arXiv subjects

Yuan Xu

Publications and source records attributed to Yuan Xu.

At least 55 records · Page 3Linked to original sources

arXiv2026

AppFlow: Memory Scheduling for Cold Launch of Large Apps on Mobile and Vehicle Systems

GB-scale large apps like on-device LLMs and rich media editors are becoming the next-generation trend, but their heavy memory and I/O demands, especially during multitasking, cause devices to reclaim or kill processes, turning warm apps into cold launches. The challenge lies not in storing them, but in fast, accurate launching. For users, 1s is the usability cliff, yet our measurements show 86.6\% of GB-scale cold launches exceed it. Also, Android Vitals flags only $\geq$ 5s as slow, exposing a large satisfaction gap. Existing optimizations are designed in isolation and conflict. For example, preloading reduces I/O stalls but consumes scarce memory and is undone by reclamation, while reclamation and killing free memory but sacrifice background survivability, leading to repeated cold relaunches. Our key insight is that, although multitasking makes runtime behavior complex, each app's file access pattern remains predictable. The challenge lies in exploiting this predictability, i.e., preloading without exhausting memory, reclaiming without undoing gains, and killing selectively to preserve background survivability. We introduce AppFlow, a prediction-based system-wide scheduler that integrates a Selective File Preloader, an Adaptive Memory Reclaimer, and a Context-Aware Process Killer. Implemented across the Android framework and Linux kernel without app changes, AppFlow cuts GB-scale cold-launch latency by 66.5\% (e.g., 2s$\rightarrow$690ms) and sustains 95\% of launches within 1s over a 100-day test, significantly improving responsiveness and multitasking experience.

cs.OS↗

arXiv2026

RAGPerf: An End-to-End Benchmarking Framework for Retrieval-Augmented Generation Systems

We present the design and implementation of a RAG-based AI system benchmarking (RAGPerf) framework for characterizing the system behaviors of RAG pipelines. To facilitate detailed profiling and fine-grained performance analysis, RAGPerf decouples the RAG workflow into several modular components - embedding, indexing, retrieval, reranking, and generation. RAGPerf offers the flexibility for users to configure the core parameters of each component and examine their impact on the end-to-end query performance and quality. RAGPerf has a workload generator to model real-world scenarios by supporting diverse datasets (e.g., text, pdf, code, and audio), different retrieval and update ratios, and query distributions. RAGPerf also supports different embedding models, major vector databases such as LanceDB, Milvus, Qdrant, Chroma, and Elasticsearch, as well as different LLMs for content generation. It automates the collection of performance metrics (i.e., end-to-end query throughput, host/GPU memory footprint, and CPU/GPU utilization) and accuracy metrics (i.e., context recall, query accuracy, and factual consistency). We demonstrate the capabilities of RAGPerf through a comprehensive set of experiments and open source its codebase at GitHub. Our evaluation shows that RAGPerf incurs negligible performance overhead.

cs.PF↗

arXiv2026

DuetUI: A Bidirectional Context Loop for Human-Agent Co-Generation of Task-Oriented Interfaces

Large Language Models are reshaping task automation, yet remain limited in complex, multi-step real-world tasks that require aligning with vague user intent and enabling dynamic user override. From a formative study with 12 participants, we found that end-users actively seek to shape task-oriented interfaces rather than relying on one-shot outputs. To address this, we introduce the human-agent co-generation paradigm, materialized in DuetUI. This LLM-empowered system unfolds alongside task progress through a bidirectional context loop-the agent scaffolds the interface by decomposing the task, while the user's direct manipulations implicitly steer the agent's next generation step. In a technical ablation study and a user study with 24 participants, DuetUI improved task efficiency and interface usability, supporting more seamless human-agent collaboration. Our contributions include the proposal of this novel paradigm, the design of a proof-of-concept DuetUI prototype embodying it, and empirical and technical insights from an initial evaluation of how this bidirectional loop may help align agents with human intent and inform future development.

cs.HC↗

arXiv2026

How Do We Research Human-Robot Interaction in the Age of Large Language Models? A Systematic Review

Advances in large language models (LLMs) are profoundly reshaping the field of human-robot interaction (HRI). While prior work has highlighted the technical potential of LLMs, few studies have systematically examined their human-centered impact (e.g., human-oriented understanding, user modeling, and levels of autonomy), making it difficult to consolidate emerging challenges in LLM-driven HRI systems. Therefore, we conducted a systematic literature search following the PRISMA guideline, identifying 86 articles that met our inclusion criteria. Our findings reveal that: (1) LLMs are transforming the fundamentals of HRI by reshaping how robots sense context, generate socially grounded interactions, and maintain continuous alignment with human needs in embodied settings; and (2) current research is largely exploratory, with different studies focusing on different facets of LLM-driven HRI, resulting in wide-ranging choices of experimental setups, study methods, and evaluation metrics. Finally, we identify key design considerations and challenges, offering a coherent overview and guidelines for future research at the intersection of LLMs and HRI.

cs.RO↗

arXiv2026

Out of the box age estimation through facial imagery: A Comprehensive Benchmark of Vision-Language Models vs. out-of-the-box Traditional Architectures

Facial age estimation plays a critical role in content moderation, age verification, and deepfake detection. However, no prior benchmark has systematically compared modern vision-language models (VLMs) with specialized age estimation architectures. We present the first large-scale cross-paradigm benchmark, evaluating 34 models - 22 specialized architectures with publicly available pretrained weights and 12 general-purpose VLMs - across eight standard datasets (UTKFace, IMDB-WIKI, MORPH, AFAD, CACD, FG-NET, APPA-REAL, and AgeDB), totaling 1,100 test images per model. Our key finding is striking: zero-shot VLMs significantly outperform most specialized models, achieving an average mean absolute error (MAE) of 5.65 years compared to 9.88 years for non-LLM models. The best-performing VLM (Gemini 3 Flash Preview, MAE 4.32) surpasses the strongest non-LLM model (MiVOLO, MAE 5.10) by 15%. MiVOLO - unique in combining face and body features using Vision Transformers - is the only specialized model that remains competitive with VLMs. We further analyze age verification at the 18-year threshold and find that most non-LLM models exhibit false adult rates between 39% and 100% for minors, whereas VLMs reduce this to 16%-29%. Additionally, coarse age binning (8-9 classes) consistently increases MAE beyond 13 years. Stratified analysis across 14 age groups reveals that all models struggle most at extreme ages (under 5 and over 65). Overall, these findings challenge the assumption that task-specific architectures are necessary for high-performance age estimation and suggest that future work should focus on distilling VLM capabilities into efficient specialized models.

cs.CV↗

arXiv2026

BridgeV2W: Bridging Video Generation Models to Embodied World Models via Embodiment Masks

Embodied world models have emerged as a promising paradigm in robotics, most of which leverage large-scale Internet videos or pretrained video generation models to enrich visual and motion priors. However, they still face key challenges: a misalignment between coordinate-space actions and pixel-space videos, sensitivity to camera viewpoint, and non-unified architectures across embodiments. To this end, we present BridgeV2W, which converts coordinate-space actions into pixel-aligned embodiment masks rendered from the URDF and camera parameters. These masks are then injected into a pretrained video generation model via a ControlNet-style pathway, which aligns the action control signals with predicted videos, adds view-specific conditioning to accommodate camera viewpoints, and yields a unified world model architecture across embodiments. To mitigate overfitting to static backgrounds, BridgeV2W further introduces a flow-based motion loss that focuses on learning dynamic and task-relevant regions. Experiments on single-arm (DROID) and dual-arm (AgiBot-G1) datasets, covering diverse and challenging conditions with unseen viewpoints and scenes, show that BridgeV2W improves video generation quality compared to prior state-of-the-art methods. We further demonstrate the potential of BridgeV2W on downstream real-world tasks, including policy evaluation and goal-conditioned planning. More results can be found on our project website at https://BridgeV2W.github.io .

cs.RO↗

arXiv2026

One Size, Many Fits: Aligning Diverse Group-Wise Click Preferences in Large-Scale Advertising Image Generation

Advertising image generation has increasingly focused on online metrics like Click-Through Rate (CTR), yet existing approaches adopt a ``one-size-fits-all" strategy that optimizes for overall CTR while neglecting preference diversity among user groups. This leads to suboptimal performance for specific groups, limiting targeted marketing effectiveness. To bridge this gap, we present \textit{One Size, Many Fits} (OSMF), a unified framework that aligns diverse group-wise click preferences in large-scale advertising image generation. OSMF begins with product-aware adaptive grouping, which dynamically organizes users based on their attributes and product characteristics, representing each group with rich collective preference features. Building on these groups, preference-conditioned image generation employs a Group-aware Multimodal Large Language Model (G-MLLM) to generate tailored images for each group. The G-MLLM is pre-trained to simultaneously comprehend group features and generate advertising images. Subsequently, we fine-tune the G-MLLM using our proposed Group-DPO for group-wise preference alignment, which effectively enhances each group's CTR on the generated images. To further advance this field, we introduce the Grouped Advertising Image Preference Dataset (GAIP), the first large-scale public dataset of group-wise image preferences, including around 600K groups built from 40M users. Extensive experiments demonstrate that our framework achieves the state-of-the-art performance in both offline and online settings. Our code and datasets will be released at https://github.com/JD-GenX/OSMF.

cs.CV↗

arXiv2026

Quantum-enhanced metrology with large Fock states

Quantum metrology uses non-classical states, such as Fock states with a specific number of photons, to achieve an advantage over classical sensing methods. Typically, quantum metrological performance can be enhanced by increasing the involved excitation numbers, for example, by using large photon-number Fock states. However, manipulating these states and demonstrating a quantum metrological advantage is experimentally challenging. Here we present an efficient method for generating large Fock states approaching 100 photons within a superconducting microwave cavity through the development of a programmable photon number filter. Using these states in displacement and phase measurements, we demonstrate quantum-enhanced metrology approaching the Heisenberg scaling for 40-photon Fock states and achieve a maximum metrological gain of up to 14.8 dB, highlighting the metrological advantages of large Fock states. Our study could be readily extended to mechanical and optical systems, promising potential applications in weak force detection and dark matter searches.

quant-ph↗

arXiv2026

A biased-erasure cavity qubit with hardware-efficient quantum error detection

Erasure qubits are beneficial for quantum error correction due to their relaxed threshold requirements. While dual-rail erasure qubits have been demonstrated with a strong error hierarchy in circuit quantum electrodynamics, biased-erasure qubits -- where erasures originate predominantly from one logical basis state -- offer further advantages. Here, we realize a hardware-efficient biased-erasure qubit encoded in the vacuum and two-photon Fock states of a single microwave cavity. The qubit exhibits an erasure bias ratio of over 265. By using a transmon ancilla for logical measurements and mid-circuit erasure detections, we achieve logical state assignment errors below 1% and convert over 99.3% leakage errors into detected erasures. After postselection against erasures, we achieve effective logical relaxation and dephasing rates of $(6.2~\mathrm{ms})^{-1}$ and $(3.1~\mathrm{ms})^{-1}$, respectively, which exceed the erasure error rate by factors of 31 and 15, establishing a strong error hierarchy within the logical subspace. These postselected error rates indicate a coherence gain of about 6.0 beyond the break-even point set by the best physical qubit encoded in the two lowest Fock states in the cavity. Moreover, randomized benchmarking with interleaved erasure detections reveals a residual logical gate error of 0.29%. This work establishes a compact and hardware-efficient platform for biased-erasure qubits, promising concatenations into outer-level stabilizer codes toward fault-tolerant quantum computation.

quant-ph↗

arXiv2025

FrontierCS: Evolving Challenges for Evolving Intelligence

We introduce FrontierCS, a benchmark of 156 open-ended problems across diverse areas of computer science, designed and reviewed by experts, including CS PhDs and top-tier competitive programming participants and problem setters. Unlike existing benchmarks that focus on tasks with known optimal solutions, FrontierCS targets problems where the optimal solution is unknown, but the quality of a solution can be objectively evaluated. Models solve these tasks by implementing executable programs rather than outputting a direct answer. FrontierCS includes algorithmic problems, which are often NP-hard variants of competitive programming problems with objective partial scoring, and research problems with the same property. For each problem we provide an expert reference solution and an automatic evaluator. Combining open-ended design, measurable progress, and expert curation, FrontierCS provides a benchmark at the frontier of computer-science difficulty. Empirically, we find that frontier reasoning models still lag far behind human experts on both the algorithmic and research tracks, that increasing reasoning budgets alone does not close this gap, and that models often over-optimize for generating merely workable code instead of discovering high-quality algorithms and system designs.

cs.LG↗

arXiv2025

Message Passing Based Demodulation of the Time-Encoded Digital Modulation Signal

This letter proposes a Message Passing (MP) based algorithm for demodulating the time-encoded digital modulation signal. The proposed algorithm processes the spikes generated by the Time-Encoding Machine (TEM) directly on a per-spike basis, which enables "on-the-fly" demodulatio with low latency. The computational complexity of our proposed method scales linearly with the number of demodulated symbols, while the computational complexity of the pseudo-inverse-based method scales cubically with the same number of demodulated symbols.

eess.SP↗

arXiv2025

GigaBrain-0: A World Model-Powered Vision-Language-Action Model

Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the scalability, and generalization capacity of current VLA systems. To address this challenge, we introduce GigaBrain-0, a novel VLA foundation model empowered by world model-generated data (e.g., video generation, real2real transfer, human transfer, view transfer, sim2real transfer data). By leveraging world models to generate diverse data at scale, GigaBrain-0 significantly reduces reliance on real robot data while improving cross-task generalization. Our approach further improves policy robustness through RGBD input modeling and embodied Chain-of-Thought (CoT) supervision, enabling the model to reason about spatial geometry, object states, and long-horizon dependencies during task execution. This leads to substantial gains in real-world performance on dexterous, long-horizon, and mobile manipulation tasks. Extensive experiments demonstrate that GigaBrain-0 achieves superior generalization across variations in appearances (e.g., textures, colors), object placements, and camera viewpoints. Additionally, we present GigaBrain-0-Small, an optimized lightweight variant designed to run efficiently on devices such as the NVIDIA Jetson AGX Orin.

cs.RO↗

arXiv2025

GigaWorld-0: World Models as Data Engine to Empower Embodied AI

World models are emerging as a foundational paradigm for scalable, data-efficient embodied AI. In this work, we present GigaWorld-0, a unified world model framework designed explicitly as a data engine for Vision-Language-Action (VLA) learning. GigaWorld-0 integrates two synergistic components: GigaWorld-0-Video, which leverages large-scale video generation to produce diverse, texture-rich, and temporally coherent embodied sequences under fine-grained control of appearance, camera viewpoint, and action semantics; and GigaWorld-0-3D, which combines 3D generative modeling, 3D Gaussian Splatting reconstruction, physically differentiable system identification, and executable motion planning to ensure geometric consistency and physical realism. Their joint optimization enables the scalable synthesis of embodied interaction data that is visually compelling, spatially coherent, physically plausible, and instruction-aligned. Training at scale is made feasible through our efficient GigaTrain framework, which exploits FP8-precision and sparse attention to drastically reduce memory and compute requirements. We conduct comprehensive evaluations showing that GigaWorld-0 generates high-quality, diverse, and controllable data across multiple dimensions. Critically, VLA model (e.g., GigaBrain-0) trained on GigaWorld-0-generated data achieve strong real-world performance, significantly improving generalization and task success on physical robots without any real-world interaction during training.

cs.CV↗

arXiv2025

Seeing My Future: Predicting Situated Interaction Behavior in Virtual Reality

Virtual and augmented reality systems increasingly demand intelligent adaptation to user behaviors for enhanced interaction experiences. Achieving this requires accurately understanding human intentions and predicting future situated behaviors - such as gaze direction and object interactions - which is vital for creating responsive VR/AR environments and applications like personalized assistants. However, accurate behavioral prediction demands modeling the underlying cognitive processes that drive human-environment interactions. In this work, we introduce a hierarchical, intention-aware framework that models human intentions and predicts detailed situated behaviors by leveraging cognitive mechanisms. Given historical human dynamics and the observation of scene contexts, our framework first identifies potential interaction targets and forecasts fine-grained future behaviors. We propose a dynamic Graph Convolutional Network (GCN) to effectively capture human-environment relationships. Extensive experiments on challenging real-world benchmarks and live VR environment demonstrate the effectiveness of our approach, achieving superior performance across all metrics and enabling practical applications for proactive VR systems that anticipate user behaviors and adapt virtual environments accordingly.

cs.CV↗

arXiv2025

Autonomous quantum error correction beyond break-even and its metrological application

The ability to extend the lifetime of a logical qubit beyond that of the best physical qubit available within the same system, i.e., the break-even point, is a prerequisite for building practical quantum computers. So far, this point has been exceeded through active quantum error correction (QEC) protocols, where a logical error is corrected by measuring its syndrome and then performing an adaptive correcting operation. Autonomous QEC (AQEC), without the need for such resource-consuming measurement-feedback control, has been demonstrated in several experiments, but none of which has unambiguously reached the break-even point. Here, we present an unambiguous demonstration of beyond-break-even AQEC in a circuit quantum electrodynamics system, where a photonic logical qubit encoded in a superconducting microwave cavity is protected against photon loss through autonomous error correction, enabled by engineered dissipation. Under the AQEC protection, the logical qubit achieves a lifetime surpassing that of the best physical qubit available in the system by 18\%. We further employ this AQEC protocol to enhance the precision for measuring a slight frequency shift, achieving a metrological gain of 6.3 dB over that using the most robust Fock-state superposition. These results illustrate that the demonstrated AQEC procedure not only represents a crucial step towards fault-tolerant quantum computation but also offers advantages for building robust quantum sensors.

quant-ph↗

arXiv2025

Kant: An Efficient Unified Scheduling System for Large-Scale AI Clusters

As AI cluster sizes continue to expand and the demand for large-language-model (LLM) training and inference workloads grows rapidly, traditional scheduling systems face significant challenges in balancing resource utilization, scheduling efficiency, and service quality. This paper presents and evaluates Kant: an efficient unified scheduling platform designed for large-scale AI container clusters, supporting the co-scheduling of both training and inference jobs. Based on the practical implementation of the Kant system, we systematically define a set of key evaluation metrics for AI clusters, including GPU Allocation Ratio (GAR), Scheduling Occupancy Rate (SOR), GPU Node Fragmentation Ratio (GFR), Job Waiting Time Distribution (JWTD), and Job Training Time Estimation Distribution (JTTED), providing a foundation for quantitative performance analysis. Experimental results demonstrate that Kant achieves exceptional performance in clusters ranging from hundreds to tens of thousands of GPUs. By leveraging scheduling strategies such as Backfill and Enhanced Binpack (E-Binpack), the system significantly improves resource utilization and scheduling efficiency, while effectively reducing resource fragmentation and communication overhead in distributed training. The system has been deployed in multiple AI data center clusters, where it stably supports large-scale intelligent computing workloads. This work provides a practical engineering approach for building high-performance, highly available, AI-native scheduling infrastructure.

cs.DC↗

arXiv2025

Approximation and orthogonality on fully symmetric domains

We study orthogonal polynomials on a fully symmetric planar domain $Ω$ that is generated by a certain triangle in the first quadrant. For a family of weight functions on $Ω$, we show that orthogonal polynomials that are even in the second variable on $Ω$ can be identified with orthogonal polynomials on the unit disk composed with a quadratic map, and the same phenomenon can be extended to the domain generated by the rotation of $Ω$ in higher dimensions. The connection allows an immediate deduction of results for approximation and Fourier orthogonal expansions on these fully symmetric domains. It applies, for example, to analysis on a double cone or a double hyperboloid.

math.CA↗

arXiv2025

Least multivariate Chebyshev polynomials on diagonally determined sets

We consider a new multivariate generalization of the classical monic (univariate) Chebyshev polynomial that minimizes the uniform norm on the interval $[-1,1]$. Let $Π^*_n$ be the subset of polynomials of degree at most $n$ in $d$ variables, whose homogeneous part of degree $n$ has coefficients summing up to $1$. The problem is determining a polynomial in $Π^*_n$ with the smallest uniform norm on a domain $Ω$, which we call a least Chebyshev polynomial (associated with $Ω$). Our main result solves the problem for $Ω$ belonging to a non-trivial class of sets that we call diagonally-determined, and establishes the remarkable result that a least Chebyshev polynomial can be given via the classical, univariate, Chebyshev polynomial. In particular, the solution can be independent of the dimension. Diagonally-determined domains include centered balls in $\mathbb{R}^d$ in any norm, but can be non-convex and even non-simply connected. We also introduce a computational procedure, based on semidefinite programming hierarchies, to detect if a given semi-algebraic set is diagonally-determined.

math.OC↗