arXiv subjects

Yu Zhang

Publications and source records attributed to Yu Zhang.

At least 559 records · Page 31Linked to original sources

arXiv2025

JAEGER: Dual-Level Humanoid Whole-Body Controller

This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control of the upper and lower bodies into two independent controllers, so that they can better focus on their distinct tasks. This separation alleviates the dimensionality curse and improves fault tolerance. JAEGER supports both root velocity tracking (coarse-grained control) and local joint angle tracking (fine-grained control), enabling versatile and stable movements. To train the controller, we utilize a human motion dataset (AMASS), retargeting human poses to humanoid poses through an efficient retargeting network, and employ a curriculum learning approach. This method performs supervised learning for initialization, followed by reinforcement learning for further exploration. We conduct our experiments on two humanoid platforms and demonstrate the superiority of our approach against state-of-the-art methods in both simulation and real environments.

cs.RO↗

arXiv2025

ARFlow: Autoregressive Flow with Hybrid Linear Attention

Flow models are effective at progressively generating realistic images, but they generally struggle to capture long-range dependencies during the generation process as they compress all the information from previous time steps into a single corrupted image. To address this limitation, we propose integrating autoregressive modeling -- known for its excellence in modeling complex, high-dimensional joint probability distributions -- into flow models. During training, at each step, we construct causally-ordered sequences by sampling multiple images from the same semantic category and applying different levels of noise, where images with higher noise levels serve as causal predecessors to those with lower noise levels. This design enables the model to learn broader category-level variations while maintaining proper causal relationships in the flow process. During generation, the model autoregressively conditions the previously generated images from earlier denoising steps, forming a contextual and coherent generation trajectory. Additionally, we design a customized hybrid linear attention mechanism tailored to our modeling approach to enhance computational efficiency. Our approach, termed ARFlow, achieves 6.63 FID scores on ImageNet at 256 * 256 without classifier-free guidance, reaching 1.96 FID with classifier-free guidance 1.5, outperforming the previous flow-based model SiT's 2.06 FID. Extensive ablation studies demonstrate the effectiveness of our modeling strategy and chunk-wise attention design.

cs.CV↗

arXiv2025

RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control

This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective learning of new behaviors. While existing text-to-motion generation methods achieve semantic alignment between language and motion, they often produce kinematically or physically infeasible motions unsuitable for real-world deployment. To bridge this sim-to-real gap, we propose Reinforcement Learning from Physical Feedback (RLPF), a novel framework that integrates physics-aware motion evaluation with text-conditioned motion generation. RLPF employs a motion tracking policy to assess feasibility in a physics simulator, generating rewards for fine-tuning the motion generator. Furthermore, RLPF introduces an alignment verification module to preserve semantic fidelity to text instructions. This joint optimization ensures both physical plausibility and instruction alignment. Extensive experiments show that RLPF greatly outperforms baseline methods in generating physically feasible motions while maintaining semantic correspondence with text instruction, enabling successful deployment on real humanoid robots.

cs.RO↗

arXiv2025

A Study on Individual Spatiotemporal Activity Generation Method Using MCP-Enhanced Chain-of-Thought Large Language Models

Human spatiotemporal behavior simulation is critical for urban planning research, yet traditional rule-based and statistical approaches suffer from high computational costs, limited generalizability, and poor scalability. While large language models (LLMs) show promise as "world simulators," they face challenges in spatiotemporal reasoning including limited spatial cognition, lack of physical constraint understanding, and group homogenization tendencies. This paper introduces a framework integrating chain-of-thought (CoT) reasoning with Model Context Protocol (MCP) to enhance LLMs' capability in simulating spatiotemporal behaviors that correspond with validation data patterns. The methodology combines human-like progressive reasoning through a five-stage cognitive framework with comprehensive data processing via six specialized MCP tool categories: temporal management, spatial navigation, environmental perception, personal memory, social collaboration, and experience evaluation. Experiments in Shanghai's Lujiazui district validate the framework's effectiveness across 1,000 generated samples. Results demonstrate high similarity with real mobile signaling data, achieving generation quality scores of 7.86 to 8.36 across different base models. Parallel processing experiments show efficiency improvements, with generation times decreasing from 1.30 to 0.17 minutes per sample when scaling from 2 to 12 processes. This work contributes to integrating CoT reasoning with MCP for urban behavior modeling, advancing LLMs applications in urban computing and providing a practical approach for synthetic mobility data generation. The framework offers a foundation for smart city planning, transportation forecasting, and participatory urban design applications.

cs.AI↗

arXiv2025

Agentic Robot: A Brain-Inspired Framework for Vision-Language-Action Models in Embodied Agents

Long-horizon robotic manipulation poses significant challenges for autonomous systems, requiring extended reasoning, precise execution, and robust error recovery across complex sequential tasks. Current approaches, whether based on static planning or end-to-end visuomotor policies, suffer from error accumulation and lack effective verification mechanisms during execution, limiting their reliability in real-world scenarios. We present Agentic Robot, a brain-inspired framework that addresses these limitations through Standardized Action Procedure (SAP)--a novel coordination protocol governing component interactions throughout manipulation tasks. Drawing inspiration from Standardized Operating Procedures (SOPs) in human organizations, SAP establishes structured workflows for planning, execution, and verification phases. Our architecture comprises three specialized components: (1) a large reasoning model that decomposes high-level instructions into semantically coherent subgoals, (2) a vision-language-action executor that generates continuous control commands from real-time visual inputs, and (3) a temporal verifier that enables autonomous progression and error recovery through introspective assessment. This SAP-driven closed-loop design supports dynamic self-verification without external supervision. On the LIBERO benchmark, Agentic Robot achieves state-of-the-art performance with an average success rate of 79.6%, outperforming SpatialVLA by 6.1% and OpenVLA by 7.4% on long-horizon tasks. These results demonstrate that SAP-driven coordination between specialized components enhances both performance and interpretability in sequential manipulation, suggesting significant potential for reliable autonomous systems. Project Github: https://agentic-robot.github.io.

cs.RO↗

arXiv2025

HyColor: An Efficient Heuristic Algorithm for Graph Coloring

The graph coloring problem (GCP) is a classic combinatorial optimization problem that aims to find the minimum number of colors assigned to vertices of a graph such that no two adjacent vertices receive the same color. GCP has been extensively studied by researchers from various fields, including mathematics, computer science, and biological science. Due to the NP-hard nature, many heuristic algorithms have been proposed to solve GCP. However, existing GCP algorithms focus on either small hard graphs or large-scale sparse graphs (with up to 10^7 vertices). This paper presents an efficient hybrid heuristic algorithm for GCP, named HyColor, which excels in handling large-scale sparse graphs while achieving impressive results on small dense graphs. The efficiency of HyColor comes from the following three aspects: a local decision strategy to improve the lower bound on the chromatic number; a graph-reduction strategy to reduce the working graph; and a k-core and mixed degree-based greedy heuristic for efficiently coloring graphs. HyColor is evaluated against three state-of-the-art GCP algorithms across four benchmarks, comprising three large-scale sparse graph benchmarks and one small dense graph benchmark, totaling 209 instances. The results demonstrate that HyColor consistently outperforms existing heuristic algorithms in both solution accuracy and computational efficiency for the majority of instances. Notably, HyColor achieved the best solutions in 194 instances (over 93%), with 34 of these solutions significantly surpassing those of other algorithms. Furthermore, HyColor successfully determined the chromatic number and achieved optimal coloring in 128 instances.

cs.DM↗

arXiv2025

Variational quantum algorithms with invariant probabilistic error cancellation on noisy quantum processors

In the noisy intermediate-scale quantum era, emerging classical-quantum hybrid optimization algorithms, such as variational quantum algorithms (VQAs), can leverage the unique characteristics of quantum devices to accelerate computations tailored to specific problems with shallow circuits. However, these algorithms encounter biases and iteration difficulties due to significant noise in quantum processors. These difficulties can only be partially addressed without error correction by optimizing hardware, reducing circuit complexity, or fitting and extrapolation. A compelling solution is applying probabilistic error cancellation (PEC), a quantum error mitigation technique that enables unbiased results without full error correction. Traditional PEC is challenging to apply in VQAs due to its variance amplification, contradicting iterative process assumptions. This paper proposes a novel noise-adaptable strategy that combines PEC with the quantum approximate optimization algorithm (QAOA). It is implemented through invariant sampling circuits (invariant-PEC, or IPEC) and substantially reduces iteration variance. This strategy marks the first successful integration of PEC and QAOA, resulting in efficient convergence. Moreover, we introduce adaptive partial PEC (APPEC), which modulates the error cancellation proportion of IPEC during iteration. We experimentally validated this technique on a superconducting quantum processor, cutting sampling cost by 90.1\%. Notably, we find that dynamic adjustments of error levels via APPEC can enhance escape from local minima and reduce sampling costs. These results open promising avenues for executing VQAs with large-scale, low-noise quantum circuits, paving the way for practical quantum computing advancements.

quant-ph↗

arXiv2025

Efficient Diffusion Models: A Survey

Diffusion models have emerged as powerful generative models capable of producing high-quality contents such as images, videos, and audio, demonstrating their potential to revolutionize digital content creation. However, these capabilities come at the cost of their significant computational resources and lengthy generation time, underscoring the critical need to develop efficient techniques for practical deployment. In this survey, we provide a systematic and comprehensive review of research on efficient diffusion models. We organize the literature in a taxonomy consisting of three main categories, covering distinct yet interconnected efficient diffusion model topics from algorithm-level, system-level, and framework perspective, respectively. We have also created a GitHub repository where we organize the papers featured in this survey at https://github.com/AIoT-MLSys-Lab/Efficient-Diffusion-Model-Survey. We hope our survey can serve as a valuable resource to help researchers and practitioners gain a systematic understanding of efficient diffusion model research and inspire them to contribute to this important and exciting field.

cs.LG↗

arXiv2025

Open Your Eyes: Vision Enhances Message Passing Neural Networks in Link Prediction

Message-passing graph neural networks (MPNNs) and structural features (SFs) are cornerstones for the link prediction task. However, as a common and intuitive mode of understanding, the potential of visual perception has been overlooked in the MPNN community. For the first time, we equip MPNNs with vision structural awareness by proposing an effective framework called Graph Vision Network (GVN), along with a more efficient variant (E-GVN). Extensive empirical results demonstrate that with the proposed frameworks, GVN consistently benefits from the vision enhancement across seven link prediction datasets, including challenging large-scale graphs. Such improvements are compatible with existing state-of-the-art (SOTA) methods and GVNs achieve new SOTA results, thereby underscoring a promising novel direction for link prediction.

cs.CV↗

arXiv2025

DynamicMind: A Tri-Mode Thinking System for Large Language Models

Modern large language models (LLMs) often struggle to dynamically adapt their reasoning depth to varying task complexities, leading to suboptimal performance or inefficient resource utilization. To address this, we introduce DynamicMind, a novel tri-mode thinking system. DynamicMind empowers LLMs to autonomously select between Fast, Normal, and Slow thinking modes for zero-shot question answering (ZSQA) tasks through cognitive-inspired prompt engineering. Our framework's core innovations include: (1) expanding the established dual-process framework of fast and slow thinking into a tri-mode thinking system involving a normal thinking mode to preserve the intrinsic capabilities of LLM; (2) proposing the Thinking Density metric, which aligns computational resource allocation with problem complexity; and (3) developing the Thinking Mode Capacity (TMC) dataset and a lightweight Mind Router to predict the optimal thinking mode. Extensive experiments across diverse mathematical, commonsense, and scientific QA benchmarks demonstrate that DynamicMind achieves superior ZSQA capabilities while establishing an effective trade-off between performance and computational efficiency.

cs.CL↗

arXiv2025

ReasonGen-R1: CoT for Autoregressive Image generation models through SFT and RL

Although chain-of-thought reasoning and reinforcement learning (RL) have driven breakthroughs in NLP, their integration into generative vision models remains underexplored. We introduce ReasonGen-R1, a two-stage framework that first imbues an autoregressive image generator with explicit text-based "thinking" skills via supervised fine-tuning on a newly generated reasoning dataset of written rationales, and then refines its outputs using Group Relative Policy Optimization. To enable the model to reason through text before generating images, We automatically generate and release a corpus of model crafted rationales paired with visual prompts, enabling controlled planning of object layouts, styles, and scene compositions. Our GRPO algorithm uses reward signals from a pretrained vision language model to assess overall visual quality, optimizing the policy in each update. Evaluations on GenEval, DPG, and the T2I benchmark demonstrate that ReasonGen-R1 consistently outperforms strong baselines and prior state-of-the-art models. More: aka.ms/reasongen.

cs.CV↗

arXiv2025

Unpacking Graduate Students' Learning Experience with Generative AI Teaching Assistant in A Quantitative Methodology Course

The study was conducted in an Advanced Quantitative Research Methods course involving 20 graduate students. During the course, student inquiries made to the AI were recorded and coded using Bloom's taxonomy and the CLEAR framework. A series of independent sample t-tests and poisson regression analyses were employed to analyse the characteristics of different questions asked by students with different backgrounds. Post course interviews were conducted with 10 students to gain deeper insights into their perceptions. The findings revealed a U-shaped pattern in students' use of the AI assistant, with higher usage at the beginning and towards the end of the course, and a decrease in usage during the middle weeks. Most questions posed to the AI focused on knowledge and comprehension levels, with fewer questions involving deeper cognitive thinking. Students with a weaker mathematical foundation used the AI assistant more frequently, though their inquiries tended to lack explicit and logical structure compared to those with a strong mathematical foundation, who engaged less with the tool. These patterns suggest the need for targeted guidance to optimise the effectiveness of AI tools for students with varying levels of academic proficiency.

cs.HC↗

arXiv2025

Mapping Student-AI Interaction Dynamics in Multi-Agent Learning Environments: Supporting Personalised Learning and Reducing Performance Gaps

Multi-agent AI systems, which simulate diverse instructional roles such as teachers and peers, offer new possibilities for personalized and interactive learning. Yet, student-AI interaction patterns and their pedagogical implications remain unclear. This study explores how university students engaged with multiple AI agents, and how these interactions influenced cognitive outcomes (learning gains) and non-cognitive factors (motivation, technology acceptance). Based on MAIC, an online learning platform with multi-agent, the research involved 305 university students and 19,365 lines of dialogue data. Pre- and post-test scores, self-reported motivation and technology acceptance were also collected. The study identified two engagement patterns: co-construction of knowledge and co-regulation. Lag sequential analysis revealed that students with lower prior knowledge relied more on co-construction of knowledge sequences, showing higher learning gains and post-course motivation. In contrast, students with higher prior knowledge engaged more in co-regulation behaviors but exhibited limited learning improvement. Technology acceptance increased across all groups. These findings suggest that multi-agent AI systems can adapt to students' varying needs, support differentiated engagement, and reduce performance gaps. Implications for personalized system design and future research directions are discussed.

cs.HC↗

arXiv2025

Line shapes in time- and angle-resolved photoemission spectroscopy explored by machine learning

Time- and angle-resolved photoemission spectroscopy is a powerful technique for investigating the dynamics of excited carriers in quantum materials. Typically, data analysis proceeds via the inspection of time distribution curves (TDCs), which represent the time-dependent photoemission intensity in a region of interest -- often chosen somewhat arbitrarily -- in energy-momentum space. Here, we employ $k$-means, an unsupervised machine learning technique, to systematically investigate trends in TDC line shape for quasi-free-standing monolayer graphene and for a simple analytical model. Our analysis reveals how finite energy and time resolution can affect the TDC line shape. We discuss how this can be taken into account in a quantitative analysis, and under what conditions the time-dependent photoemission intensity after laser excitation can be approximated by a simple exponential decay.

cond-mat.str-el↗

arXiv2025

Mixture of insighTful Experts (MoTE): The Synergy of Thought Chains and Expert Mixtures in Self-Alignment

As the capabilities of large language models (LLMs) continue to expand, aligning these models with human values remains a significant challenge. Recent studies show that reasoning abilities contribute significantly to model safety, while integrating Mixture-of-Experts (MoE) architectures can further enhance alignment. In this work, we address a fundamental question: How to effectively incorporate reasoning abilities and MoE architectures into self-alignment process in LLMs? We propose Mixture of insighTful Experts (MoTE), a novel framework that synergistically combines reasoning chains and expert mixtures to improve self-alignments. From a data perspective, MoTE employs a structured reasoning chain comprising four key stages: Question Analysis, Answer Guidance, Safe Answer, and Safety Checking. This approach enhances safety through multi-step reasoning and proves effective even for smaller and less powerful LLMs (e.g., 7B models). From an architectural perspective, MoTE adopts a multi-LoRA framework with step-level routing, where each expert is dedicated to a specific reasoning step. This design eliminates the need for balance losses, ensures stable training, and supports adaptive inference lengths. Experimental results demonstrate that MoTE significantly improves model safety, jailbreak resistance, and over-refusal capabilities, achieving performance comparable to OpenAI's state-of-the-art o1 model.

cs.CL↗

arXiv2025

Hidden Representation Clustering with Multi-Task Representation Learning towards Robust Online Budget Allocation

Marketing optimization, commonly formulated as an online budget allocation problem, has emerged as a pivotal factor in driving user growth. Most existing research addresses this problem by following the principle of 'first predict then optimize' for each individual, which presents challenges related to large-scale counterfactual prediction and solving complexity trade-offs. Note that the practical data quality is uncontrollable, and the solving scale tends to be tens of millions. Therefore, the existing approaches make the robust budget allocation non-trivial, especially in industrial scenarios with considerable data noise. To this end, this paper proposes a novel approach that solves the problem from the cluster perspective. Specifically, we propose a multi-task representation network to learn the inherent attributes of individuals and project the original features into high-dimension hidden representations through the first two layers of the trained network. Then, we divide these hidden representations into $K$ groups through partitioning-based clustering, thus reformulating the problem as an integer stochastic programming problem under different total budgets. Finally, we distill the representation module and clustering model into a multi-category model to facilitate online deployment. Offline experiments validate the effectiveness and superiority of our approach compared to six state-of-the-art marketing optimization algorithms. Online A/B tests on the Meituan platform indicate that the approach outperforms the online algorithm by 0.53% and 0.65%, considering order volume (OV) and gross merchandise volume (GMV), respectively.

cs.LG↗

arXiv2025

Utilizing Precise and Complete Code Context to Guide LLM in Automatic False Positive Mitigation

Static Application Security Testing (SAST) tools are critical to software quality, identifying potential code issues early in development. However, they often produce false positive warnings that require manual review, slowing down development. Thus, automating false positive mitigation (FPM) is essential. The advent of Large Language Models (LLMs), with their strong abilities in natural language and code understanding, offers promising avenues for FPM. Yet current LLM-based FPM method faces two major limitations: 1. The warning-related code snippets extracted are overly broad and cluttered with irrelevant control/data flows, reducing precision; 2. Critical code contexts are missing, leading to incomplete representations that can mislead LLMs and cause inaccurate assessments. To overcome these limitations, we propose LLM4FPM , a lightweight and efficient false positive mitigation framework. It features eCPG-Slicer, which builds an extended code property graph (eCPG) to extract precise line-level code contexts for warnings. Furthermore, the integrated FARF algorithm builds a file reference graph to identify all files that are relevant to warnings in linear time. This enables eCPG-Slicer to obtain rich contextual information without resorting to expensive whole-program analysis. LLM4FPM outperforms the existing method on the Juliet dataset (F1 > 99% across various Common Weakness Enumerations) and improves label accuracy on the D2A dataset to 86%. By leveraging a lightweight open-source LLM, LLM4FPM can significantly save inspection costs up to \$2758 per run (\$0.384 per warning) on Juliet with an average inspection time of 4.7s per warning. Moreover, real-world tests on popular C/C++ projects demonstrate its practicality.

cs.SE↗

arXiv2025

StyleSinger: Style Transfer for Out-of-Domain Singing Voice Synthesis

Style transfer for out-of-domain (OOD) singing voice synthesis (SVS) focuses on generating high-quality singing voices with unseen styles (such as timbre, emotion, pronunciation, and articulation skills) derived from reference singing voice samples. However, the endeavor to model the intricate nuances of singing voice styles is an arduous task, as singing voices possess a remarkable degree of expressiveness. Moreover, existing SVS methods encounter a decline in the quality of synthesized singing voices in OOD scenarios, as they rest upon the assumption that the target vocal attributes are discernible during the training phase. To overcome these challenges, we propose StyleSinger, the first singing voice synthesis model for zero-shot style transfer of out-of-domain reference singing voice samples. StyleSinger incorporates two critical approaches for enhanced effectiveness: 1) the Residual Style Adaptor (RSA) which employs a residual quantization module to capture diverse style characteristics in singing voices, and 2) the Uncertainty Modeling Layer Normalization (UMLN) to perturb the style attributes within the content representation during the training phase and thus improve the model generalization. Our extensive evaluations in zero-shot style transfer undeniably establish that StyleSinger outperforms baseline models in both audio quality and similarity to the reference singing voice samples. Access to singing voice samples can be found at https://aaronz345.github.io/StyleSingerDemo/.

eess.AS↗