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Yuhang Zhang

Publications and source records attributed to Yuhang Zhang.

At least 19 recordsLinked to original sources
arXiv2026

Heavily Sr-Doped La$_{2}$SrNi$_{2}$O$_{7-δ}$ as a Tetragonal Ruddlesden-Popper Phase at Ambient Pressure

High-temperature superconductivity has been found in bilayer Ruddlesden-Popper (RP) nickelates in bulk samples under high pressure, or in thin films via compressive strain. In the superconducting state, a tetragonal structure with a straight Ni-O-Ni bond along c-axis has been commonly observed, together with the suppression or diminishing of the density-wave orders. Therefore, it remains an open question whether these factors are sufficient for achieving superconductivity at ambient pressure. Here we report the first successful synthesis of heavily Sr-doped La$_{2}$SrNi$_{2}$O$_{7-δ}$ under high-pressure and high-temperature (HPHT) conditions with a flux method. X-ray diffraction and scanning transmission electron microscopy (STEM) confirm that the material adopts a tetragonal (I4/mmm) structure with an 180$^{\circ}$ Ni-O-Ni bond angle along c-axis. Resistance measurements reveal metallic behavior with a low-temperature upturn and no density-wave features are observed. However, neither pressure nor oxygen variation induces superconductivity. Density functional theory calculations indicate that the holes introduced by Sr doping are predominantly doped into the Ni-3d$_{z^2}$ orbital, leading to the appearance of a very large $γ$ pocket on the Fermi surface at ambient pressure and significantly reducing the occupation of the Ni-3d$_{z^2 }$ orbital. Combining the experimental observations with theoretical calculations, we attribute the absence of superconductivity to the serious deviation from the half-filling state of the Ni-3d$_{z^2 }$ band, which is crucial for the interlayer antiferromagnetic interaction and thus for pairing. Our work unravels important issues for achieving superconductivity in bilayer nickelate system.

cond-mat.supr-con↗
arXiv2026

Expanding the trilayer Ruddlesden-Popper nickelate family: Synthesis and characterization of Sm$_4$Ni$_3$O$_{10-δ}$ single crystals

The discovery of high-temperature superconductivity in Ruddlesden-Popper (RP) nickelates has attracted significant attention. Bulk superconductivity emerges under pressure in trilayer nickelates La$_4$Ni$_3$O$_{10-δ}$ (T$_c$ $\approx$ 30 K) and Pr$_4$Ni$_3$O$_{10-δ}$ (T$_c$ $\approx$ 40.5 K), where the reduced ionic radius of Pr$^{3+}$ may generate internal chemical pressure and enhance T$_c$. However, synthesizing trilayer RP phases with smaller rare-earth elements (Ln) is extremely challenging. So far, only the La, Pr, and Nd analogues have been synthesized with stable phases in the single rare-earth form. Here we report the first successful high-pressure and high-temperature (HPHT) synthesis of samarium-based compound Sm$_4$Ni$_3$O$_{10-δ}$. Magnetization and transport measurements consistently confirm a density wave (DW) transition at ~180 K at ambient pressure. Through a careful fitting to the structural data of Sm$_4$Ni$_3$O$_{10-δ}$, it is found that the bond angle of (Ni-O-Ni) associating with the interlayer apical oxygen is much smaller than 180$^{\circ}$, which was assumed to be the key factor for the occurrence of superconductivity. By applying pressures up to 80 GPa, despite partial suppression of insulating behavior and the DW order, but superconductivity is not observed in our present study. Density functional theory calculations suggest that the 3d$_{z^2}$ and 3d$_{x^2-y^2}$ are separated from other t$_{2g}$ orbitals and make a primary contribution to the Fermi surface. The newly synthesized trilayer nickelate Sm$_4$Ni$_3$O$_{10-δ}$ offers a unique platform for probing the fundamental physics of RP nickelates.

cond-mat.supr-con↗
arXiv2026

Credibility-Aware Learning and Control for Safe USV Navigation under Perception Uncertainty

Safe navigation for Unmanned Surface Vehicles (USVs) under the International Regulations for Preventing Collisions at Sea (COLREGs) remains challenging in dynamic maritime environments, especially when perception uncertainty is miscalibrated. Errors in state estimation can produce unreliable belief states that mislead value learning, while logic based on discrete traffic rules can cause abrupt action corrections. To address these challenges, we integrate Credibility-Weighted Value Learning (CWVL) with Covariance- and Recovery-Aware Control Barrier Function Quadratic Programming (CoReCBF-QP). CWVL derives a dynamic trust factor from the discrepancy between the covariance estimated by the filter and empirical error statistics. This factor modulates the critic's heteroscedastic loss and limits overfitting to miscalibrated observations. CoReCBF expands the collision geometry according to uncertainty and incorporates terms for braking and turning recovery. The resulting hyperbolic safety boundary preserves feasible avoidance velocities and supplies the QP safety constraint. A continuous COLREGs-aware reference in the objective promotes starboard maneuvers in Rule 14 head-on and Rule 15 give-way crossing encounters. Simulations show improved robustness in collision avoidance and COLREGs event compliance, achieving an 82.0\% success rate with ten target ships beyond the training range.

cs.RO↗
arXiv2026

MKG-CARE: Case-Aware Reasoning with Multimodal Knowledge Graphs for Explainable Medical Image Diagnosis

Medical image diagnosis has achieved significant progress with deep learning, yet existing methods often rely on isolated visual evidence and lack the ability to effectively leverage similar cases and external knowledge. In clinical practice, diagnosis is typically supported by similar historical cases and their associated symptoms. To explicitly model this evidence-based diagnostic process, we propose MKG-CARE, a framework that performs case-aware reasoning using multimodal knowledge graphs for explainable medical image diagnosis. Specifically, we construct a case-aware multimodal knowledge graph as a structured diagnostic memory, where diseases, images, and symptoms are hierarchically organized. Given an input image, MKG-CARE adaptively retrieves similar cases from this memory and extracts their corresponding case-centered subgraphs. We further introduce a knowledge propagation and injection mechanism, where an image-centric Graph Attention Network aggregates heterogeneous semantics within the retrieved case subgraphs, followed by bidirectional cross-modal attention to align and inject the aggregated case knowledge into visual representations. To mitigate retrieval noise, we design a confidence-calibrated decision refinement scheme that estimates each retrieved case's reliability from prediction confidence and sample similarity, and reweights its contribution to the final prediction for interpretable case-level evidence attribution. Extensive experiments on multiple medical imaging datasets demonstrate consistent improvements over strong baselines, while ablation and qualitative analyses validate the effectiveness and interpretability of our method. The code is available at https://github.com/lyxuan1022/MKG-CARE.

cs.CV↗
arXiv2026

Boundary-Seeking Policy Gradient for Safe Reinforcement Learning

Safe reinforcement learning maximizes reward subject to safety constraints. For Constrained Markov Decision Processes, the linear-programming view over occupancy measures implies that whenever the constraint is active at optimality, the optimal policy lies exactly on the constraint boundary, yet standard gradient-based methods do not exploit this structure and often settle in the feasible interior. We introduce Boundary-Seeking Policy Gradient (BSPG), a first-order method whose update combines a tangential component that improves reward while preserving cost to first order with a signed, residual-driven normal component that regulates the policy toward the active boundary from either side; the combined direction admits an algebraic Lagrangian form with an induced coefficient and no learned dual variable. Under exact gradients and stated regularity conditions, the constraint residual converges to zero from either side with a finite-horizon $O(1/\sqrt{T})$ bound, the tangential component is a reward-ascent direction on the boundary, and any convergent parameter sequence is stationary on the active constraint set, satisfying the KKT conditions when the limit is also a local maximizer over the feasible set. This complements existing analyses, which certify feasibility but do not characterize the constraint value at convergence. On a standard Safety-Gymnasium navigation task, BSPG attains higher reward while tracking the boundary more tightly than the compared baselines.

cs.LG↗
arXiv2026

CriPO: Enhancing Rubric-based RL via Self-Distillation

Rubric-based RL has recently shown promise in improving LLMs on open-ended tasks. A widely recognized limitation of rubric-based RL is limited exploration: criteria that no rollout manages to satisfy (Unexplored Criteria, UC) receive no optimization signal. Recent methods address this by incorporating rubric information as external guidance during rollout, yet they introduce a train-inference mismatch: the policy is optimized on rollouts produced under external guidance while this guidance is absent at inference time, causing error accumulation through autoregressive decoding. Moreover, these exploration-focused approaches overlook a fundamentally different failure mode that we term Suppressed Criteria (SC) -- criteria that are satisfied by some rollouts yet whose learning signals are lost during optimization because scalar reward aggregation assigns them non-positive aggregate advantages. Our analysis reveals that SC are remarkably prevalent: over 57% of samples exhibit this failure mode throughout training, with an average of 1.8 SC per sample. To simultaneously address both UC and SC without introducing training-inference mismatch, we propose Criterion-Distilled Policy Optimization (CriPO), which enhances rubric-based RL via on-policy self-distillation. For UC, CriPO constructs a criterion-injection self-teacher and computes a localized forward-KL loss to inject missing behaviors into the policy. For SC, CriPO employs a counterfactual self-teacher to locate criterion-relevant tokens in negative-advantage rollouts and flips their token-level advantages to positive values, preserving useful patterns that would otherwise be suppressed. Experiments on medicine and science benchmarks demonstrate that CriPO consistently outperforms rubric-based RL, achieving stronger final performance with approximately $2\times$ fewer optimization steps.

cs.LG↗
arXiv2026

BeCARE: Budgeted Cache Refresh for Diffusion Transformer Acceleration

Training-free feature caching accelerates diffusion transformer (DiT) inference by reusing or forecasting intermediate features. However, fixed schedules make compute predictable but ignore prompt- and timestep-dependent risk, whereas hand-tuned error thresholds adapt locally but leave realized compute difficult to control. To address these limitations, we present Budgeted Cache Refresh (BeCARE), a training-free framework that, given a user-specified cap on full computations, adaptively determines when to refresh the cache during accelerated inference. Specifically, we first derive an error-amplification profile from the sampler's noise schedule to characterize the varying impact of approximation errors across denoising timesteps. We then combine this profile with prompt-specific extrapolation residuals and cache age to form an accumulated risk score, triggering a refresh when continued caching becomes harmful. Meanwhile, we use the same profile to construct an analytic spending reference and adjust the refresh threshold through feedback, thereby distributing the limited refresh budget over the sampling trajectory. Finally, structural safeguards (a fixed warmup, a budget-derived late-stage reserve, and a maximum cache-reuse length) prevent unreliable extrapolation and premature budget exhaustion. These designs enable prompt-adaptive refresh placement and allow a single calibration to transfer across budget tiers without per-tier tuning. Experiments on FLUX.1-dev with 200 prompts and measured FLOPs show that our method consistently outperforms representative training-free caching baselines across speedups from 3x to 6x. At the main operating point (3.3x acceleration), it improves paired PSNR by 2.7 dB over the strongest baseline using no more compute. On SD3.5 Large, it also substantially improves the same Taylor cache engine over fixed-interval scheduling at matched compute.

cs.CV↗
arXiv2026

NeuroSymActive: Differentiable Neural-Symbolic Reasoning with Active Exploration for Knowledge Graph Question Answering

Large pretrained language models and neural reasoning systems have advanced many natural language tasks, yet they remain challenged by knowledge-intensive queries that require precise, structured multi-hop inference. Knowledge graphs provide a compact symbolic substrate for factual grounding, but integrating graph structure with neural models is nontrivial: naively embedding graph facts into prompts leads to inefficiency and fragility, while purely symbolic or search-heavy approaches can be costly in retrievals and lack gradient-based refinement. We introduce NeuroSymActive, a modular framework that combines a differentiable neural-symbolic reasoning layer with an active, value-guided exploration controller for Knowledge Graph Question Answering. The method couples soft-unification style symbolic modules with a neural path evaluator and a Monte-Carlo style exploration policy that prioritizes high-value path expansions. Empirical results on standard KGQA benchmarks show that NeuroSymActive attains strong answer accuracy while reducing the number of expensive graph lookups and model calls compared to common retrieval-augmented baselines.

cs.CL↗
arXiv2026

Geometry and Gradient-based Partitioning for Panoramic Outdoor Reconstruction

Scaling 3D Gaussian Splatting (3DGS) to large outdoor scenes is costly in both data acquisition and computation. Adopting panoramic images with equirectangular projection (ERP) can reduce capture effort via their full $360^{\circ}$ field of view, yet the resulting omnipresent visibility invalidates existing partitioning strategies that rely on local camera frustums, causing block-wise optimization to degenerate into global training. Thus, we propose PanoLOG, a two-stage coarse-to-fine framework equipped with a Geometry and Gradient-based Partitioning Strategy tailored for large-scale panoramic 3DGS reconstruction. In the global coarse stage, PanoLOG leverages sky-sphere modeling and panoramic monocular depth supervision for reliable geometry, while in the refinement stage, G$^2$PS builds adaptive bounding volumes via parallax-driven uncertainty and assigns cameras via gradient-based importance scoring. Furthermore, we construct Pano360, the first benchmark on large-scale panoramic dataset for outdoor scene reconstruction. Extensive experiments demonstrate that G$^2$PS achieves state-of-the-art rendering quality while maintaining scalable, block-parallel training. Our models, training code, and dataset are publicly available.

cs.CV↗
arXiv2026

Exponential ergodicity of exact and numerical solutions for McKean-Vlasov SDEs driven by Lévy noise

This paper investigates the exponential ergodicity of the exact solution and the tamed Euler solution for McKean-Vlasov stochastic differential equations driven by Lévy noise. First, we establish exponential ergodicity for both the original equation and the tamed Euler method. Then we prove the convergence of the numerical invariant measure to the exact invariant measure, which is obtained by combining the propagation of chaos (PoC) result with the strong convergence of the tamed Euler scheme. Furthermore, we derive a convergence rate for the numerical invariant measure by establishing uniform-in-time PoC and uniform-in-time convergence of the tamed Euler method. Finally, numerical experiments are presented to illustrate the theoretical results.

math.NA↗
arXiv2026

Uniform-in-time error estimates for McKean-Vlasov SDEs with common noise and stochastic algorithms

In this work, by construct an asymptotic coupling by reflection, we first explore the uniform-in-time estimate on probability distance for two measure-valued processes induced by a McKean-Vlasov SDE with common noise and an interacting particle system, where the drift terms are dissipative merely in the long distance. As direct applications of this estimate, we establish the uniform-in-time error estimates for the numerical solutions derived via backward/tamed/adaptive Euler-Maruyama methods. Moreover, as another direct application, the uniform-in-time conditional propagation of chaos is quantified.

math.PR↗
arXiv2026

YouZhi: Towards High-Concurrency Financial LLMs via Adaptive GQA-to-MLA Transition

Large language models (LLMs) drive significant financial innovations, yet their high-concurrency deployment is severely bottlenecked by KV cache memory overhead, which inflates infrastructure costs and throttles scalability. To address this, we propose YouZhi-LLM, a highly efficient financial LLM empowered by a comprehensive structural transition and training pipeline natively built on the Huawei Ascend ecosystem. At its algorithmic core, YouZhi-LLM features a layer-adaptive GQA-to-MLA transition framework that dynamically assigns per-layer FreqFold sizes, maximizing KV-cache compression while minimizing perplexity degradation. To recover representation capacity and inject domain expertise, the Ascend-based training pipeline seamlessly integrates generalized knowledge distillation with financial-specific supervised fine-tuning. Evaluations demonstrate the superiority of this systematic approach, with the adaptive transition reducing perplexity degradation by up to 35% over uniform baselines. Crucially, when evaluated on Ascend NPUs via vLLM-Ascend, the massive KV-cache reduction translates directly into deployment efficiency. Compared to their respective base models, YouZhi-7B yields a 12.3% improvement in average financial benchmark score alongside a 2.69$\times$ increase in maximum concurrency; similarly, YouZhi-14B achieves a 7.0% accuracy gain and a 2.43$\times$ concurrency boost, establishing a new paradigm for cost-effective, high-throughput financial inference.

cs.CL↗
arXiv2026

TIGER: Text-Informed Generalized Enzyme-Reaction Retrieval

Enzyme-reaction retrieval is a fundamental problem in computational biology, underpinning enzyme characterization, reaction mechanism elucidation, and the rational design of metabolic pathways and biocatalysts. As a bidirectional task, it entails both enzyme-to-reaction and reaction-to-enzyme mapping. However, existing approaches suffer from poor generalization across tasks and distributions, with performance highly sensitive to dataset splits and substantial asymmetry between retrieval directions. To address these challenges, we present TIGER, a Text-Informed Generalized Enzyme-Reaction Retrieval framework that leverages protein-to-text generation models to distill textual semantic knowledge from enzyme sequences, providing a generalized representation that bridges enzymes and biochemical reactions. To ensure the quality and reliability of textual semantics, we design a Dynamic Gating Network that adaptively fuses text-derived knowledge with sequence features, enabling more consistent and informative enzyme representations, while a Structure-Shared Feature Projector aligns enzyme and reaction representations within a unified latent space. Extensive experiments demonstrate that, under bidirectional retrieval supervision, TIGER significantly outperforms state-of-the-art baselines across diverse distributions and exhibits strong robustness and transferability across tasks.

cs.AI↗
arXiv2026

Cascaded TD3-PID Hybrid Controller for Quadrotor Trajectory Tracking in Wind Disturbance Environments

This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels exhibit fast, structured dynamics that are well suited to reliable regulation, whereas horizontal-position control is more strongly affected by coupling effects, uncertainty, and disturbances, so that neither pure feedback control nor purely learning-based control alone is equally well suited to all channels. Accordingly, the proposed framework augments conventional proportional-integral-derivative (PID) stabilization for altitude and attitude control with an enhanced Twin Delayed Deep Deterministic Policy Gradient (TD3) agent incorporating a multi-Q-network structure, thereby improving horizontal-position control under severe disturbances. To further strengthen disturbance rejection in altitude and attitude control, a hybrid disturbance observer (HDOB) using low-pass and exponential moving average filtering is embedded in the control loops. The proposed TD3 enhancements are verified through ablation studies, and both numerical simulations and real-world flight tests on the quadrotor platform demonstrate that the proposed method achieves more accurate and robust trajectory tracking under wind disturbances than baseline approaches.

eess.SY↗
arXiv2026

Act in Collusion: Distributed Multi-Target Backdoor Attacks in Federated Learning

Federated learning (FL) is widely used in Internet-of-Things (IoT) systems, but its distributed training process also exposes it to backdoor attacks. Existing studies mainly consider single-target or centralized multi-target settings, while coordinated distributed multi-target attacks remain underexplored. In practical IoT scenarios, one adversarial entity may control multiple distributed malicious clients and assign each client distinct triggers and target labels. Under this setting, existing distributed backdoor methods often fail to preserve the effectiveness of all backdoors because malicious updates conflict during aggregation. To address this issue, we propose a Distributed Multi-Target Backdoor Attack (DMBA) for FL. DMBA introduces a Backdoor Replay (BR) mechanism to reduce discrepancies among malicious gradients and a Channel-Frequency Composite Trigger (CFCT) strategy to improve trigger distinguishability and alleviate local interference. Experiments on multiple datasets show that DMBA ensures attack success rates above 80% for all implanted backdoors, whereas some baseline backdoors fall below 50% and may even approach 0.

cs.CV↗
arXiv2026

OVPD: A Virtual-Physical Fusion Testing Dataset of OnSite Auton-omous Driving Challenge

The rapid iteration of autonomous driving algorithms has created a growing demand for high-fidelity, replayable, and diagnosable testing data. However, many public datasets lack real vehicle dynamics feedback and closed-loop interaction with surrounding traffic and road infrastructure, limiting their ability to reflect deployment readiness. To address this gap, we present OVPD (OnSite Virtual-Physical Dataset), a virtual-physical fusion testing dataset released from the 2025 OnSite Autonomous Driving Challenge. Centered on real-vehicle-in-the-loop testing, OVPD integrates virtual background traffic with vehicle-infrastructure perception to build controllable and interactive closed-loop test environments on a proving ground. The dataset contains 20 testing clips from 20 teams over a scenario chain of 15 atomic scenarios, totaling nearly 3 hours of multi-modal data, including vehicle trajectories and states, control commands, and digital-twin-rendered surround-view observations. OVPD supports long-tail planning and decision-making validation, open-loop or platform-enabled closed-loop evaluation, and comprehensive assessment across safety, efficiency, comfort, rule compliance, and traffic impact, providing actionable evidence for failure diagnosis and iterative improvement. The dataset is available via: https://huggingface.co/datasets/Yuhang253820/Onsite_OPVD

cs.RO↗
arXiv2026

GaussFly: Contrastive Reinforcement Learning for Visuomotor Policies in 3D Gaussian Fields

Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning approaches directly map high-dimensional RGB observations to action commands, which frequently suffer from low sample efficiency and severe sim-to-real gaps due to the visual discrepancy between simulation and physical domains. To address these long-standing challenges, we propose GaussFly, a novel framework that explicitly decouples representation learning from policy optimization through a cohesive real-to-sim-to-real paradigm. First, to achieve a high-fidelity real-to-sim transition, we reconstruct training scenes using 3D Gaussian Splatting (3DGS) augmented with explicit geometric constraints. Second, to ensure robust sim-to-real transfer, we leverage these photorealistic simulated environments and employ contrastive representation learning to extract compact, noise-resilient latent features from the rendered RGB images. By utilizing this pre-trained encoder to provide low-dimensional feature inputs, the computational burden on the visuomotor policy is significantly reduced while its resistance against visual noise is inherently enhanced. Extensive experiments in simulated and real-world environments demonstrate that GaussFly achieves superior sample efficiency and asymptotic performance compared to baselines. Crucially, it enables robust and zero-shot policy transfer to unseen real-world environments with complex textures, effectively bridging the sim-to-real gap.

cs.RO↗
arXiv2026

Dual-Stage Invariant Continual Learning under Extreme Visual Sparsity

Continual learning seeks to maintain stable adaptation under non-stationary environments, yet this problem becomes particularly challenging in object detection, where most existing methods implicitly assume relatively balanced visual conditions. In extreme-sparsity regimes, such as those observed in space-based resident space object (RSO) detection scenarios, foreground signals are overwhelmingly dominated by background observations. Under such conditions, we analytically demonstrate that background-driven gradients destabilize the feature backbone during sequential domain shifts, causing progressive representation drift. This exposes a structural limitation of continual learning approaches relying solely on output-level distillation, as they fail to preserve intermediate representation stability. To address this, we propose a dual-stage invariant continual learning framework via joint distillation, enforcing structural and semantic consistency on both backbone representations and detection predictions, respectively, thereby suppressing error propagation at its source while maintaining adaptability. Furthermore, to regulate gradient statistics under severe imbalance, we introduce a sparsity-aware data conditioning strategy combining patch-based sampling and distribution-aware augmentation. Experiments on a high-resolution space-based RSO detection dataset show consistent improvement over established continual object detection methods, achieving an absolute gain of +4.0 mAP under sequential domain shifts.

cs.CV↗