FPS) on four datasets and three algorithms, with up to 82.5x energy efficiency over the baseline and negligible quality loss. Code is available at https://github.com/UMN-ZhaoLab/RTGS.

cs.AR↗

arXiv2025

\textsc{GUI-Spotlight}: Adaptive Iterative Focus Refinement for Enhanced GUI Visual Grounding

Multimodal large language models (MLLMs) have markedly expanded the competence of graphical user-interface (GUI) systems, propelling them beyond controlled simulations into complex, real-world environments across diverse platforms. However, practical usefulness is still bounded by the reliability of visual grounding, i.e., mapping textual references to exact on-screen elements. This limitation prevents the system from accurately performing pointer-level actions such as clicking or dragging. To address it, we introduce GUI-Spotlight -- a model trained for image-grounded reasoning that dynamically invokes multiple specialized tools to iteratively narrow its focus to the relevant region of the screen, thereby substantially improving visual grounding accuracy. On the ScreenSpot-Pro benchmark, GUI-Spotlight trained with only 18.5K training samples achieves 52.8\% accuracy, surpassing V2P-7B (50.6\% with 9.6M training samples) and GTA-1-7B (50.1\% with 1.56M training samples).

cs.CV↗

arXiv2025

QuarkMed Medical Foundation Model Technical Report

Recent advancements in large language models have significantly accelerated their adoption in healthcare applications, including AI-powered medical consultations, diagnostic report assistance, and medical search tools. However, medical tasks often demand highly specialized knowledge, professional accuracy, and customization capabilities, necessitating a robust and reliable foundation model. QuarkMed addresses these needs by leveraging curated medical data processing, medical-content Retrieval-Augmented Generation (RAG), and a large-scale, verifiable reinforcement learning pipeline to develop a high-performance medical foundation model. The model achieved 70% accuracy on the Chinese Medical Licensing Examination, demonstrating strong generalization across diverse medical benchmarks. QuarkMed offers a powerful yet versatile personal medical AI solution, already serving over millions of users at ai.quark.cn.

cs.AI↗

arXiv2025

Structure-preserving numerical schemes for Lindblad equations

We study a family of structure-preserving deterministic numerical schemes for Lindblad equations. This family of schemes has a simple form and can systemically achieve arbitrary high-order accuracy in theory. Moreover, these schemes can also overcome the non-physical issues that arise from many traditional numerical schemes. Due to their preservation of physical nature, these schemes can be straightforwardly used as backbones for further developing randomized and quantum algorithms in simulating Lindblad equations. In this work, we systematically study this family of structure-preserving deterministic schemes and perform a detailed error analysis, which is validated through numerical examples.

math.NA↗

arXiv2025

Applying Space-Group Symmetry to Speed up Hybrid-Functional Calculations within the Framework of Numerical Atomic Orbitals

Building upon the efficient implementation of hybrid density functionals (HDFs) for large-scale periodic systems within the framework of numerical atomic orbital bases using the localized resolution of identity (RI) technique, we have developed an algorithm that exploits the space group symmetry in key operation steps of HDF calculations, leading to further improvements in two ways. First, the reduction of $\mathbf{k}$-points in the Brillouin zone can reduce the number of Kohn-Sham equations to be solved. This necessitates the correct implementation of the rotation relation between the density matrices of equivalent $\mathbf{k}$-points within the representation of atomic orbitals. Second, the reduction of the real-space sector can accelerate the construction of the exact-exchange part of the Hamiltonian in real space. We have implemented this algorithm in the ABACUS software interfaced with LibRI, and tested its performance for several types of crystal systems with different symmetries. The expected speed-up is achieved in both aspects: the time of solving the Kohn-Sham equations decreases in proportion with the reduction of $\mathbf{k}$-points, while the construction of the Hamiltonian in real space is sped up by several times, with the degree of acceleration depending on the size and symmetry of the system.

physics.comp-ph↗

arXiv2025

Giant electro-optic coefficient in single crystal barium titanate on oxide insulator based Mach-Zehnder interferometer

Electro-optic modulators are indispensable components of modern day photonic integrated circuits (PICs). Recently lithium niobate has emerged as a key material to realize large-bandwidth high-speed modulation, but next-generation modulators require high-density integration, low cost, low power and high performance simultaneously, which are difficult to achieve with established integrated lithium niobate photonics platforms due to its limited electro-optic coefficient. Leveraging its exceptional Pockels coefficient, barium titanate (BTO) in the thin film form has emerged as a promising alternative but the electro-optic coefficients reported in thin-film BTO often fall short of bulk values due to challenges in film growth and waveguide fabrication. Here, we report, to the best of our knowledge, the largest Pockels coefficient (r42) of 1268 pm/V in thin film BTO platform, which is very close to the bulk value. We measure it by using an unbalanced Mach-Zehnder interferometer, fabricated by an optimized wet-etching method for realising single-mode waveguides in single-crystal barium titanate-on-insulator grown by pulsed laser deposition. This giant r42 is extracted from a device in which the optical mode is fully confined within a single-crystal BTO waveguide. This approach contrasts with previous designs where the core material - typically silicon or silicon nitride - supports only partial confinement, resulting in an evanescent overlap with a multi-crystalline BTO layer. This highly confined BTO on insulator electro-optic modulation technology may significantly advance the field of ultra-low-power integrated photonic devices and allows for the realization of next-generation efficient and compact photonic circuits.

physics.optics↗

arXiv2025

EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence

Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low cost accessibility and affordability of 3D data assets are critical for achieving generalization and scalability in embodied AI. However, most current embodied intelligence tasks still rely heavily on traditional 3D computer graphics assets manually created and annotated, which suffer from high production costs and limited realism. These limitations significantly hinder the scalability of data driven approaches. We present EmbodiedGen, a foundational platform for interactive 3D world generation. It enables the scalable generation of high-quality, controllable and photorealistic 3D assets with accurate physical properties and real-world scale in the Unified Robotics Description Format (URDF) at low cost. These assets can be directly imported into various physics simulation engines for fine-grained physical control, supporting downstream tasks in training and evaluation. EmbodiedGen is an easy-to-use, full-featured toolkit composed of six key modules: Image-to-3D, Text-to-3D, Texture Generation, Articulated Object Generation, Scene Generation and Layout Generation. EmbodiedGen generates diverse and interactive 3D worlds composed of generative 3D assets, leveraging generative AI to address the challenges of generalization and evaluation to the needs of embodied intelligence related research. Code is available at https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html.

cs.RO↗

arXiv2025

Uncertainty-Based Extensible Codebook for Discrete Federated Learning in Heterogeneous Data Silos

Federated learning (FL), aimed at leveraging vast distributed datasets, confronts a crucial challenge: the heterogeneity of data across different silos. While previous studies have explored discrete representations to enhance model generalization across minor distributional shifts, these approaches often struggle to adapt to new data silos with significantly divergent distributions. In response, we have identified that models derived from FL exhibit markedly increased uncertainty when applied to data silos with unfamiliar distributions. Consequently, we propose an innovative yet straightforward iterative framework, termed \emph{Uncertainty-Based Extensible-Codebook Federated Learning (UEFL)}. This framework dynamically maps latent features to trainable discrete vectors, assesses the uncertainty, and specifically extends the discretization dictionary or codebook for silos exhibiting high uncertainty. Our approach aims to simultaneously enhance accuracy and reduce uncertainty by explicitly addressing the diversity of data distributions, all while maintaining minimal computational overhead in environments characterized by heterogeneous data silos. Extensive experiments across multiple datasets demonstrate that UEFL outperforms state-of-the-art methods, achieving significant improvements in accuracy (by 3\%--22.1\%) and uncertainty reduction (by 38.83\%--96.24\%). The source code is available at https://github.com/destiny301/uefl.

cs.LG↗

arXiv2025

Weak Generative Sampler to Efficiently Sample Invariant Distribution of Stochastic Differential Equation

Sampling invariant distributions from an Itô diffusion process presents a significant challenge in stochastic simulation. Traditional numerical solvers for stochastic differential equations require both a fine step size and a lengthy simulation period, resulting in biased and correlated samples. The current deep learning-based method solves the stationary Fokker--Planck equation to determine the invariant probability density function in the form of deep neural networks, but they generally do not directly address the problem of sampling from the computed density function. In this work, we introduce a framework that employs a weak generative sampler (WGS) to directly generate independent and identically distributed (iid) samples induced by a transformation map derived from the stationary Fokker--Planck equation. Our proposed loss function is based on the weak form of the Fokker--Planck equation, integrating normalizing flows to characterize the invariant distribution and facilitate sample generation from a base distribution. Our randomized test function circumvents the need for min-max optimization in the traditional weak formulation. Our method necessitates neither the computationally intensive calculation of the Jacobian determinant nor the invertibility of the transformation map. A crucial component of our framework is the adaptively chosen family of test functions in the form of Gaussian kernel functions with centers related to the generated data samples. Experimental results on several benchmark examples demonstrate the effectiveness and scalability of our method, which offers both low computational costs and excellent capability in exploring multiple metastable states.

cs.LG↗

arXiv2025

Edge Computing for Physics-Driven AI in Computational MRI: A Feasibility Study

Physics-driven artificial intelligence (PD-AI) reconstruction methods have emerged as the state-of-the-art for accelerating MRI scans, enabling higher spatial and temporal resolutions. However, the high resolution of these scans generates massive data volumes, leading to challenges in transmission, storage, and real-time processing. This is particularly pronounced in functional MRI, where hundreds of volumetric acquisitions further exacerbate these demands. Edge computing with FPGAs presents a promising solution for enabling PD-AI reconstruction near the MRI sensors, reducing data transfer and storage bottlenecks. However, this requires optimization of PD-AI models for hardware efficiency through quantization and bypassing traditional FFT-based approaches, which can be a limitation due to their computational demands. In this work, we propose a novel PD-AI computational MRI approach optimized for FPGA-based edge computing devices, leveraging 8-bit complex data quantization and eliminating redundant FFT/IFFT operations. Our results show that this strategy improves computational efficiency while maintaining reconstruction quality comparable to conventional PD-AI methods, and outperforms standard clinical methods. Our approach presents an opportunity for high-resolution MRI reconstruction on resource-constrained devices, highlighting its potential for real-world deployment.

eess.IV↗

arXiv2025

NTIRE 2025 Challenge on Efficient Burst HDR and Restoration: Datasets, Methods, and Results

This paper reviews the NTIRE 2025 Efficient Burst HDR and Restoration Challenge, which aims to advance efficient multi-frame high dynamic range (HDR) and restoration techniques. The challenge is based on a novel RAW multi-frame fusion dataset, comprising nine noisy and misaligned RAW frames with various exposure levels per scene. Participants were tasked with developing solutions capable of effectively fusing these frames while adhering to strict efficiency constraints: fewer than 30 million model parameters and a computational budget under 4.0 trillion FLOPs. A total of 217 participants registered, with six teams finally submitting valid solutions. The top-performing approach achieved a PSNR of 43.22 dB, showcasing the potential of novel methods in this domain. This paper provides a comprehensive overview of the challenge, compares the proposed solutions, and serves as a valuable reference for researchers and practitioners in efficient burst HDR and restoration.

eess.IV↗

arXiv2025

Flexible single multimode fiber imaging using white LED

Multimode fiber (MMF) has been proven to have good potential in imaging and optical communication because of its advantages of small diameter and large mode numbers. However, due to the mode coupling and modal dispersion, it is very sensitive to environmental changes. Minor changes in the fiber shape can lead to difficulties in information reconstruction. Here, white LED and cascaded Unet are used to achieve MMF imaging to eliminate the effect of fiber perturbations. The output speckle patterns in three different color channels of the CCD camera produced by transferring images through the MMF are concatenated and inputted into the cascaded Unet using channel stitching technology to improve the reconstruction effects. The average Pearson correlation coefficient (PCC) of the reconstructed images from the Fashion-MINIST dataset is 0.83. In order to check the flexibility of such a system, perturbation tests on the image reconstruction capability by changing the fiber shapes are conducted. The experimental results show that the MMF imaging system has good robustness properties, i. e. the average PCC remains 0.83 even after completely changing the shape of the MMF. This research potentially provides a flexible approach for the practical application of MMF imaging.

physics.optics↗

arXiv2025

FusionNet: Multi-model Linear Fusion Framework for Low-light Image Enhancement

The advent of Deep Neural Networks (DNNs) has driven remarkable progress in low-light image enhancement (LLIE), with diverse architectures (e.g., CNNs and Transformers) and color spaces (e.g., sRGB, HSV, HVI) yielding impressive results. Recent efforts have sought to leverage the complementary strengths of these paradigms, offering promising solutions to enhance performance across varying degradation scenarios. However, existing fusion strategies are hindered by challenges such as parameter explosion, optimization instability, and feature misalignment, limiting further improvements. To overcome these issues, we introduce FusionNet, a novel multi-model linear fusion framework that operates in parallel to effectively capture global and local features across diverse color spaces. By incorporating a linear fusion strategy underpinned by Hilbert space theoretical guarantees, FusionNet mitigates network collapse and reduces excessive training costs. Our method achieved 1st place in the CVPR2025 NTIRE Low Light Enhancement Challenge. Extensive experiments conducted on synthetic and real-world benchmark datasets demonstrate that the proposed method significantly outperforms state-of-the-art methods in terms of both quantitative and qualitative results, delivering robust enhancement under diverse low-light conditions.

cs.CV↗

arXiv2025

Quantum Delocalization Enables Water Dissociation on Ru(0001)

We revisit the long-standing question of whether water molecules dissociate on the Ru(0001) surface through nanosecond-scale path-integral molecular dynamics simulations on a sizable supercell. This is made possible through the development of an efficient and reliable machine-learning potential with near first-principles accuracy, overcoming the limitations of previous ab initio studies. We show that the quantum delocalization associated with nuclear quantum effects enables rapid and frequent proton transfers between water molecules, thereby facilitating the water dissociation on Ru(0001). This work provides the direct theoretical evidence of water dissociation on Ru(0001), resolving the enduring issue in surface sciences and offering crucial atomistic insights into water-metal interfaces.

cond-mat.mtrl-sci↗

arXiv2025

Temporal Score Analysis for Understanding and Correcting Diffusion Artifacts

Visual artifacts remain a persistent challenge in diffusion models, even with training on massive datasets. Current solutions primarily rely on supervised detectors, yet lack understanding of why these artifacts occur in the first place. In our analysis, we identify three distinct phases in the diffusion generative process: Profiling, Mutation, and Refinement. Artifacts typically emerge during the Mutation phase, where certain regions exhibit anomalous score dynamics over time, causing abrupt disruptions in the normal evolution pattern. This temporal nature explains why existing methods focusing only on spatial uncertainty of the final output fail at effective artifact localization. Based on these insights, we propose ASCED (Abnormal Score Correction for Enhancing Diffusion), that detects artifacts by monitoring abnormal score dynamics during the diffusion process, with a trajectory-aware on-the-fly mitigation strategy that appropriate generation of noise in the detected areas. Unlike most existing methods that apply post hoc corrections, \eg, by applying a noising-denoising scheme after generation, our mitigation strategy operates seamlessly within the existing diffusion process. Extensive experiments demonstrate that our proposed approach effectively reduces artifacts across diverse domains, matching or surpassing existing supervised methods without additional training.

cs.CV↗

arXiv2025

AIM-Fair: Advancing Algorithmic Fairness via Selectively Fine-Tuning Biased Models with Contextual Synthetic Data

Recent advances in generative models have sparked research on improving model fairness with AI-generated data. However, existing methods often face limitations in the diversity and quality of synthetic data, leading to compromised fairness and overall model accuracy. Moreover, many approaches rely on the availability of demographic group labels, which are often costly to annotate. This paper proposes AIM-Fair, aiming to overcome these limitations and harness the potential of cutting-edge generative models in promoting algorithmic fairness. We investigate a fine-tuning paradigm starting from a biased model initially trained on real-world data without demographic annotations. This model is then fine-tuned using unbiased synthetic data generated by a state-of-the-art diffusion model to improve its fairness. Two key challenges are identified in this fine-tuning paradigm, 1) the low quality of synthetic data, which can still happen even with advanced generative models, and 2) the domain and bias gap between real and synthetic data. To address the limitation of synthetic data quality, we propose Contextual Synthetic Data Generation (CSDG) to generate data using a text-to-image diffusion model (T2I) with prompts generated by a context-aware LLM, ensuring both data diversity and control of bias in synthetic data. To resolve domain and bias shifts, we introduce a novel selective fine-tuning scheme in which only model parameters more sensitive to bias and less sensitive to domain shift are updated. Experiments on CelebA and UTKFace datasets show that our AIM-Fair improves model fairness while maintaining utility, outperforming both fully and partially fine-tuned approaches to model fairness.

cs.CV↗

arXiv2025

The day-ahead scenario generation method for new energy based on an improved conditional generative diffusion model

In the context of the rising share of new energy generation, accurately generating new energy output scenarios is crucial for day-ahead power system scheduling. Deep learning-based scenario generation methods can address this need, but their black-box nature raises concerns about interpretability. To tackle this issue, this paper introduces a method for day-ahead new energy scenario generation based on an improved conditional generative diffusion model. This method is built on the theoretical framework of Markov chains and variational inference. It first transforms historical data into pure noise through a diffusion process, then uses conditional information to guide the denoising process, ultimately generating scenarios that satisfy the conditional distribution. Additionally, the noise table is improved to a cosine form, enhancing the quality of the generated scenarios. When applied to actual wind and solar output data, the results demonstrate that this method effectively generates new energy output scenarios with good adaptability.

cs.LG↗

arXiv2025

Environmental Factors Can Have Opposite Biodiversity Influences on the Community Temporal Stability In Aquatic Ecosystems

1. An understanding of how biodiversity confers ecosystem stability is crucial in managing ecosystems under major environmental changes. Multiple biodiversity drivers can stabilize ecosystem functions over time. However, we know little about how local environmental conditions can influence these biodiversity drivers, and consequently how they indirectly shape the ecological stability of ecosystems. 2. We hypothesized that environmental factors can have opposite influences (i.e., not necessarily either positive or negative) on the temporal stability of communities in different environmental ranges depending on the biodiversity drivers involved. We tested this novel hypothesis by using data from a 4-year-long field study of submerged macrophyte across a water depth gradient in 8 heterogeneous bays of Erhai lake (with total sample size of 30,071 quadrats), a large lentic system in China. 3. Results indicate that a unimodal pattern of stability in temporal biomass measurements occurred along the water-depth gradient, and that multiple biodiversity drivers (the asynchrony in species dynamics, and the stability of dominant species) generally increased the temporal stability of aquatic primary producers. However, the effect of water depth either increased or decreased the stability of biomass according to the environmental conditions associated with sites along the water depth gradient. 4. Synthesis. These results reveal the influence of local environmental conditions on the biodiversity drivers of stability may help predict the functional consequences of biodiversity change across different scenarios of environmental change.

q-bio.PE↗