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Yue Wang

Publications and source records attributed to Yue Wang.

At least 199 records · Page 11Linked to original sources
arXiv2026

$Ψ_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation

We introduce $Ψ_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and humanoid data, we argue that this strategy is suboptimal due to the fundamental kinematic and motion disparities between humans and humanoid robots. Therefore, data efficiency and model performance remain unsatisfactory despite the considerable data volume. To address this challenge, \ours\;decouples the learning process to maximize the utility of heterogeneous data sources. Specifically, we propose a staged training paradigm with different learning objectives: First, we autoregressively pre-train a VLM backbone on large-scale egocentric human videos to acquire generalizable visual-action representations. Then, we post-train a flow-based action expert on high-quality humanoid robot data to learn precise robot joint control. Our research further identifies a critical yet often overlooked data recipe: in contrast to approaches that scale with noisy Internet clips or heterogeneous cross-embodiment robot datasets, we demonstrate that pre-training on high-quality egocentric human manipulation data followed by post-training on domain-specific real-world humanoid trajectories yields superior performance. Extensive real-world experiments demonstrate that \ours\ achieves the best performance using only about 800 hours of human video data and 30 hours of real-world robot data, outperforming baselines pre-trained on more than 10$\times$ as much data by over 40\% in overall success rate across multiple tasks. We will open-source the entire ecosystem to the community, including a data processing and training pipeline, a humanoid foundation model, and a real-time action inference engine.

cs.RO↗
arXiv2026

Robust Transfer Learning with Side Information

Robust Markov Decision Processes (MDPs) address environmental shift through distributionally robust optimization (DRO) by finding an optimal worst-case policy within an uncertainty set of transition kernels. However, standard DRO approaches require enlarging the uncertainty set under large shifts, which leads to overly conservative and pessimistic policies. In this paper, we propose a framework for transfer under environment shift that derives a robust target-domain policy via estimate-centered uncertainty sets, constructed through constrained estimation that integrates limited target samples with side information about the source-target dynamics. The side information includes bounds on feature moments, distributional distances, and density ratios, yielding improved kernel estimates and tighter uncertainty sets. The side information includes bounds on feature moments, distributional distances, and density ratios, yielding improved kernel estimates and tighter uncertainty sets. Error bounds and convergence results are established for both robust and non-robust value functions. Moreover, we provide a finite-sample guarantee on the learned robust policy and analyze the robust sub-optimality gap. Under mild low-dimensional structure on the transition model, the side information reduces this gap and improves sample efficiency. We assess the performance of our approach across OpenAI Gym environments and classic control problems, consistently demonstrating superior target-domain performance over state-of-the-art robust and non-robust baselines.

stat.ML↗
arXiv2026

Towards Efficient Federated Learning of Networked Mixture-of-Experts for Mobile Edge Computing

Recent advancements in large artificial intelligence models (LAMs) are driving significant innovations in mobile edge computing within next-generation wireless networks. However, the substantial demands for computational resources and larges-cale training data required to train LAMs conflict with the limited storage and computational capacity of edge devices, posing significant challenges to training and deploying LAMs at the edge. In this work, we introduce the Networked Mixture-of-Experts (NMoE) system, in which clients perform inference collaboratively by distributing tasks to suitable neighbors based on their expertise and aggregate the returned results. For training the NMoE, we propose a federated learning framework that integrates both supervised and self-supervised learning to balance personalization and generalization, while preserving communication efficiency and data privacy. We conduct extensive experiments to demonstrate the efficacy of the proposed NMoE system, providing insights for the NMoE training algorithms.

cs.LG↗
arXiv2026

RealWonder: Real-Time Physical Action-Conditioned Video Generation

Current video generation models cannot simulate physical consequences of 3D actions like forces and robotic manipulations, as they lack structural understanding of how actions affect 3D scenes. We present RealWonder, the first real-time system for action-conditioned video generation from a single image. Our key insight is using physics simulation as an intermediate bridge: instead of directly encoding continuous actions, we translate them through physics simulation into visual representations (optical flow and RGB) that video models can process. RealWonder integrates three components: 3D reconstruction from single images, physics simulation, and a distilled video generator requiring only 4 diffusion steps. Our system achieves 13.2 FPS at 480x832 resolution, enabling interactive exploration of forces, robot actions, and camera controls on rigid objects, deformable bodies, fluids, and granular materials. We envision RealWonder opens new opportunities to apply video models in immersive experiences, AR/VR, and robot learning. Our code and model weights are publicly available in our project website: https://liuwei283.github.io/RealWonder/

cs.CV↗
arXiv2026

Online Robust Reinforcement Learning with General Function Approximation

In many real-world settings, reinforcement learning systems suffer performance degradation when the environment encountered at deployment differs from that observed during training. Distributionally robust reinforcement learning (DR-RL) mitigates this issue by seeking policies that maximize performance under the most adverse transition dynamics within a prescribed uncertainty set. Most existing DR-RL approaches, however, rely on strong data availability assumptions, such as access to a generative model or large offline datasets, and are largely restricted to tabular settings. In this work, we propose a fully online DR-RL algorithm with general function approximation that learns robust policies solely through interaction, without requiring prior knowledge or pre-collected data. Our approach is based on a dual-driven fitted robust Bellman procedure that simultaneously estimates the value function and the corresponding worst-case backup operator. We establish regret guarantees for online DR-RL characterized by an intrinsic complexity notion, the robust Bellman-Eluder dimension, covering a broad class of phi-divergence uncertainty sets. The resulting regret bounds are sublinear, do not scale with the size of the state or action spaces, and specialize to tight rates in structured problem classes, demonstrating the practicality and scalability of our framework.

cs.LG↗
arXiv2026

Emerging trends in Cislunar Space for Lunar Science Exploration and Space Robotics aiding Human Spaceflight Safety

In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its surface and supporting future interplanetary exploration. This study identifies and investigates two pivotal research domains with substantial transformative potential for accelerating humanity interplanetary aspirations. First is Lunar Science Exploration with Artificial Intelligence and Space Robotics which focusses on AI and Space Robotics redefining the frontiers of space exploration. Second being Space Robotics aid in manned spaceflight to the Moon serving as critical assets for pre-deployment infrastructure development, In-Situ Resource Utilization, surface operations support, and astronaut safety assurance. By integrating autonomy, machine learning, and realtime sensor fusion, space robotics not only augment human capabilities but also serve as force multipliers in achieving sustainable lunar exploration, paving the way for future crewed missions to Mars and beyond.

cs.RO↗
arXiv2026

Sample-Efficient Distributionally Robust Multi-Agent Reinforcement Learning via Online Interaction

Well-trained multi-agent systems can fail when deployed in real-world environments due to model mismatches between the training and deployment environments, caused by environment uncertainties including noise or adversarial attacks. Distributionally Robust Markov Games (DRMGs) enhance system resilience by optimizing for worst-case performance over a defined set of environmental uncertainties. However, current methods are limited by their dependence on simulators or large offline datasets, which are often unavailable. This paper pioneers the study of online learning in DRMGs, where agents learn directly from environmental interactions without prior data. We introduce the Multiplayer Optimistic Robust Nash Value Iteration (MORNAVI) algorithm and provide the first provable guarantees for this setting. Our theoretical analysis demonstrates that the algorithm achieves low regret and efficiently finds the optimal robust policy for uncertainty sets measured by Total Variation divergence and Kullback-Leibler divergence. These results establish a new, practical path toward developing truly robust multi-agent systems.

cs.LG↗
arXiv2026

D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially in physical parameter identification. In this work, we introduce a real-to-sim-to-real engine that leverages the Gaussian Splat representations to build a differentiable engine, enabling object mass identification from real-world visual observations and robot control signals, while enabling grasping policy learning simultaneously. Through optimizing the mass of the manipulated object, our method automatically builds high-fidelity and physically plausible digital twins. Additionally, we propose a novel approach to train force-aware grasping policies from limited data by transferring feasible human demonstrations into simulated robot demonstrations. Through comprehensive experiments, we demonstrate that our engine achieves accurate and robust performance in mass identification across various object geometries and mass values. Those optimized mass values facilitate force-aware policy learning, achieving superior and high performance in object grasping, effectively reducing the sim-to-real gap.

cs.RO↗
arXiv2026

Universal Beta Splatting

We introduce Universal Beta Splatting (UBS), a unified framework that generalizes 3D Gaussian Splatting to N-dimensional anisotropic Beta kernels for explicit radiance field rendering. Unlike fixed Gaussian primitives, Beta kernels enable controllable dependency modeling across spatial, angular, and temporal dimensions within a single representation. Our unified approach captures complex light transport effects, handles anisotropic view-dependent appearance, and models scene dynamics without requiring auxiliary networks or specific color encodings. UBS maintains backward compatibility by approximating to Gaussian Splatting as a special case, guaranteeing plug-in usability and lower performance bounds. The learned Beta parameters naturally decompose scene properties into interpretable without explicit supervision: spatial (surface vs. texture), angular (diffuse vs. specular), and temporal (static vs. dynamic). Our CUDA-accelerated implementation achieves real-time rendering while consistently outperforming existing methods across static, view-dependent, and dynamic benchmarks, establishing Beta kernels as a scalable universal primitive for radiance field rendering. Our project website is available at https://rongliu-leo.github.io/universal-beta-splatting/.

cs.GR↗
arXiv2026

A Simple and Efficient Jailbreak Method Exploiting LLMs' Helpfulness

This study reveals a critical safety blind spot in modern LLMs: learning-style queries, which closely resemble ordinary educational questions, can reliably elicit harmful responses. The learning-style queries are constructed by a novel reframing paradigm: HILL (Hiding Intention by Learning from LLMs). The deterministic, model-agnostic reframing framework is composed of 4 conceptual components: 1) key concept, 2) exploratory transformation, 3) detail-oriented inquiry, and optionally 4) hypotheticality. Further, new metrics are introduced to thoroughly evaluate the efficiency and harmfulness of jailbreak methods. Experiments on the AdvBench dataset across a wide range of models demonstrate HILL's strong generalizability. It achieves top attack success rates on the majority of models and across malicious categories while maintaining high efficiency with concise prompts. On the other hand, results of various defense methods show the robustness of HILL, with most defenses having mediocre effects or even increasing the attack success rates. In addition, the assessment of defenses on the constructed safe prompts reveals inherent limitations of LLMs' safety mechanisms and flaws in the defense methods. This work exposes significant vulnerabilities of safety measures against learning-style elicitation, highlighting a critical challenge of fulfilling both helpfulness and safety alignments.

cs.CR↗
arXiv2026

U2-BENCH: Benchmarking Large Vision-Language Models on Ultrasound Understanding

Ultrasound is a widely-used imaging modality critical to global healthcare, yet its interpretation remains challenging due to its varying image quality on operators, noises, and anatomical structures. Although large vision-language models (LVLMs) have demonstrated impressive multimodal capabilities across natural and medical domains, their performance on ultrasound remains largely unexplored. We introduce U2-BENCH, the first comprehensive benchmark to evaluate LVLMs on ultrasound understanding across classification, detection, regression, and text generation tasks. U2-BENCH aggregates 7,241 cases spanning 15 anatomical regions and defines 8 clinically inspired tasks, such as diagnosis, view recognition, lesion localization, clinical value estimation, and report generation, across 50 ultrasound application scenarios. We evaluate 23 state-of-the-art LVLMs, both open- and closed-source, general-purpose and medical-specific. Our results reveal strong performance on image-level classification, but persistent challenges in spatial reasoning and clinical language generation. U2-BENCH establishes a rigorous and unified testbed to assess and accelerate LVLM research in the uniquely multimodal domain of medical ultrasound imaging.

cs.CV↗
arXiv2026

FuzzingRL: Reinforcement Fuzz-Testing for Revealing VLM Failures

Vision Language Models (VLMs) are prone to errors, and identifying where these errors occur is critical for ensuring the reliability and safety of AI systems. In this paper, we propose an approach that automatically generates questions designed to deliberately induce incorrect responses from VLMs, thereby revealing their vulnerabilities. The core of this approach lies in fuzz testing and reinforcement finetuning: we transform a single input query into a large set of diverse variants through vision and language fuzzing. Based on the fuzzing outcomes, the question generator is further instructed by adversarial reinforcement fine-tuning to produce increasingly challenging queries that trigger model failures. With this approach, we can consistently drive down a target VLM's answer accuracy -- for example, the accuracy of Qwen2.5-VL-32B on our generated questions drops from 86.58\% to 65.53\% in four RL iterations. Moreover, a fuzzing policy trained against a single target VLM transfers to multiple other VLMs, producing challenging queries that degrade their performance as well.

cs.LG↗
arXiv2026

Zooming without Zooming: Region-to-Image Distillation for Fine-Grained Multimodal Perception

Multimodal Large Language Models (MLLMs) excel at broad visual understanding but still struggle with fine-grained perception, where decisive evidence is small and easily overwhelmed by global context. Recent "Thinking-with-Images" methods alleviate this by iteratively zooming in and out regions of interest during inference, but incur high latency due to repeated tool calls and visual re-encoding. To address this, we propose Region-to-Image Distillation, which transforms zooming from an inference-time tool into a training-time primitive, thereby internalizing the benefits of agentic zooming into a single forward pass of an MLLM. In particular, we first zoom in to micro-cropped regions to let strong teacher models generate high-quality VQA data, and then distill this region-grounded supervision back to the full image. After training on such data, the smaller student model improves "single-glance" fine-grained perception without tool use. To rigorously evaluate this capability, we further present ZoomBench, a hybrid-annotated benchmark of 845 VQA data spanning six fine-grained perceptual dimensions, together with a dual-view protocol that quantifies the global--regional "zooming gap". Experiments show that our models achieve leading performance across multiple fine-grained perception benchmarks, and also improve general multimodal cognition on benchmarks such as visual reasoning and GUI agents. We further discuss when "Thinking-with-Images" is necessary versus when its gains can be distilled into a single forward pass. Our code is available at https://github.com/inclusionAI/Zooming-without-Zooming.

cs.CV↗
arXiv2026

Counting Balanced Triangles on Social Networks With Uncertain Edge Signs

On signed social networks, balanced and unbalanced triangles are a critical motif due to their role as the foundations of Structural Balance Theory. The uses for these motifs have been extensively explored in networks with known edge signs, however in the real-world graphs with ground-truth signs are near non-existent, particularly on a large-scale. In reality, edge signs are inferred via various techniques with differing levels of confidence, meaning the edge signs on these graphs should be modelled with a probability value. In this work, we adapt balanced and unbalanced triangles to a setting with uncertain edge signs and explore the problems of triangle counting and enumeration. We provide a baseline and improved method (leveraging the inherent information provided by the edge probabilities in order to reduce the search space) for fast exact counting and enumeration. We also explore approximate solutions for counting via different sampling approaches, including leveraging insights from our improved exact solution to significantly reduce the runtime of each sample resulting in upwards of two magnitudes more queries executed per second. We evaluate the efficiency of all our solutions as well as examine the effectiveness of our sampling approaches on real-world topological networks with a variety of probability distributions.

cs.DS↗
arXiv2026

FM-RME: Foundation Model Empowered Radio Map Estimation

Traditional radio map estimation (RME) techniques fail to capture multi-dimensional and dynamic characteristics of complex spectrum environments. Recent data-driven methods achieve accurate RME in spatial domain, but ignore physical prior knowledge of radio propagation, limiting data efficiency especially in multi-dimensional scenarios. To overcome such limitations, we propose a new foundation model, characterized by self-supervised pre-training on diverse data for zero-shot generalization, enabling multi-dimensional radio map estimation (FM-RME). Specifically, FM-RME builds an effective synergy of two core components: a geometry-aware feature extraction module that encodes physical propagation symmetries, i.e., translation and rotation invariance, as inductive bias, and an attention-based neural network that learns long-range correlations across the spatial-temporal-spectral domains. A masked self-supervised multi-dimensional pre-training strategy is further developed to learn generalizable spectrum representations across diverse wireless environments. Once pre-trained, FM-RME supports zero-shot inference for multi-dimensional RME, including spatial, temporal, and spectral estimation, without scenario-specific retraining. Simulation results verify that FM-RME exhibits desired learning performance across diverse datasets and zero-shot generalization capabilities beyond existing RME methods.

eess.SP↗
arXiv2026

Latent Denoising Makes Good Tokenizers

Despite their fundamental role, it remains unclear what properties could make tokenizers more effective for generative modeling. We observe that modern generative models share a conceptually similar training objective -- reconstructing clean signals from corrupted inputs, such as signals degraded by Gaussian noise or masking -- a process we term denoising. Motivated by this insight, we propose aligning tokenizer embeddings directly with the downstream denoising objective, encouraging latent embeddings that remain reconstructable even under significant corruption. To achieve this, we introduce the Latent Denoising Tokenizer (l-DeTok), a simple yet highly effective tokenizer trained to reconstruct clean images from latent embeddings corrupted via interpolative noise or random masking. Extensive experiments on class-conditioned (ImageNet 256x256 and 512x512) and text-conditioned (MSCOCO) image generation benchmarks demonstrate that our l-DeTok consistently improves generation quality across six representative generative models compared to prior tokenizers. Our findings highlight denoising as a fundamental design principle for tokenizer development, and we hope it could motivate new perspectives for future tokenizer design.

cs.CV↗
arXiv2026

Demonstration of High-Gain Harmonic Lasing in a Terahertz Free-Electron Laser

Compact Free-Electron Lasers (FELs) offering broad, continuous spectral tunability are traditionally constrained by fixed-parameter magnetic structures and the necessity for high-energy electron beams. High-gain Harmonic Lasing (HL) has long been proposed as a solution to overcome these limitations; however, a robust experimental verification of this principle has remained absent. Here, we report the first experimental demonstration of high-gain HL. By employing a frequency-tunable electron beam density modulation to dominate the fundamental instability, we achieved sustained FEL amplification at the 3rd and 5th harmonics of the wiggler. The HL mode generated output power comparable to conventional fundamental operation with enhanced stability and narrower spectral bandwidth. Notably, we demonstrate that HL extends the spectral coverage by a factor of two under fixed facility constraints, achieving pulse energies up to 540 μJ. These results establish high-gain HL as a versatile mechanism for advancing compact, wavelength-flexible FEL facilities.

physics.acc-ph↗
arXiv2026

GECAM discovery of the second FRB-associated Magnetar X-ray Burst from SGR J1935+2154

Fast radio burst (FRB) is mysterious phenomenon with millisecond-duration radio pulses observed mostly from cosmological distance. The association between FRB 200428 and a magnetar X-ray burst (MXB) from SGR J1935+2154 has significantly advanced the understanding of FRB and magnetar bursts. However, it is uncertain whether this association between MXB and FRB (i.e. MXB/FRB 200428) is genuine or just coincidental only based on this single event. Here we report the discovery of a bright ($\rm\sim7.6\times10^{-7}\,erg \cdot cm^{-2}$ in 1-250 keV) magnetar X-ray burst detected by GECAM on October 14th, 2022 (dubbed as MXB 221014) from SGR J1935+2154, which is associated with a FRB detected by CHIME and GBT. We conducted a detailed temporal and spectral analysis of MXB 221014 with GECAM data and find that it is a bright and typical ($T_{90}\sim$250 ms) X-ray burst from this magnetar. Interestingly, we find two narrow X-ray pulses in the MXB, one of which temporally aligns with the main pulse of the FRB 221014 $\sim5.70$ ms latter than the peak time of FRB 221014), resembling the feature found in MXB/FRB 200428. Furthermore, we did comprehensive comparison between MXB/FRB 221014 and MXB/FRB 200428, and find that while the two events share several common features, they also exhibit distinct differences, highlighting the variety of the MXB-FRB association morphology. This finding not only confirms the association between MXB and FRB but also provides new insights into the mechanism of and the relationship between FRB and MXB.

astro-ph.HE↗