arXiv subjects

Yubin Liu

Publications and source records attributed to Yubin Liu.

8 recordsLinked to original sources

arXiv2026

M2I2HA: Multi-modal Object Detection Based on Intra- and Inter-Modal Hypergraph Attention

Recent advances in multi-modal detection have significantly improved detection accuracy in challenging environments (e.g., low light, overexposure). By integrating RGB with modalities such as thermal and depth, multi-modal fusion increases data redundancy and system robustness. However, significant challenges remain in effectively extracting task-relevant information both within and across modalities, as well as in achieving precise cross-modal alignment. While CNNs excel at feature extraction, they are limited by constrained receptive fields, strong inductive biases, and difficulty in capturing long-range dependencies. Transformer-based models offer global context but suffer from quadratic computational complexity and are confined to pairwise correlation modeling. Mamba and other State Space Models (SSMs), on the other hand, are hindered by their sequential scanning mechanism, which flattens 2D spatial structures into 1D sequences, disrupting topological relationships and limiting the modeling of complex higher-order dependencies. To address these issues, we propose a multi-modal perception network based on hypergraph theory called M2I2HA. Our architecture includes an Intra-Hypergraph Enhancement module to capture global many-to-many high-order relationships within each modality, and an Inter-Hypergraph Fusion module to align, enhance, and fuse cross-modal features by bridging configuration and spatial gaps between data sources. We further introduce a M2-FullPAD module to enable adaptive multi-level fusion of multi-modal enhanced features within the network, meanwhile enhancing data distribution and flow across the architecture. Extensive object detection experiments on multiple public datasets against baselines demonstrate that M2I2HA achieves state-of-the-art performance in multi-modal object detection tasks.

cs.CV↗

arXiv2026

Do Language Models Converge to Themselves? Recursive Self-Refinement as Textual Relaxation

Large language models are increasingly used in recursive refinement workflows, where an initial draft is repeatedly revised by the same model. Despite their growing use, the long-term dynamics of such workflows remain poorly understood. Does repeated refinement continue to improve outputs indefinitely, or does it converge toward a stable textual form? We study recursive self-refinement as a dynamical process in which repeated LLM revision drives text toward a model-preferred soft fixed-point region. Using GPT-5.5, we generate 10-step refinement trajectories for 50 ICML 2025 abstracts under both default-temperature and deterministic decoding, and additionally evaluate 15 ICML 2020 abstracts. We analyze normalized edit distance, exact and approximate fixed points, word-count stability, exponential relaxation, and external LLM-as-a-judge evaluation. Across all settings, refinement trajectories rapidly saturate. Most edits occur within the first few iterations, after which trajectories enter a soft fixed-point region with only minor surface-level changes. Deterministic decoding reaches exact fixed points earlier and exhibits smaller residual fluctuations than default-temperature decoding, while both achieve universal approximate convergence. The average edit magnitude follows a consistent exponential relaxation pattern, suggesting convergence toward a model-preferred textual equilibrium rather than open-ended optimization. External evaluation indicates that converged abstracts improve clarity, conciseness, and scientific style while preserving technical meaning. These findings support a dynamical-systems view of LLM self-refinement and motivate practical stopping criteria based on edit-magnitude saturation.

cs.AI↗

arXiv2026

Human-AI Co-Evolution and Epistemic Collapse: A Dynamical Systems Perspective

Large language models (LLMs) are reshaping how knowledge is produced, with increasing reliance on AI systems for generation, summarization, and reasoning. While prior work has studied cognitive offloading in humans and model collapse in recursive training, these effects are typically considered in isolation. We propose a unified perspective: humans and language models form a coupled dynamical system linked by a feedback loop of usage, generation, and retraining. We introduce a minimal model with three variables -- human cognition, data quality, and model capability -- and show that this feedback can give rise to distinct dynamical regimes. Our analysis identifies three regimes: co-evolutionary enhancement, fragile equilibrium, and degenerative convergence. Through a simple simulation, we demonstrate that increasing reliance on AI can induce a transition toward a low-diversity, suboptimal equilibrium. From an information-theoretic perspective, this transition corresponds to an emergent information bottleneck in the human-AI loop, where entropy reduction reflects loss of diversity and support under closed-loop feedback rather than beneficial compression. These results suggest that the trajectory of AI systems is shaped not only by model design, but by the dynamics of human-AI co-evolution.

cs.HC↗

arXiv2026

Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards

Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit inference of foot positions from joint angles, lacking the explicit precision and stability guarantees of optimization-based approaches. To address this, we introduce a foot position map integrated into the heightmap, and a dynamic locomotion-stability reward within an attention-based framework to achieve locomotion on complex terrain. We validate our method extensively on terrains seen during training as well as out-of-domain (OOD) terrains. Our results demonstrate that the proposed method enables precise and stable movement, resulting in improved locomotion success rates on both in-domain and OOD terrains.

cs.RO↗

arXiv2026

ScanDP: Generalizable 3D Scanning with Diffusion Policy

Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training data and still struggle to generalize to unseen object categories.In this work, we propose a data-efficient 3D scanning framework that uses Diffusion Policy to imitate human-like scanning strategies. To enhance robustness and generalization, we adopt the Occupancy Grid Mapping instead of direct point cloud processing, offering improved noise resilience and handling of diverse object geometries. We also introduce a hybrid approach combining a sphere-based space representation with a path optimization procedure that ensures path safety and scanning efficiency. This approach addresses limitations in conventional imitation learning, such as redundant or unpredictable behavior. We evaluate our method on diverse unseen objects in both shape and scale. Ours achieves higher coverage and shorter paths than baselines, while remaining robust to sensor noise. We further confirm practical feasibility and stable operation in real-world execution.

cs.RO↗

arXiv2021

Location-routing Optimisation for Urban Logistics Using Mobile Parcel Locker Based on Hybrid Q-Learning Algorithm

Mobile parcel lockers (MPLs) have been recently introduced by urban logistics operators as a means to reduce traffic congestion and operational cost. Their capability to relocate their position during the day has the potential to improve customer accessibility and convenience (if deployed and planned accordingly), allowing customers to collect parcels at their preferred time among one of the multiple locations. This paper proposes an integer programming model to solve the Location Routing Problem for MPLs to determine the optimal configuration and locker routes. In solving this model, a Hybrid Q-Learning algorithm-based Method (HQM) integrated with global and local search mechanisms is developed, the performance of which is examined for different problem sizes and benchmarked with genetic algorithms. Furthermore, we introduced two route adjustment strategies to resolve stochastic events that may cause delays. The results show that HQM achieves 443.41% improvement on average in solution improvement, compared with the 94.91% improvement of heuristic counterparts, suggesting HQM enables a more efficient search for better solutions. Finally, we identify critical factors that contribute to service delays and investigate their effects.

cs.LG↗

arXiv2008

Radially Excited States of 1P Charmonia and X(3872)

The excited states of charmonia are numerically investigated in quenched lattice QCD with improved gauge and Wilson fermion actions formulated on anisotropic lattices. Through a constrained curve fitting algorithm, the masses of the first excited states in $0^{++}$, $1^{++}$, and $1^{+-}$ channels are determined to be 3.825(88), 3.853(57), and 3.858(70) GeV, respectively. Furthormore, a node structure is also observed in the Bethe-Salpeter amplitude of the $1^{++}$ first excited state. These observations indicate that X(3872) could be the first radial excitation of $χ_{c1}$.

hep-lat↗

arXiv2005

Independent Operators at Different Dimension

To apply lattice QCD in the calculation of glueball spectrum it is needed firstly to know associated operators acting on vacuum. We show how to find all the independent representations and operators, of group $SO(3)^{PC}$ at different dimension, since the work is not trivial. Then, we decompose these representation into irreducible representation of $O^{PC}$ group, which are listed in the note. At last we argue that $f_J(2220)$ and $g_T$ states can not be tensor glueball simultaneously.

hep-lat↗