Searcharxiv⌕ Search

arXiv subjects

Yue Wang

Publications and source records attributed to Yue Wang.

At least 145 records · Page 8Linked to original sources
arXiv2026

WavTTS: Towards High-Quality Zero-Shot TTS via Direct Raw Waveform Modeling

Recently, diffusion models operating on VAE latents or mel-spectrograms have become the dominant paradigm for zero-shot TTS. Although these compressed representations improve generation efficiency, they inevitably suffer from information loss and non-end-to-end training. Theoretically, directly modeling raw waveforms circumvents these issues; however, this direction remains underexplored and is often deemed difficult due to the extremely long sequence length of audio signals. To overcome this, we propose WavTTS, the first raw waveform generative TTS model that substantially narrows the gap with latent-space generative models. Built upon the flow matching with Diffusion Transformer (DiT), WavTTS directly models speech waveforms via a simple patchification strategy, while integrating multi-scale mel-spectrogram supervision to provide perceptual guidance during training. Furthermore, we investigate the impact of prediction targets and noise scheduling in waveform diffusion, and develop an effective schedule design to improve generation quality. Evaluations on open-source benchmarks demonstrate that WavTTS closely approaches the performance of current state-of-the-art latent generative zero-shot TTS models, while substantially outperforming previous end-to-end speech generation models. Our findings demonstrate the feasibility of scaling diffusion-based TTS directly in the waveform space, opening a new direction for end-to-end speech generation.

eess.AS↗
arXiv2026

OPTScientist: Multi-Agent Discovery of Typed Optimizer Programs for Transformer Pretraining

Designing optimizers for modern deep learning remains a challenging scientific problem, requiring the joint consideration of optimization geometry, state dynamics, numerical stability, implementation constraints, and empirical generalization. Existing automated optimizer discovery methods typically search either over unconstrained code spaces or within narrowly parameterized optimizer families. The former is flexible but often produces invalid or uninterpretable programs, while the latter is stable but limits novelty. We introduce OPTScientist, a theory-guided multi-agent framework for optimizer discovery in a typed domain-specific language (DSL). OPTScientist formulates optimizer design as a constrained scientific search process, where candidate updates are expressed through direction, scaling, preconditioning, regularization, state, and grouping modules. Four role agents, Theorist, Designer, Engineer, and Reviewer, collaborate within a single orchestration loop to propose hypotheses, synthesize DSL candidates, compile and evaluate optimizers, and critique results. To overcome the limitations of a fixed search space, OPTScientist combines evolutionary search over optimizer programs with a second-stage mechanism that proposes small DSL extensions when repeated failures reveal representational bottlenecks. Using this framework, we discover RS-MR, a reduced-state matrix optimizer that improves transformer pretraining over strong baselines under our native evaluation protocol. Our results suggest a path toward automated optimizer science grounded in theory, typed programs, compiler validation, and closed-loop experimentation.

cs.AI↗
arXiv2026

WMLLM: Self-Evolving Optimization Agents via Predict-Then-Act World Modeling

Black-box optimization problems remain challenging because of large, weakly structured, and high-dimensional search spaces. Existing methods often suffer from poor sample efficiency because they rely on direct candidate generation or trial-and-error refinement. A natural way to improve search efficiency is to use world modeling, which can help identify promising optimization directions before costly evaluation. Large language models can predict the outcomes of these candidates with nontrivial accuracy because of their implicit knowledge. Motivated by this observation, we propose WMLLM, a self-evolving optimization-agent framework based on predict-then-act world modeling. The agent first predicts promising directions and then acts to generate candidates. Combined with agentic multi-turn refinement, population-based search, and reinforcement learning, WMLLM refines both its implicit world model and its optimization strategy during search. Experiments on black-box optimization tasks, especially multi-objective molecular optimization, show that WMLLM improves sample efficiency and final optimization performance. On the multi-objective molecular optimization benchmark, WMLLM achieves state-of-the-art results under a limited evaluation budget.

cs.LG↗
arXiv2026

RoboDream: Compositional World Models for Scalable Robot Data Synthesis

Scaling robot learning requires large-scale, diverse demonstrations, yet real-world data collection via teleoperation remains prohibitively expensive and time-consuming. While video diffusion models offer a promising avenue for data scaling, existing generative approaches are often limited to superficial visual augmentation, or suffer from embodiment hallucinations that yield physically infeasible motions. We present a generalizable embodiment-centric world model that achieves scalable data generation by synthesizing photorealistic demonstrations with novel objects, in novel scenes, and from novel viewpoints. Our approach anchors generation to rendered robot motion while conditioning on explicit scene and object priors, effectively decoupling trajectory execution from environment synthesis. This formulation has the potential to unlock two powerful data scaling capabilities: (1) retrieval and rebirth, which repurposes existing trajectories into entirely new contexts without new motion data; and (2) prop-free teleoperation, where operators manipulate empty air and the model hallucinates the target objects and scene afterwards, eliminating reset time. We demonstrate with real-world experiments that our generated data consistently improves downstream policy performance and significantly reduces real-world data requirements across diverse manipulation tasks.

cs.RO↗
arXiv2026

RCM-ACT: Imitation Learning with Dynamic RCM Calibration for Autonomous Intraocular Foreign Body Removal

Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the challenges of autonomous manipulation, particularly kinematic uncertainties from variable motion scaling and Remote Center of Motion (RCM) point variation, we propose RCM-ACT, an imitation learning framework for autonomous intraocular foreign body ring manipulation. Our approach integrates RCM dynamic calibration to resolve coordinate system inconsistencies caused by intraocular instrument variation and introduces the RCM-ACT architecture, which combines action chunking transformers with episode-level kinematic realignment. Trained solely on stereo visual data and instrument kinematics from expert demonstrations in an artificial eye model, RCM-ACT successfully completes ring grasping and positioning tasks without explicit depth sensing. Experimental validation demonstrates the successful implementation of end-to-end autonomy under uncalibrated microscopy conditions, achieving a mean 3-D Euclidean grasp deviation of 0.686 mm and 11/20 full-task successes. The results provide a viable framework for developing intelligent eye surgical systems capable of complex intraocular procedures.

cs.RO↗
arXiv2026

Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning

As robot control shifts toward large-scale reinforcement learning with in-loop dynamics computation, the community's reliance on CPU-bound libraries such as Pinocchio creates a throughput bottleneck in GPU-based training pipelines. We present BARD (Batched Articulated Rigid-body Dynamics), a self-contained PyTorch implementation of Featherstone's rigid-body dynamics algorithms, optimized for batched GPU evaluation and automatic differentiation. Three design choices make this efficient: a tiered lazy-evaluation cache that avoids redundant tree traversals, matmul-free joint transforms via pre-computed Rodrigues constants, and level-parallel propagation that reduces sequential operations to tree-depth batched steps. On five robot models (7-23 DOFs), BARD matches Pinocchio numerically while reaching up to 64x higher throughput for Forward Kinematics and 63x for Jacobians at batch size 4096 on an NVIDIA H200. We validate differentiability through gradient-based system identification on a 7-DOF manipulator, recovering link masses to 1.24% mean error under 5% torque noise, and integrate BARD into an Isaac Lab AMP training pipeline for an 11-DOF spined quadruped with 4096 parallel environments, where it is 8.5x faster than Pinocchio and 2.0x faster than ADAM for in-loop dynamics. BARD is open-sourced at: https://github.com/YueWang996/bard-pytorch-dynamics.

cs.RO↗
arXiv2026

Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes

This paper proposes a learning-based visual peg-in-hole that enables training with several shapes in simulation, and adapting to arbitrary unseen shapes in real world with minimal sim-to-real cost. The core idea is to decouple the generalization of the sensory-motor policy to the design of a fast-adaptable perception module and a simulated generic policy module. The framework consists of a segmentation network (SN), a virtual sensor network (VSN), and a controller network (CN). Concretely, the VSN is trained to measure the pose of the unseen shape from a segmented image. After that, given the shape-agnostic pose measurement, the CN is trained to achieve generic peg-in-hole. Finally, when applying to real unseen holes, we only have to fine-tune the SN required by the simulated VSN+CN. To further minimize the transfer cost, we propose to automatically collect and annotate the data for the SN after one-minute human teaching. Simulated and real-world results are presented under the configurations of eye-to/in-hand. An electric vehicle charging system with the proposed policy inside achieves a 10/10 success rate in 2-3s, using only hundreds of auto-labeled samples for the SN transfer.

cs.RO↗
arXiv2026

HTAM: Hierarchical Transition-Attended Memory for Operator Optimization

High-performance GPU kernels are essential for efficient LLM deployment, yet optimizing them remains expertise-intensive. Recent LLM-based code generation makes automatic GPU operator generation promising, but operator optimization remains a hardware-aware search problem. Existing LLM-based methods face a granularity mismatch: coarse hints are reusable but hard to execute, whereas detailed memories are actionable but enlarge the search space and obscure optimization bottlenecks. The key challenge is therefore to organize optimization experience at an appropriate granularity. To address this issue, this paper proposes HTAM (Hierarchical Transition-Attended Memory), a coarse-to-fine framework for LLM-based operator optimization. HTAM builds a two-level Hierarchical Transition Graph (HTG) to organize coarse global directions, detailed local strategies, and transition experience between optimization steps. During each evolution step, HTAM selects a global direction from the current state and recent optimization history, retrieves the corresponding local strategy memory, and uses it to guide concrete CUDA code generation. Experiments on the full KernelBench suite demonstrate that HTAM consistently improves correctness, fast-solution rate, and speedup over LLM-based baselines, while backend and Robust-KBench studies indicate transferable benefits from structured memory.

cs.CL↗
arXiv2026

BioArc: Discovering Optimal Neural Architectures for Biological Foundation Models

Foundation models have revolutionized various fields such as natural language processing (NLP) and computer vision (CV). While efforts have been made to transfer the success of the foundation models in general AI domains to biology, existing works focus on directly adopting the existing foundation model architectures from general machine learning domains without a systematic design considering the unique physicochemical and structural properties of each biological data modality. This leads to suboptimal performance, as these repurposed architectures struggle to capture the long-range dependencies, sparse information, and complex underlying ``grammars'' inherent to biological data. To address this gap, we introduce BioArc, a novel framework designed to move beyond intuition-driven architecture design towards principled, automated architecture discovery for biological foundation models. Leveraging Neural Architecture Search (NAS), BioArc systematically explores a vast architecture design space, evaluating architectures across multiple biological modalities while rigorously analyzing the interplay between architecture, tokenization, and training strategies. This large-scale analysis identifies novel, high-performance architectures, allowing us to distill a set of empirical design principles to guide future model development. Furthermore, to make the best of this set of discovered principled architectures, we propose and compare several architecture prediction methods that effectively and efficiently predict optimal architectures for new biological tasks. Overall, our work provides a foundational resource and a principled methodology to guide the creation of the next generation of task-specific and foundation models for biology.

cs.LG↗
arXiv2026

Fully coherent short wavelength free-electron laser driven by a single sub-microjoule seed

High-repetition-rate, fully coherent extreme-ultraviolet (EUV) and X-ray free-electron lasers (FELs) are essential for advanced time-resolved ultrafast spectroscopies. While external seeding serves as the standard technique to achieve precise temporal coherence, conventional methods demand hundred-megawatt peak-power laser systems. Furthermore, advanced configurations like echo-enabled harmonic generation (EEHG) introduce the severe complexities of dual-laser synchronization. Together, these requirements fundamentally restrict operations to kilohertz repetition rates and compromise overall system stability. Here, we experimentally demonstrate a fully coherent EEHG-FEL driven by a single, sub-microjoule seed laser. By employing a direct-amplification enabled harmonic generation technique, we utilize an initial 0.4 microJ (2 MW peak power) ultraviolet seed to directly drive coherent lasing at nanometer wavelengths. By eliminating the need for extreme peak powers and multiple synchronized lasers, this approach significantly simplifies the seeding architecture and provides a practical and robust pathway toward megahertz-class, fully coherent EUV and X-ray light sources.

physics.acc-ph↗
arXiv2026

Reevaluating the Intra-Modal Misalignment Hypothesis in CLIP

Recent research suggested that the embeddings produced by CLIP-like contrastive language-image training are suboptimal for image-only tasks. The main theory is that the inter-modal (language-image) alignment loss ignores intra-modal (image-image) alignment, leading to poorly calibrated distances between images. In this study, we question this intra-modal misalignment hypothesis. We reexamine its foundational theoretical argument, the indicators used to support it, and the performance metrics affected. For the theoretical argument, we demonstrate that there are no such supposed degrees of freedom for image embedding distances. For the empirical measures, our findings reveal they yield similar results for language-image trained models (CLIP, SigLIP) and image-image trained models (DINO, SigLIP2). This indicates the observed phenomena do not stem from a misalignment specific to the former. Experiments on the commonly studied intra-modal tasks retrieval and few-shot classification confirm that addressing task ambiguity, not supposed misalignment, is key for best results.

cs.CV↗
arXiv2026

What if Agents Could Imagine? Reinforcing Open-Vocabulary HOI Comprehension through Generation

Multimodal Large Language Models have shown promising capabilities in bridging visual and textual reasoning, yet their reasoning capabilities in Open-Vocabulary Human-Object Interaction (OV-HOI) are limited by cross-modal hallucinations and limited viewpoints of images. To address this, we propose ImagineAgent, an agentic framework that integrates cognitive mapping, tool-augmented reinforcement learning (RL), and generative world modeling for robust OV-HOI understanding. Specifically, we first propose an innovative CoT dataset named hicodet-6K for supervised fine-tuning (SFT), which effectively bridges the perception-to-cognition gap by structuring perceived entities into interaction pairs for comprehensive predictions. Subsequently, we develop a multimodal tool library integrating online retrieval, image cropping, and generative modeling, enabling the agent to dynamically augment reasoning with domain-specific tools to resolve visual-semantic ambiguities and hallucinations during inference. Moreover, we incorporate a generative model to reconstruct alternative viewpoints, enabling the agent to 'imagine' under limited viewpoints. Finally, we propose a composite reward mechanism to jointly optimize prediction accuracy and tool efficiency. Evaluations on both SWIG-HOI and HICO-DET datasets demonstrate that our method achieves state-of-the-art performance while requiring merely 36.7% of the training data compared to existing methods, validating our robustness, empirical effectiveness and efficiency.

cs.CV↗
arXiv2026

IndusAgent: Reinforcing Open-Vocabulary Industrial Anomaly Detection with Agentic Tools

Multimodal large language models (MLLMs) have shown remarkable capability in bridging visual perception and textual reasoning, enabling zero-shot understanding across diverse industrial scenarios. However, their performance in open-vocabulary industrial anomaly detection (IAD) is often limited by domain-misaligned reasoning and hallucinated structural inferences. To address these challenges, we propose \textbf{IndusAgent}, a tool-augmented agentic framework for open-vocabulary IAD. Specifically, we first construct \textbf{Indus-CoT}, a structured dataset that integrates global visual observations, high-resolution local patches, and expert normalcy priors, providing supervision for fine-tuning the model on rigorous industrial inspection trajectories. Building on this, IndusAgent dynamically orchestrates a set of external tools, including dynamic region cropping, high-frequency feature enhancement, and prior retrieval, thus enabling the agent to actively resolve visual ambiguities and disentangle subtle anomalies. Furthermore, we introduce a gated reinforcement learning objective that jointly optimizes anomaly classification, localization accuracy, anomaly type reasoning, and efficient tool usage, ensuring that tool invocation occurs only when beneficial. Extensive evaluations on five industrial anomaly benchmarks, including MVTec-AD, VisA, MPDD, DTD, and SDD, demonstrate that IndusAgent achieves state-of-the-art zero-shot performance among all existing methods, validating our robustness and generalization capacity.

cs.CV↗
arXiv2026

ETS: Energy-Guided Test-Time Scaling for Training-Free RL Alignment

Reinforcement Learning (RL) post-training alignment for language models is effective, but also costly and unstable in practice, owing to its complicated training process. To address this, we propose a training-free inference method to sample directly from the optimal RL policy. The transition probability applied to Masked Language Modeling (MLM) consists of a reference policy model and an energy term. Based on this, our algorithm, Energy-Guided Test-Time Scaling (ETS), estimates the key energy term via online Monte Carlo, with a provable convergence rate. Moreover, to ensure practical efficiency, ETS leverages modern acceleration frameworks alongside tailored importance sampling estimators, substantially reducing inference latency while provably preserving sampling quality. Experiments on MLM (including autoregressive models and diffusion language models) across reasoning, coding, and science benchmarks show that our ETS consistently improves generation quality, validating its effectiveness and design. The code is available at https://github.com/sheriyuo/ETS.

cs.LG↗
arXiv2026

Generative-Evaluative Agreement: A Necessary Validity Criterion for LLM-Enabled Adaptive Assessment

When the same LLM generates assessment items, simulates student responses, and scores them, the validation loop is self-referential. We introduce Generative-Evaluative Agreement (GEA), a validity criterion measuring whether an LLM's scoring function recovers the skill levels its generative function was instructed to produce. In the first direct measurement of GEA on a two-stage adaptive assessment, the model recovers roughly half the intended variance r = 0.698 with systematic positive bias. GEA is strong r > 0.7 for syntactically verifiable skills but near zero for design-level skills, and low-skill overestimation inflates scores near the routing threshold. We argue that granular, skill-decomposed rubrics are the principal proposed mechanism for strengthening GEA and outline complementary mitigations.

cs.AI↗
arXiv2026

SCOPE-RL: Stable and Quantitative Control of Policy Entropy in RL Post-Training

Reinforcement learning (RL) is a key paradigm for post-training large language models (LLMs), but the widely used Group Relative Policy Optimization (GRPO) often suffers from entropy collapse: exploration quickly disappears, policies converge prematurely, and sample diversity declines, ultimately harming training effectiveness. Existing remedies, including entropy bonuses and clip-based methods, rarely keep entropy within a stable exploration regime and often introduce oscillatory entropy or reward degradation. In this work, we identify a previously overlooked asymmetry in entropy dynamics: under high-temperature sampling, positive and negative samples have opposite effects on policy entropy. Specifically, high-temperature positive samples promote entropy growth, whereas negative samples suppress it. We provide a theoretical explanation for this phenomenon: when entropy decreases during policy updates, its derivative with respect to temperature is strictly positive under positive-sample updates, indicating that high-temperature positive samples can counteract entropy decay, thereby slowing entropy collapse and potentially reversing it. Motivated by this insight, we propose SCOPE-RL, a stable and quantitative entropy control framework through a regularization term constructed from temperature-adaptive positive samples. Extensive experiments show that SCOPE-RL consistently outperforms strong RL baselines on both Pass@1 and Pass@$k$. Our results provide evidence that escaping entropy collapse can improve reasoning performance, while also showing that the benefit is non-monotonic, with an optimal level of exploration for RL post-training in reasoning LLMs.

cs.LG↗
arXiv2026

Stable Causal Discovery via Directed Acyclic Graph Aggregation

Directed Acyclic Graphs (DAGs) are central to uncovering causal structure in complex systems, yet learning a single DAG from data is often challenging: model uncertainty, finite samples, and a combinatorially large search space frequently yield unstable estimates. We propose DAGgr, a model averaging framework that aggregates multiple candidate DAGs into a single stable representation. Candidate graphs are weighted by their out-of-sample predictive likelihood across repeated data splits, and a thresholding rule on the resulting edge-importance scores guarantees that the aggregated graph is itself acyclic. We establish a finite-sample risk bound, prove that the procedure preserves acyclicity, and show that edge selection is consistent under mild conditions on the weights. Simulations across random, hub, and chain structures, together with an analysis of the Sachs et al. (2005) protein-signaling network, show that DAGgr matches or exceeds the best individual candidate while consistently outperforming bootstrap-aggregation baselines across structural recovery metrics.

stat.ME↗
arXiv2026

Longwang: Zero-Shot Global Spatiotemporal Precipitation Downscaling with a Latent Generative Prior

High-resolution precipitation information is essential for climate impact assessment, yet global climate models remain too coarse to resolve key small-scale processes. Existing machine learning downscaling methods often require paired low- and high-resolution data for supervised learning, are tied to fixed regions or scale factors during inference, and can be computationally expensive to train and run in physical space. Here we introduce Longwang, a zero-shot latent generative framework for global spatiotemporal precipitation downscaling. Longwang learns a context-conditioned latent generative prior and combines it with a physically informed observation operator through posterior sampling, enabling daily O(10 km) precipitation fields to be generated from monthly O(100 km) inputs. On ERA5 reanalysis, Longwang outperforms standard posterior sampling with an unconditional generative prior in reconstructing fine-scale spatial patterns, preserving temporal coherence, and recovering extreme precipitation intensities. The framework further generalizes to historical climate simulations and future climate projections under substantial distribution shift.

physics.ao-ph↗