arXiv subjects

Yue Yang

Publications and source records attributed to Yue Yang.

At least 19 recordsLinked to original sources

arXiv2026

Quantum lattice Boltzmann method via density-matrix encoding for fluid simulation with wall boundary conditions

The quantum lattice Boltzmann method (QLBM) holds promise for efficient fluid simulations, yet the treatment of realistic boundary conditions, particularly solid wall boundary with arbitrary geometry, remains a critical open challenge. We propose a QLBM algorithm that incorporates wall boundaries as well as inlet/outlet velocity conditions. Building upon the existing QLBM with ensemble transformations, we adopt a density-matrix encoding that offers greater flexibility in circuit design and enables the implementation of non-unitary operations through Kraus operators. For boundary enforcement, we design a quantum implementation of the half-way bounce-back scheme and introduce a component exchange step prior to the streaming step, which naturally enforces the no-slip condition without modifying the transport operation. Inlet and outlet conditions are imposed via controlled SWAP operations combined with ancilla registers prepared in the prescribed velocity states. Our QLBM is quantitatively validated through simulations of two-dimensional flows past a backward-facing step, a cylinder, and an obstacle with complex geometry, demonstrating both accuracy and extensibility of our boundary algorithm.

quant-ph↗

arXiv2026

Sensing Which Modality Matters: Evidence-Gated Regularization for Robust VLA Policies

Vision-Language-Action (VLA) policies fuse multimodal sensory inputs, but training on limited and homogeneous robot demonstrations encourages spurious inter-sensor correlations rather than task-relevant signal, a failure we term modality entanglement. Under real-world occlusions and distractors, this manifests as nuisance sensitivity to corruption of uninformative sensors and single-modality insufficiency when only one informative sensor remains intact. We propose Evidence-Gated Regularization (EGR), a modality-agnostic training objective that introduces zero inference-time overhead. EGR derives a per-frame and per-sensor task-relevance signal to gate two state-conditional consistency objectives: invariance on low-evidence sensors, and single-sensor sufficiency on high-evidence ones. We introduce a benchmark based on BEHAVIOR-1K, comprising a fast inference-only diagnostic suite and 47 rollout-based skills targeting modality entanglement. We validate EGR on this benchmark and on two real-robot setups with fundamentally different embodiments: a bi-manual setup with two Kinova arms and three RGB cameras, and a single-arm MELFA ASSISTA setup combining vision and GelSight tactile sensors. EGR improves simulation success rates (SR) from 12.5% to 16.4% under full modalities (+31%), from 9.4% to 16.5% under uninformative-sensor corruption (+75%), and from 2.8% to 6.1% under single-sensor fallback (+120%). Under physical-object distractors, EGR boosts SR from 30% to 85% on the bi-manual setup (+183%) and from 55% to 70% on the tactile setup (+27%).

cs.RO↗

arXiv2026

Repair or Resample? Rethinking Failure Debugging in LLM Multi-Agent Systems

As large language model (LLM)-based multi-agent systems (MASs) are increasingly applied to long-horizon complex tasks, their reliability has emerged as the core bottleneck hindering their real-world deployment. Existing MAS debugging and repair methods typically rely on rerunning and resampling the entire execution trajectory. However, a fundamental question remains to be answered: do these methods causally repair MAS failures or merely stochastically repair by leveraging the randomness of LLM sampling? To evaluate the effectiveness of MAS repair methods, we introduce SymTrace, a controlled evaluation framework that records the MAS execution trajectory and establishes intervention anchors. During replay, it effectively reconstructs the execution before the anchor using recorded logs and only regenerates the downstream trajectory, thereby enabling the reliable reproduction of MAS failures. We further construct the dataset SymFail, comprising 536 human-annotated failure trajectories with graph-linked locations, categories, and trace evidence. Based on these foundations, we conduct a large-scale empirical study across three mainstream MAS frameworks. Our findings reveal that existing unguided rerun methods are highly unreliable, exhibiting low failure reproduction and repair rates (only 67.97% and 6.90%, respectively). Building upon these findings, we further explore the effectiveness of a symptom-driven intervention method, which successfully repairs 20.15% of the failed cases (a 191.89% improvement to state-of-the-art repair methods). This study aims to provide actionable insights for MAS debugging and repair research, paving the way for the robust deployment of multi-agent systems.

cs.AI↗

arXiv2026

Velocity-coupled Representation Refinement for Satellite Orbit Prediction

Satellite orbit prediction, which aims to forecast future orbital trajectories from historical observations, is important for collision warning and safe space operations. With advances in time-series forecasting, learning-based methods have emerged as a promising solution for satellite prediction. In orbital dynamics, a satellite state is typically described by position and velocity, where position characterizes trajectory geometry and velocity reflects its instantaneous direction and rate of change. However, most existing methods mainly focus on temporal dependencies within position sequences while rarely exploiting the intrinsic coupling between position and velocity, which is essential for modeling satellite motion. To this end, we propose OrbitNet, a velocity-aware representation learning method for accurate satellite orbit prediction. It lifts conventional position-sequence forecasting to a position-velocity coupled representation learning paradigm by exploiting relationships among satellite state variables. Specifically, we develop a velocity-coupled representation refinement strategy to enhance positional representations through cross-variable interactions between position and velocity. We further introduce orbital segment modeling, which partitions historical trajectories into temporal segments and performs segment-level temporal learning to capture local motion variations and long-range evolution patterns. Extensive experiments show that OrbitNet outperforms large time-series foundation models and representative general forecasting methods under both in-domain evaluation on Starlink and zero-shot evaluation across six unseen satellite constellations. We expect this work to encourage further exploration of satellite-aware representation learning for trajectory time-series forecasting.

cs.CV↗

arXiv2026

Tunable high-charge relativistic electron beams via direct laser acceleration in hohlraum-preheated foam targets

Direct laser acceleration (DLA) in near-critical-density (NCD) plasmas can efficiently generate high-charge relativistic electron beams, yet beam parameters depend critically on precise plasma state manipulation. Solid-ablation NCD plasmas evolve rapidly, posing severe controllability challenges. We produce NCD plasma via indirectly heating foam targets with ns laser driven hohlraum soft X-ray. Electrons are generated through irradiating the plasma with another picosecond laser. Tuning the laser pulse delay $\tau$ enables control of plasma profiles and beam parameters. Experiments show that when the foam is heated ($\tau$ = 6 ns, 9 ns), the beam exhibits $T \sim 13$ MeV effective temperature, $E_k \sim 80$ MeV cutoff energy, and hundreds of nC/sr charge for $E_k > 7.5$ MeV. These values are significantly higher than those from solid-foil ($T$ $\sim$ 2.7 MeV, $E_k$ $\sim$ 20 MeV, $Q$ $\sim$ 9 nC/sr) and cold-foam ($T$ $\sim$ 12 MeV, $E_k$ $\sim$ 50 MeV, $Q$ $\sim$ 5 nC/sr) interactions. At a longer delay of $\tau$ = 15 ns, the charge increases further while the temperature decreases, and at a shorter delay of $\tau$ = 3 ns, both temperature and charge are lower. 3D PIC simulations link these observations to the interplay between the microstructure of the cold foam and the evolving plasma density profile at different delay times, which together determine the beam charge, effective temperature, and divergence. The finding provides a routine to generate and tailor the relativistic electron beams, which is essential for designing laser-driven electron sources for high energy density physics and photonuclear reaction applications.

physics.plasm-ph↗

arXiv2026

Toward surface-based registration of a virtual preoperative cutting guide onto the mandible for reconstruction surgery

Mandibular reconstruction restores facial continuity and oral function after segmental resection. Patient-specific cutting guides transfer a computed tomography (CT)-based plan to the operating room with three-dimensional information, but printed guides add cost and lead time, cannot adapt after fabrication, and may interrupt surgery if sterility is lost. We investigate a markerless augmented reality (AR) alternative that registers a virtual cutting guide to the exposed mandible from surface geometry. The method extends surface-based registration for the transoral setting, where teeth form the most distinctive visible surface. After camera calibration, a HoloLens 2 time-of-flight camera captures a partial intraoperative point cloud. The user supplies a rough head-based alignment only to crop the region of interest. A teeth-weighted global stage computes correspondences and solves a truncated least-squares rigid alignment. An asymmetric point-to-plane iterative closest point (ICP) stage refines the complete CT mandible against the partial depth cloud target. The guide-to-mandible transform places the guide in the HoloLens world frame, while pose updates and interpolation follow target motion. We define a blinded phantom protocol with 30 target registration error (TRE) points under full, intermediate, and teeth-only exposure, plus a motion-to-display latency test. Our median TRE is 4.05, 6.10, and 7.10 mm respectively, and median latency is 0.805 s. These values support the feasibility of using AR to replace physical prints. The workflow removes mounted fiducials and manual landmark selection and provides a testable path toward transoral cutting guidance.

cs.CV↗

arXiv2026

Not as Sweet by Another Name: An Empirical Study of Format Robustness in LLM Document Workflows

LLM-driven software systems are rapidly evolving from plain-text conversations to document-centric end-to-end workflows, where the same semantic content can be delivered in diverse document formats (e.g., CSV) through file upload interfaces. Yet existing testing work focuses on the robustness and reliability of models and systems whose input is a single prompt string, leaving a critical question unanswered: Can these document workflows maintain robust behaviors when the same content arrives in a different document format? To fill the gap, in this paper, we propose a format-aware metamorphic testing framework with three metamorphic relations to comprehensively evaluate the format robustness of end-to-end LLM document workflows. Based on this framework, we conduct a large-scale empirical study spanning four representative LLM workflows, four real-world tasks, and four document formats, comprising a total of 48,000 workflow executions. Our findings reveal that format variation poses a systematic and serious threat. Merely switching formats can cause accuracy to drop by up to 53.63% and trigger decision drifts in over 41% of instances. We further design lightweight mitigation strategies from the users' perspective that recover up to 44.21% of format-induced decision drift without model retraining. Our study demonstrates that document format is not a neutral wrapper but a critical factor affecting the reliability of LLM software systems, calling for corresponding testing and safeguards in the deployment in real-world high-stakes scenarios.

cs.SE↗

arXiv2026

CoWeaver: A Bi-directional, Learnable and Explainable Matching Engine for Mixed Human-Agent Science Collaboration

LLM-based agents excel at writing articles, coding and information retrieval. However, they fail to form strong collaborations within the scientific community due to the bidirectional, dynamic nature of the problem and a high demand of decision interpretability. We proposed COWEAVER, a bidirectional, learnable and explainable algorithm to match scientists and form strong collaborations within a human-agent network. COWEAVER matches candidates and requesters through filling capability gaps and filters candidates through a two-stage ranking step. Finally, the model explores newcomers by maintaining uncertainty-aware capability estimates and updating them through requester's feedback. We show that the selection mechanism of combining both exploration (UCB) and greedy of COWEAVER exceeds the greedy-only mechanism - the analytical best solution - on 6 out of the 20 tasks and performed on par with the greedy-only mechanism in terms of selecting the best candidate. We compared COWEAVER baselines in terms of matching quality and efficiency. COWEAVER outperforms baselines on all metrics.

cs.MA↗

arXiv2026

Marker-free deformable registration and fusion for augmented reality-guided positive margin localization during tumor resection surgery

Positive margins in head and neck oncologic surgery require mapping specimen-side pathology findings to the patient resection bed. This is challenging because pathologists identify the positive margin on slices of the resected, deformed specimen, while surgeons must relocate the corresponding site on the resection bed using only verbal descriptions and no visual guidance. We present a marker-free augmented reality (AR) workflow for mapping a margin label from a three-dimensional specimen scan to the resection bed. The method combines contour-constrained deformation, residual alignment to a depth scan, surface-based fusion to a head-mounted display, and target projection onto the reconstructed bed. Bead-suture correspondences estimate specimen deformation, whereas patient-to-display fusion does not require external fiducial markers. Following formative experiments, five residents and surgeons performed cadaveric cheek and scalp re-resection tasks under verbal guidance, verbal guidance with specimen examination, and AR guidance. Deformation target errors were $7.63 \pm 3.74$ mm for the cheek and $3.72 \pm 1.02$ mm for the scalp; residual specimen-to-bed distances were $2.43 \pm 2.15$ mm and $2.19 \pm 1.06$ mm, respectively. Fusion error did not differ significantly between marker-free and marker-based methods on either cadaver; overall marker-free fusion error was $2.15 \pm 0.87$ mm. End-to-end margin localization error decreased from $21.40 \pm 3.84$ mm with verbal guidance and $16.09 \pm 4.30$ mm with specimen examination to $6.19 \pm 1.79$ mm with AR guidance ($p < 0.001$). Online fusion required $5.23 \pm 0.34$ s. These results demonstrate effective marker-free AR guidance for positive-margin localization and support more precise tumor resection.

cs.CV↗

arXiv2026

DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation

Reinforcement learning holds great promise for improving robot policies beyond the limits of imitation learning. However, its practical adoption remains bottlenecked by the lack of reliable vision-language reward models that provide dense and informative feedback. Two key challenges remain: acquiring diverse failure data at scale and obtaining fine-grained reward signals beyond sparse trajectory-level success labels. Collecting failure trajectories typically requires laborious human effort, while pseudo-failures constructed by relabeling successful demonstrations fail to capture the diverse physical failure modes that arise during robot execution. Meanwhile, existing reward models often predict sparse binary or trajectory-level rewards, which provide limited guidance for efficient policy optimization. We introduce DenseReward, a dense robotic reward model that addresses both challenges. To train DenseReward, we develop an automated failure data generation pipeline that synthesizes physically realistic failure trajectories in simulation without human labeling, covering diverse failure modes such as collisions, missed grasps, object drops, and recovery behaviors. DenseReward predicts dense frame-level reward scores from visual observations and language instructions, enabling fine-grained estimation of task progress throughout an episode. Experiments show that DenseReward outperforms general-purpose VLMs and existing robotic reward models in dense reward prediction across both simulated and real-world manipulation. We further demonstrate that DenseReward provides effective reward guidance for downstream model predictive control and reinforcement learning. We release the dataset, trained reward models, and evaluation suite to support the development of failure-aware dense reward modeling for robot learning.

cs.RO↗

arXiv2026

Quantum simulation of real-world nonlinear dynamics via Koopman method

Nonlinear dynamics is ubiquitous in nature, ranging from chemical pattern formation to ocean circulation, yet its simulation on quantum computers is fundamentally limited by the unitary nature of quantum evolution. We propose the quantum Koopman method, a data-driven framework that embeds nonlinear dynamics into a learned linear representation and implements the resulting evolution using shallow quantum circuits. This method learns Koopman observables from trajectory data, projects the lifted dynamics onto a finite-dimensional subspace, and decomposes the corresponding non-unitary propagator into parallel spectral channels. We utilize the Koopman method on a superconducting processor to simulate three distinct nonlinear systems, comprising reaction-diffusion dynamics, fluid motion on a sphere, and satellite-derived observations of Gulf Stream currents, employing up to 32 parallel circuits of 10 qubits. These quantum simulations capture the dominant multiscale patterns and statistical signatures of the underlying dynamics, and reveal a transition from performance limited by hardware noise in weakly nonlinear systems to performance limited by finite-dimensional Koopman representations as nonlinear scale interactions increase. This transition identifies a practical boundary for quantum-amenable nonlinear dynamics, establishing a hardware-validated route for simulating moderately nonlinear dynamics on near-term quantum hardware.

quant-ph↗

arXiv2026

FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model

Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanual furniture assembly using Vision-Language-Action models (VLAs). We formalize the task, develop a scalable simulation pipeline for expert data generation and evaluation, and build a VR teleoperation system for single-operator bimanual control to collect high-quality real-world demonstrations. To address extreme long-horizon assembly with up to 7 subtasks and 1550 control steps, we propose a progress-enhanced VLA, finetuned on semantically grounded subtasks, that jointly predicts actions and a continuous progress signal, enabling automatic subtask transitions and reducing compounding errors during inference. We further study perception and control design factors that critically affect precision in real-scale assembly. FurnitureVLA improves average simulation success from 48% to 80% compared to baselines across three furniture types, with an additional 21% gain from our design factor study. We validate on a real Kinova Gen3 platform with only 16% drop on the hardest task.

cs.RO↗

arXiv2026

Blackknife: Hard-Label Query-Limited Black-Box Attacks on Heterogeneous Graph Neural Networks

Heterogeneous graph neural networks (HGNNs) have achieved strong performance in modeling complex graph-structured data with multiple node and relation types. However, their robustness under realistic black-box adversarial settings remains insufficiently explored. Existing attacks on HGNNs usually assume access to model gradients, soft prediction scores, or the complete graph structure, which is often unavailable when HGNN-based services are deployed as closed systems. In this paper, we propose Blackknife, a hard-label, query-limited, and structure-limited black-box evasion attack framework for heterogeneous graph neural networks. Blackknife assumes no access to the victim model architecture, parameters, gradients, logits, confidence scores, or the full graph structure. Instead, it only relies on locally observable one-hop heterogeneous structures and a small number of hard-label queries. To generate effective perturbations under these strict constraints, Blackknife first constructs a local relation-aware surrogate model from observable heterogeneous neighborhoods. It then relaxes discrete edge addition and deletion operations into continuous soft weights and optimizes them through projected gradient descent. Finally, the optimized perturbations are discretized into relation-preserving structural rewiring operations and verified using limited hard-label feedback from the victim model. Extensive experiments on three benchmark heterogeneous graph datasets, including ACM, DBLP, and IMDB, demonstrate that Blackknife consistently achieves strong attack success rates against representative HGNN models. The results further show that Blackknife remains effective under topology-based defense strategies, revealing the vulnerability of HGNNs to local structure-limited black-box attacks.

cs.LG↗

arXiv2026

Quantum algorithm for the nonlinear Schr\"odinger equation via the Lax-pair scattering

The nonlinear Schr\"odinger equation (NLSE) governs a broad class of wave phenomena, including deep-water waves, quantum turbulence, and solitons. The multiscale spatiotemporal coupling inherent in these systems imposes severe computational bottlenecks on classical high-fidelity numerical simulations. While quantum computing offers the potential for exponential speedup, its unitary dynamics pose a fundamental challenge to solve the NLSE. We propose a quantum framework based on the Lax-pair scattering for solving the 1D NLSE. Specifically, the physical field is first mapped into the spectral space via a quantum direct scattering circuit. Following a decoupled linear time evolution, the physical solution is reconstructed through an inverse scattering transform utilizing the quantum singular value transformation. Since the temporal evolution is performed analytically in the scattering domain, the framework bypasses iterative time stepping, rendering it highly advantageous for long-time simulations. To demonstrate the accuracy and noise resilience of this approach, we simulate a Gaussian wave packet under quantum noise, two-soliton collisions, breather dynamics, and modulational instability on a quantum emulator.

quant-ph↗

arXiv2026

WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation

A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that language leaves underspecified, yet today's manipulation benchmarks pair an instruction with a single current image, offering no way to evaluate reasoning over observed human behavior. We introduce WatchAct, a benchmark for robot manipulation grounded in observed human behavior. Each instance pairs a real-world human-action video and a language instruction with an aligned simulator scene and an executable LIBERO task, enabling scalable and reproducible evaluation. WatchAct comprises 3,000 long-horizon instances across 14 tasks in four capability domains drawn from the cognitive demands of watching another agent: parsing events (Event Grounding), recovering procedural structure (Procedural Reasoning), inferring unstated intent (Implicit Intent Inference), and tracking how the scene was changed (Episodic Reasoning). We further propose a disentangled evaluation protocol that separately measures (i)~video-to-plan reasoning by vision-language models, (ii)~policy execution under oracle plans, and (iii)~full task completion by integrated planner--policy pipelines. In both simulation and on a Franka Research 3 robot, current systems remain far from solving WatchAct. The best pipeline, Gemini-3.1-Pro with $\pi_{0.5}$, reaches only 16.3% Success Rate (SR) in simulation and 14.0% on the real robot. Gemini-3.1-Pro attains just 36.8% Plan SR (vs. 97.1% for humans), while $\pi_{0.5}$ reaches only 21.5% Task SR under oracle plans and drops to 10.6% on out-of-domain scenarios. Dataset and code are available at https://baiqi-li.github.io/watchact_page/.

cs.RO↗

arXiv2026

Not Every Sync Is Safe: Calibrated DiLoCo Scheduling for Shared AI Infrastructure

DiLoCo-style training reduces communication by letting learner islands train locally before occasional outer synchronization, making it attractive for fragmented industrial AI fleets where training shares hardware with latency-sensitive serving. The question for such fleets is when an outer merge is worth its system cost, and whether choosing \emph{which} windows to defer matters at all. Existing scheduling studies evaluate workload-aware policies against fixed-period baselines, but most omit the control that isolates timing from budget: matched random deferral, which inherits the controller's synchronization budget but is not itself deployable. This omission is consequential: across controlled stress tests and real vLLM sidecar replays, matched random ties or beats every forecast-free policy we test, so gains reported against weaker baselines cannot be attributed to window choice. We fill this gap with Workload-Aware DiLoCo (WA-DiLoCo), a score-based controller that weighs learner progress against fleet pressure, and a calibration protocol that determines when matched random can be beaten, then demonstrate that it can. In the bursty regime where calibration exposes request-overlap structure, adding a one-step EWMA burst forecast to the online controller beats matched random in real vLLM sidecar replay, reducing SLO violations from 6.54\% to 5.09\% (8 of 10 seeds, $p=0.021$); offline Calibrated-WA, a non-deployable bound, shows the remaining headroom at 4.45\% versus 6.26\%. The deployable lesson remains the protocol: report real-sidecar effect-size transfer, a no-sync load match, and a matched-random envelope before claiming serving-SLO improvement.

cs.DC↗

arXiv2026

Observation of stopping power reduction at strong ion-plasma coupling

Ion stopping in dense plasma is crucial for stellar evolution and fusion ignition. However, its behavior in the strong ion-plasma coupling regime beyond the linear limit has long remained elusive, due to formidable experimental challenges. Here we report the first experimental investigation of ion stopping at an unprecedented coupling parameter exceeding unity, achieved by sending laser-accelerated short-pulse and intense quasi-monoenergetic carbon ions ($\sim$583 keV/u, C$^{5+}$) into a uniform, long-lived, well-characterized dense plasma target ($T_e$ $\approx$ 17 eV, $n_e$ $\approx$ 4$\times$10$^{20}$ cm$^{-3}$). By simultaneously measuring ion energy loss and charge-state evolution, we eliminated key experimental ambiguities arising from charge-state determination. Our results clearly show a reduction in stopping power compared with predictions from standard linear dielectric response or binary collision models, and they agree well with the hybrid calculation of molecular dynamics with quantum corrections. The importance of nonlinear screening effects arising from many-body interactions and quantum effects due to the wave nature of electrons was demonstrated at strong coupling. This work establishes a definitive high-fidelity experimental benchmark for collisional dynamics in the strong-coupling regime. It offers critical insight for accurate modeling of energy transport in inertial confinement fusion and astrophysical plasmas.

physics.plasm-ph↗

arXiv2026

Andreev Reflection to Probe Momentum-Dependent Spin Polarization in Altermagnet CrSb

Altermagnetic materials have recently emerged as promising candidates for next-generation spintronic applications, characterized by the k-dependent spin-splitted band structure and a simultaneous zero-net-magnetization. Among them, altermagnetic candidate CrSb has attracted considerable attention, owing to its g-wave spin splitting and high N\'eel temperature. In this article, we employed mechanical point-contact spectroscopy (MPCS) with superconducting Nb tips to probe the Andreev reflection on CrSb single crystals along three principal crystallographic orientations. The extracted momentum-dependent spin polarizations are approximately 73.4% for the (0001) plane, 67.9% for the (-1-120) plane, and 61.9% for the (10-10) plane, respectively, distinct from conventional antiferromagnets. Furthermore, conductance spectra from spatial line-scans on the sample surface support the existence of altermagnetic domains with a characteristic size of 250-500 nm separated by domain-walls with width about 250 nm. These results strongly support the momentum-dependent spin polarization in altermagnetic CrSb and establish Andreev reflection as a new paradigm to probe k-dependent spin textures.

cond-mat.supr-con↗