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Yubo Dong

Publications and source records attributed to Yubo Dong.

15 recordsLinked to original sources
arXiv2026

No Free Checker: A Survey of Verifiers for Robot Policies

A verifier for robot policies reads a candidate behavior and returns a score for how well it did, used both to evaluate vision-language-action policies and to train them. Verifiers range from success detectors and reward models to runtime monitors, safety filters, and temporal-logic specifications. We survey roughly 150 verifiers and compare them along two properties. Availability is how much a verdict costs, how early in a rollout the verdict arrives, and how often a verdict can be asked for. Availability rises as verdicts get cheaper, earlier, and denser. Credibility is how much a high score tells us about the task. Credibility falls as the judgment becomes gameable and self-serving. We group the verifiers by who supplies the judgment: human verifiers, rule-based and formal verifiers, learned and pretrained verifiers, and model-intrinsic verifiers. Across the four families, we find that credibility falls as availability rises. Regardless of who supplies the judgment, there is no free checker. We then examine what validates a verifier itself, and how much a high score tells us. Three measures appear in the literature: agreement with human labels, the performance of the policy it trains, and behavior under reward hacking. We close with nine metrics that make a verifier claim checkable, and coordinates for the verifiers still to be built.

cs.RO↗
arXiv2026

RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting

Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringent requirements on agility and stability. While imitation learning enables robots to execute human-like fighting skills, existing approaches often rely on switching among multiple single-skill policies or employing a general policy to imitate input reference motions. These strategies suffer from instability when transitioning between skills, as the mismatch of initial and terminal states across skills or reference motions introduces out-of-domain disturbances, resulting in unsmooth or unstable behaviors. In this work, we propose RPG, a hybrid expert policy framework, for smooth and stable humanoid multi-skills transition. Our approach incorporates motion transition randomization and temporal randomization to train a unified policy that generates agile fighting actions with stability and smoothness during skill transitions. Furthermore, we design a control pipeline that integrates walking/running locomotion with fighting skills, allowing humanlike long-time combat of arbitrary duration that can be seamlessly interrupted or transit action policies at any time. Extensive experiments in simulation demonstrate the effectiveness of the proposed framework, and real-world deployment on the Unitree G1 humanoid robot further validates its robustness and applicability.

cs.RO↗
arXiv2026

FUN: A Focal U-Net Combining Reconstruction and Object Detection for Snapshot Spectral Imaging

Conventional push-broom hyperspectral imaging suffers from slow acquisition speeds, precluding real-time object detection; in contrast, snapshot spectral imaging enables instantaneous hyperspectral images (HSIs) capture, making real-time object detection feasible, yet its potential is often compromised by time-consuming post-capture reconstruction. To address this issue, we propose the Focal U-shaped Network (FUN), a novel end-to-end framework that jointly performs HSI reconstruction and object detection via multi-task learning. FUN employs a shared U-shaped backbone, where reconstruction provides underlying spectral information while detection guides semantic-aware priors learning, facilitating mutually beneficial task interaction. Crucially, we introduce focal modulation, an efficient alternative to self-attention that modulates spatial and spectral features while reducing quadratic computational complexity, enabling a self-attention-free architecture for joint reconstruction and detection. Furthermore, we contribute a new HSI object detection dataset with 8712 annotated objects across 363 HSIs to facilitate evaluation of the proposed method. Experiments demonstrate that FUN achieves state-of-the-art performance on both tasks, using 40% fewer parameters and 30% less computation than recent alternatives, making it promising for future real-time edge deployment. The code and datasets are available: https://github.com/ShawnDong98/FUN.

cs.CV↗
arXiv2026

RayFormer: Modeling Inter- and Intra-Ray Similarity for NeRF-Based Video Snapshot Compressive Imaging

Video snapshot compressive imaging (SCI) enables the reconstruction of dynamic scenes from a single snapshot measurement. Recently, NeRF-based methods have shown promising reconstruction performance. However, such methods typically adopt random ray sampling strategies and fail to capture content structural similarities, resulting in limited reconstruction quality. To address these issues, we first propose a patch-level ray sampling strategy to enable the modeling of content structure. Then, we propose an Inter- and Intra-Ray Transformer (RayFormer) to capture the structural similarities, modeling both inter-ray similarities among spatially neighboring points at the same depth and intra-ray correlations between adjacent points along the viewing ray. Finally, benefiting from the patch-level sampling strategy, the total variation prior is incorporated into the objective function to enhance spatial smoothness and suppress artifacts. Experiments in both simulated and real-world scenes demonstrate that the proposed method achieves state-of-the-art (SOTA) reconstruction performance.

cs.CV↗
arXiv2026

HY-Embodied-0.5: Embodied Foundation Models for Real-World Agents

We introduce HY-Embodied-0.5, a family of foundation models specifically designed for real-world embodied agents. To bridge the gap between general Vision-Language Models (VLMs) and the demands of embodied agents, our models are developed to enhance the core capabilities required by embodied intelligence: spatial and temporal visual perception, alongside advanced embodied reasoning for prediction, interaction, and planning. The HY-Embodied-0.5 suite comprises two primary variants: an efficient model with 2B activated parameters designed for edge deployment, and a powerful model with 32B activated parameters targeted for complex reasoning. To support the fine-grained visual perception essential for embodied tasks, we adopt a Mixture-of-Transformers (MoT) architecture to enable modality-specific computing. By incorporating latent tokens, this design effectively enhances the perceptual representation of the models. To improve reasoning capabilities, we introduce an iterative, self-evolving post-training paradigm. Furthermore, we employ on-policy distillation to transfer the advanced capabilities of the large model to the smaller variant, thereby maximizing the performance potential of the compact model. Extensive evaluations across 22 benchmarks, spanning visual perception, spatial reasoning, and embodied understanding, demonstrate the effectiveness of our approach. Our MoT-2B model outperforms similarly sized state-of-the-art models on 16 benchmarks, while the 32B variant achieves performance comparable to frontier models such as Gemini 3.0 Pro. In downstream robot control experiments, we leverage our robust VLM foundation to train an effective Vision-Language-Action (VLA) model, achieving compelling results in real-world physical evaluations. Code and models are open-sourced at https://github.com/Tencent-Hunyuan/HY-Embodied.

cs.CV↗
arXiv2026

Super Research: Answering Highly Complex Questions with Large Language Models through Super Deep and Super Wide Research

While Large Language Models (LLMs) have demonstrated proficiency in Deep Research or Wide Search, their capacity to solve highly complex questions-those requiring long-horizon planning, massive evidence gathering, and synthesis across heterogeneous sources-remains largely unexplored. We introduce Super Research, a task for complex autonomous research tasks that integrates (i) structured decomposition into a research plan, (ii) super wide retrieval for diverse perspectives, and (iii) super deep investigation to resolve uncertainties through iterative queries. To evaluate this capability, we curated a benchmark of 300 expert-written questions across diverse domains, each requiring up to 100+ retrieval steps and 1,000+ web pages to reconcile conflicting evidence. Super Research produces verifiable reports with fine-grained citations and intermediate artifacts (e.g., outlines and tables) to ensure traceable reasoning. Furthermore, we present a graph-anchored auditing protocol that evaluates Super Research along five dimensions: Coverage, Logical Consistency, Report Utility, Objectivity and Citation Health. While super-complex questions may be infrequent in standard applications, Super Research serves as a critical ceiling evaluation and stress test for LLM capabilities. A model's proficiency within Super Research acts as a powerful proxy for its general research competence; success here suggests the robustness necessary to navigate nearly any subordinate research task. Leaderboard is available at: https://cnsdqd-dyb.github.io/Super-Research-Benchmark/

cs.CL↗
arXiv2026

MTC-VAE: Multi-Level Temporal Compression with Content Awareness

Latent Video Diffusion Models (LVDMs) rely on Variational Autoencoders (VAEs) to compress videos into compact latent representations. For continuous Variational Autoencoders (VAEs), achieving higher compression rates is desirable; yet, the efficiency notably declines when extra sampling layers are added without expanding the dimensions of hidden channels. In this paper, we present a technique to convert fixed compression rate VAEs into models that support multi-level temporal compression, providing a straightforward and minimal fine-tuning approach to counteract performance decline at elevated compression rates.Moreover, we examine how varying compression levels impact model performance over video segments with diverse characteristics, offering empirical evidence on the effectiveness of our proposed approach. We also investigate the integration of our multi-level temporal compression VAE with diffusion-based generative models, DiT, highlighting successful concurrent training and compatibility within these frameworks. This investigation illustrates the potential uses of multi-level temporal compression.

cs.CV↗
arXiv2025

Enhancing Large Language Models through Structured Reasoning

Recent Large Language Models (LLMs) have significantly advanced natural language processing and automated decision-making. However, these models still encounter difficulties when performing complex reasoning tasks involving logical deduction and systematic planning, primarily due to their reliance on implicit statistical relationships without structured knowledge representation.Inspired by cognitive science and neurosymbolic AI, we introduce a novel approach to enhance LLMs through explicit structured reasoning. First, we convert unstructured data into structured formats by explicitly annotating reasoning steps. We then employ this structured dataset to train LLMs through Supervised Fine-Tuning (SFT). Additionally, we enhance the structured reasoning capabilities of LLMs using Group Relative Policy Optimization (GRPO), incorporating two innovative algorithms--MAX-Flow and Longest Common Subsequence (LCS)--which notably improve reasoning effectiveness and reduce computational complexity. Experimental results from fine-tuning a DeepSeek-R1-Distill-Qwen-1.5B model demonstrate concise reasoning, robust performance across various scenarios, and improved compatibility with optimization techniques, validating the efficacy of structured reasoning integration in LLMs.

cs.CL↗
arXiv2025

3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching robots manipulation skills. Current robot datasets often record robot action in different action spaces within a simple scene. This hinders the robot to learn a unified and robust action representation for different robots within diverse scenes. Observing how humans understand a manipulation task, we find that understanding how the objects should move in the 3D space is a critical clue for guiding actions. This clue is embodiment-agnostic and suitable for both humans and different robots. Motivated by this, we aim to learn a 3D flow world model from both human and robot manipulation data. This model predicts the future movement of the interacting objects in 3D space, guiding action planning for manipulation. Specifically, we synthesize a large-scale 3D optical flow dataset, named ManiFlow-110k, through a moving object auto-detect pipeline. A video diffusion-based world model then learns manipulation physics from these data, generating 3D optical flow trajectories conditioned on language instructions. With the generated 3D object optical flow, we propose a flow-guided rendering mechanism, which renders the predicted final state and leverages GPT-4o to assess whether the predicted flow aligns with the task description. This equips the robot with a closed-loop planning ability. Finally, we consider the predicted 3D optical flow as constraints for an optimization policy to determine a chunk of robot actions for manipulation. Extensive experiments demonstrate strong generalization across diverse robotic manipulation tasks and reliable cross-embodiment adaptation without hardware-specific training.

cs.RO↗
arXiv2025

The Tenth NTIRE 2025 Image Denoising Challenge Report

This paper presents an overview of the NTIRE 2025 Image Denoising Challenge (σ = 50), highlighting the proposed methodologies and corresponding results. The primary objective is to develop a network architecture capable of achieving high-quality denoising performance, quantitatively evaluated using PSNR, without constraints on computational complexity or model size. The task assumes independent additive white Gaussian noise (AWGN) with a fixed noise level of 50. A total of 290 participants registered for the challenge, with 20 teams successfully submitting valid results, providing insights into the current state-of-the-art in image denoising.

cs.CV↗
arXiv2024

MIPI 2024 Challenge on Few-shot RAW Image Denoising: Methods and Results

The increasing demand for computational photography and imaging on mobile platforms has led to the widespread development and integration of advanced image sensors with novel algorithms in camera systems. However, the scarcity of high-quality data for research and the rare opportunity for in-depth exchange of views from industry and academia constrain the development of mobile intelligent photography and imaging (MIPI). Building on the achievements of the previous MIPI Workshops held at ECCV 2022 and CVPR 2023, we introduce our third MIPI challenge including three tracks focusing on novel image sensors and imaging algorithms. In this paper, we summarize and review the Few-shot RAW Image Denoising track on MIPI 2024. In total, 165 participants were successfully registered, and 7 teams submitted results in the final testing phase. The developed solutions in this challenge achieved state-of-the-art erformance on Few-shot RAW Image Denoising. More details of this challenge and the link to the dataset can be found at https://mipichallenge.org/MIPI2024.

cs.CV↗
arXiv2024

VillagerAgent: A Graph-Based Multi-Agent Framework for Coordinating Complex Task Dependencies in Minecraft

In this paper, we aim to evaluate multi-agent systems against complex dependencies, including spatial, causal, and temporal constraints. First, we construct a new benchmark, named VillagerBench, within the Minecraft environment.VillagerBench comprises diverse tasks crafted to test various aspects of multi-agent collaboration, from workload distribution to dynamic adaptation and synchronized task execution. Second, we introduce a Directed Acyclic Graph Multi-Agent Framework VillagerAgent to resolve complex inter-agent dependencies and enhance collaborative efficiency. This solution incorporates a task decomposer that creates a directed acyclic graph (DAG) for structured task management, an agent controller for task distribution, and a state manager for tracking environmental and agent data. Our empirical evaluation on VillagerBench demonstrates that VillagerAgent outperforms the existing AgentVerse model, reducing hallucinations and improving task decomposition efficacy. The results underscore VillagerAgent's potential in advancing multi-agent collaboration, offering a scalable and generalizable solution in dynamic environments. The source code is open-source on GitHub (https://github.com/cnsdqd-dyb/VillagerAgent).

cs.AI↗
arXiv2024

Degradation Estimation Recurrent Neural Network with Local and Non-Local Priors for Compressive Spectral Imaging

In the Coded Aperture Snapshot Spectral Imaging (CASSI) system, deep unfolding networks (DUNs) have demonstrated excellent performance in recovering 3D hyperspectral images (HSIs) from 2D measurements. However, some noticeable gaps exist between the imaging model used in DUNs and the real CASSI imaging process, such as the sensing error as well as photon and dark current noise, compromising the accuracy of solving the data subproblem and the prior subproblem in DUNs. To address this issue, we propose a Degradation Estimation Network (DEN) to correct the imaging model used in DUNs by simultaneously estimating the sensing error and the noise level, thereby improving the performance of DUNs. Additionally, we propose an efficient Local and Non-local Transformer (LNLT) to solve the prior subproblem, which not only effectively models local and non-local similarities but also reduces the computational cost of the window-based global Multi-head Self-attention (MSA). Furthermore, we transform the DUN into a Recurrent Neural Network (RNN) by sharing parameters of DNNs across stages, which not only allows DNN to be trained more adequately but also significantly reduces the number of parameters. The proposed DERNN-LNLT achieves state-of-the-art (SOTA) performance with fewer parameters on both simulation and real datasets.

eess.IV↗
arXiv2023

Residual Degradation Learning Unfolding Framework with Mixing Priors across Spectral and Spatial for Compressive Spectral Imaging

To acquire a snapshot spectral image, coded aperture snapshot spectral imaging (CASSI) is proposed. A core problem of the CASSI system is to recover the reliable and fine underlying 3D spectral cube from the 2D measurement. By alternately solving a data subproblem and a prior subproblem, deep unfolding methods achieve good performance. However, in the data subproblem, the used sensing matrix is ill-suited for the real degradation process due to the device errors caused by phase aberration, distortion; in the prior subproblem, it is important to design a suitable model to jointly exploit both spatial and spectral priors. In this paper, we propose a Residual Degradation Learning Unfolding Framework (RDLUF), which bridges the gap between the sensing matrix and the degradation process. Moreover, a Mix$S^2$ Transformer is designed via mixing priors across spectral and spatial to strengthen the spectral-spatial representation capability. Finally, plugging the Mix$S^2$ Transformer into the RDLUF leads to an end-to-end trainable neural network RDLUF-Mix$S^2$. Experimental results establish the superior performance of the proposed method over existing ones.

eess.IV↗