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Yujie Yan

Publications and source records attributed to Yujie Yan.

16 recordsLinked to original sources

LARK: Lean-Assisted Reasoning for LLM-Generated GPU Kernels

Efficient GPU kernels are typically low-level and hardware-specific, and LLM agents can now generate them faster than experts can verify. Existing approaches rely on testing, which provides evidence but not a guarantee of correctness. We introduce LARK, an agentic framework that automatically and formally verifies GPU kernels against their PyTorch reference implementations. LARK proves equivalence in functional and memory behavior under exact arithmetic and establishes a new trust boundary: human effort is only needed to verify operator-level Lean semantics ahead of kernel generation time, instead of checking every single line of generated code. LARK formalizes the GPU machine model and the semantics of each operation in Lean 4 once per target language, and the Lean 4 semantics of any incoming kernel is derived from these pre-built definitions. LLM agents then automate the proof in two steps. First, an agent decomposes the whole kernel semantics into smaller segments and Lean 4 verifies this segmentation, which addresses the intractability of proving equivalence for large kernels directly. Second, agents write Lean proofs that each kernel segment matches its high-level PyTorch counterpart. Together, the two steps give whole-program equivalence. We demonstrate that LARK can be used 1) to ensure correctness in existing code-generation agents and 2) to automatically verify human-written kernel libraries. On the KernelCraft GPU tasks, combined with a simple ReAct agent, LARK enables GLM 5.3 to fully verify 10 of 12 Level-1 kernels and Opus 5.5 all 5 Level-2 kernels. Moreover, over 10 production kernels randomly sampled from popular open-source LLM serving frameworks, LARK verifies 9 and identifies a new data race bug in the tenth. We believe LARK represents a significant step toward verifiable code generation in the agentic era.

cs.AI↗

Cross-Embodiment Motion Planning by Coupling Body-Agnostic World Model with Differentiable Ego-Dynamics

Motion planning in clutter is embodiment-specific: the feasible free space and reachable commands depend on each robot's geometry and dynamics. Existing cross-embodiment policies output normalized commands that disregard these differences, or compensate through per-robot training and distillation. World models can in principle pool cross-embodiment data, yet command-conditioned models bind their latent dynamics to a single action space, while pose-conditioned models omit the mapping from commands to body-specific motion. On flat ground, however, embodiment affects the planner's observations only through the camera ego-motion. This letter proposes Hourglass, an hourglass-shaped architecture that factorizes cross-embodiment motion planning at this interface: a body-agnostic world model and each robot's differentiable ego-dynamics, which map commands to that ego-motion, are coupled only through it. The world model is trained on data pooled across embodiments and camera mounts; each robot's ego-dynamics is a reduced-order template with identified physical parameters. A generalist parameter-conditioned policy is learned once at this junction: each imagined step rolls out the template and then the world model, and imagination training through each robot's template makes the policy body-aware. On seven simulated robots of five locomotion types, the generalist policy outperforms imitation-learning and diffusion-policy baselines on the same world model by 3.8--10.6 percentage points in success rate and matches per-robot specialists without dedicated training, while approaching its parameter-conditioned MPPI teacher within 1.4--2.8 points without an online map. After three minutes of teleoperated driving for identification, the synthetic-data-trained model transfers zero-shot to a real skid-steer robot unseen in training, navigating unseen indoor scenes.

cs.RO↗

SHINE: Sequential Hierarchical Integration Network for EEG and MEG

How natural speech is represented in the brain constitutes a major challenge for cognitive neuroscience. Reconstructing the speech envelope and Mel spectrogram from EEG and MEG provides a time-resolved way to study its temporal and spectral structure. Speech-related neural activity spans sensors and temporal scales; extracting these representations while adapting the use of context to each acoustic target is a central problem in speech reconstruction. We propose SHINE, a Sequential Hierarchical Integration Network for EEG and MEG. A residual sensor adapter unifies input dimensions, intermediate dilated-block states retain temporal depth, and a target- and time-dependent gate fuses local hierarchical and attention-enhanced context predictions. Across two EEG and two MEG datasets, SHINE has the highest mean envelope and mean-Mel Pearson correlations among nine local baseline implementations on all eight dataset-metric combinations. SHINE also placed second in the speech-detection Extended Track of the NeurIPS 2025 PNPL Competition. Code will be released at https://github.com/xuxiran/SHINE.

cs.SD↗

Learning from Mixed-Quality Deployment Experience for Robot Manipulation

Robot policies deployed in real environments naturally accumulate mixed-quality experience, including successful executions, partial progress, and failures. Although these rollouts provide valuable information for further learning, directly incorporating them into imitation learning may reinforce undesirable behaviors, while offline reinforcement learning often suffers from unreliable value estimation under sparse rewards and limited data coverage. We consider a practical post-deployment setting where learning relies only on naturally accumulated autonomous rollouts, without additional human corrections or exploratory interaction. To effectively exploit such experience, we propose Predictive Action Chunk Learning (PACL). PACL first learns a predictive chunk-level critic that evaluates temporally extended action sequences and augments temporal difference learning with future latent prediction, providing richer supervision for long-horizon value estimation. The learned critic then converts chunk-level Q-values into discrete quality conditions, which guide a diffusion actor to learn jointly from these mixed-quality experiences without treating all behaviors as equivalent supervision. At inference, the actor generates multiple action chunks and the critic selects the highest valued candidate. Experiments across simulated and real-world robot manipulation tasks show that PACL consistently improves the pretrained policy and outperforms strong imitation learning and offline reinforcement learning baselines.

cs.LG↗

Unveiling the nature of collective charge excitations in a cuprate superconductor

Emergent symmetry breakings in condensed matter systems are often intimately linked to collective excitations. For example, the intertwined spin-charge stripe order in cuprate superconductors is associated with spin and charge excitations. While the collective behavior of spin excitations is well established, the nature of charge excitations remains to be understood. Here we present a high-resolution resonant inelastic x-ray scattering (RIXS) study of charge excitations in the stripe-ordered cuprate La$_{1.675}$Eu$_{0.2}$Sr$_{0.125}$CuO$_4$. The RIXS spectra consist of both charge and phonon excitations around the charge ordering wave vector. By modeling the momentum-dependent phonon intensity, the charge-excitation spectral weight is extracted over a wide energy range. As such, we reveal the highly dispersive nature of the charge excitations, with an energy scale comparable to the spin excitations. Since charge order and superconductivity in cuprates are possibly driven by the same electronic correlations, determining the interaction strength underlying charge order is essential to establishing a comprehensive microscopic model of high-temperature superconductivity.

cond-mat.supr-con↗

AESSI: An Around-Ear Silent Speech Interface for Cross-Day Online Reuse without Test-Day Calibration

Silent speech interfaces (SSIs) enable private communication without audible speech and may support people with post-stroke dysarthria. Everyday reuse requires articulation-related representations that generalize across days despite sensor repositioning and physiological changes. We present AESSI, an around-ear SSI using masked-context representation pretraining (MCRP): a student predicts teacher representations from masked time-frequency inputs to encourage robustness to recording variability. We collected 44 electrophysiological recordings from 24 participants for 25 everyday Mandarin sentences. With six participants' complete final recordings held out, AESSI achieved 92.24 percent mean accuracy without test-day calibration. AESSI exceeded the best adapted baseline by 50.57 percentage points. At least 21 days after each participant's last recording, five participants each completed 50 independently randomized online tests without calibration, achieving 98.0 percent overall accuracy. Median preprocessing and inference time in CPU replay was 31.70 ms. These results demonstrate end-to-end system operation and support online reuse without test-day calibration. Demo is included with the paper.

cs.HC↗

AnyviewMeter: Adapting Robotic Reward Models with Camera Geometry and Multi-View Attention

Robotic reward models evaluate task execution from visual observations, but their predictions can change with camera viewpoint and occlusion even when the underlying task state is unchanged. Adapting a pretrained reward model to a local task therefore requires accounting for how that task is observed. We introduce AnyviewMeter, a geometry-conditioned adaptation framework for robotic reward models that represent task progress as a scalar reward signal. It combines low-rank fine-tuning with token-aligned Plucker rays and synchronous block attention: ray conditioning incorporates camera geometry into visual features and attention queries and keys, while block attention fuses synchronized views inside the pretrained decoder. The framework supports both single-view reward prediction and joint multi-view evaluation through parameter-efficient adaptation of a pretrained Robometer model. On PickCube, single-view adaptation improves progress prediction in every camera group and reduces mean absolute error under a changed field of view by approximately 21% relative to RGB fine-tuning. Across simulated manipulation tasks, joint multi-view prediction reduces progress error by 41-69% compared with averaging single-view RGB predictions and improves temporal ordering in approximately 88% of task-camera groups. On real tasks with fixed and wrist-mounted cameras, mean absolute error decreases by approximately 21% relative to averaged RGB fine-tuning. These results support camera geometry and joint visual evidence as useful components of task-specific robotic reward adaptation.

cs.CV↗

FIERCE: From Generalist Robot Policies to Fast Specialists via Progress-Failure Feedback

Generalist robot policies offer useful initialization, but refining compact specialists through limited physical interaction requires informative learning feedback. We present FIERCE, a generalist-initialized reinforcement learning framework centered on a unified, task-adaptive progress-failure evaluator. Its architecture shares an observation-language representation between an observed-progress head and an action-conditioned latent predictor whose past and current predictions feed a causal sequence head for task-failure estimation. Joint supervision from progress and preference labels, synchronized commands and observations, and terminal outcomes trains the evaluator; target-task rollouts support adaptation and calibration. Fixed evaluator snapshots provide progress shaping and failure-risk penalties alongside independently verified terminal rewards, while evaluator and policy updates alternate as new experience is collected. Refinement requires neither continued generalist action queries nor a dedicated target-task simulator or manually annotated dense rewards. Only the compact specialist is retained at deployment. The evaluation separates feedback quality, policy-learning efficiency, and deployment cost across simulation and two contact-rich real tasks. Code, model weights, and data-restoration tools are released at https://github.com/ar-mine/FIERCE.

cs.RO↗

$g$-wave altermagnetic order parameter in hematite

Altermagnets combine the vanishing net magnetization of antiferromagnets with momentum-dependent spin splitting. Magnon band splitting provides a direct probe of altermagnetic order and may enable chirality-selective magnon transport, yet the momentum-space symmetry of this splitting has not been determined quantitatively. Here we use inelastic neutron scattering to map the momentum dependence of altermagnetic magnon splitting in hematite ($α$-Fe$_2$O$_3$). The splitting vanishes along nodal directions and reaches maxima off the nodes, revealing the $g$-wave symmetry of the altermagnetic order parameter. These results agree with linear spin-wave theory calculations based on the altermagnetic model, which further identify the nondegenerate branches as magnons of opposite chirality and trace the splitting to symmetry-inequivalent long-range exchange interactions. Our results provide the first quantitative determination of the momentum-space symmetry of altermagnetic chiral magnons. These findings, together with hematite's high magnetic ordering temperature and low magnon damping, establish it as a promising platform for low-dissipation, symmetry-selective magnonic applications.

cond-mat.str-el↗

Beyond Parallel Tracking: Interactive Multi-Feature Fusion Drives Semantic Reconstruction from Non-invasive Brain Recordings

Continuous semantic reconstruction from non-invasive neural recordings remains limited by the representational mismatch between semantic feature spaces and neural coding patterns, which severely impedes cross-modal alignment between high-noise neural signals and target semantic features. Prior semantic decoders have predominantly relied on static lexical representations or dynamic contextualized representations in isolation. This single-dimension approach inevitably leads to severe information loss, as it fails to account for the human brain's capacity to integrate stable word attributes and dynamic contexts simultaneously. To bridge this gap, this study introduces a multi-feature fusion framework for non-invasive semantic reconstruction, systematically benchmarking two integration approaches: linear Naive Concatenation and non-linear Multi-Head Cross-Attention. Within this framework, our approach complements static lexical representations (W2V) with dynamic contextual representations (GPT) via an interactive gating mechanism to facilitate cooperative processing during language comprehension. Evaluated through extensive semantic reconstruction and text generation experiments, our framework reveals a robust performance hierarchy: Cross-Att > Concat > GPT > W2V. Crucially, the non-linear cross-attention fusion method achieves state-of-the-art performance, demonstrating that neural language decoding benefits from simulating the collaborative modulation between contextual information and core lexical attributes rather than depending on isolated individual features, while also offering a viable non-invasive brain-to-text decoding method.

cs.CL↗

GenEyePose: Patient-Free, Knowledge-Based Saccadic Eye Movement Modeling for Digital Neurophysiologic Biomarker Development

Eye movements, including saccades, are widely regarded as highly sensitive and objective biomarkers of neurophysiologic states. Detecting saccadic signatures in neurologic diseases offers a rapid, portable alternative to brain imaging, avoiding access and cost barriers. Currently, there are no robust AI-enabled video-oculographic solutions (e.g., digital biomarkers) for screening, triaging, or localizing brain abnormalities due to privacy issues and scarce datasets. In this work, we propose the first fully synthetic, patient-free, multimodal eye movement generation pipeline for generalizable saccade analysis. Using this synthetic dataset, we trained a deep learning classifier to distinguish between normal and abnormal (hypometria and hypermetria) saccadic accuracies and evaluated its performance on real-world clinical data. The model achieved an AUROC of 0.76 and a sensitivity of 0.71, showing that the synthetic data has strong potential to generalize for clinical applications, including as a screening tool in at-home and emergency room settings or a tool for precise neuroanatomic localization.

cs.CV↗

Collective spin excitations in trilayer nickelate La$_4$Ni$_3$O$_{10}$

Ruddlesden-Popper (RP) nickelates have recently emerged as a new family of high-temperature superconductors. In bilayer RP nickelates, magnetic excitations with large exchange couplings have been observed, supporting a spin-mediated pairing mechanism. Whether comparable spin correlations persist in trilayer nickelates, however, remains unknown. Here, we present a Ni $L$-edge resonant inelastic X-ray scattering (RIXS) study of La$_4$Ni$_3$O$_{10}$ single crystals. While the orbital excitations remain similar to those of La$_3$Ni$_2$O$_{7}$, the collective spin excitations in La$_4$Ni$_3$O$_{10}$ exhibit a comparable bandwidth of about $60$ meV but substantially suppressed spectral weight, implying a weaker electronic correlation in the trilayer compounds. Our results underscore the three-dimensional and multi-orbital electronic character in La$_4$Ni$_3$O$_{10}$, highlighting important differences from the bilayer nickelates. These findings provide crucial insights into the evolution of magnetism across the RP nickelate family and its connection to superconductivity.

cond-mat.supr-con↗

Persistent paramagnons in high-temperature infinite-layer nickelate superconductors

The recent discovery of high-temperature superconductivity in hole-doped SmNiO$_2$, exhibiting the record-high transition temperature $T_c$ among infinite-layer (IL) nickelates, has opened a new avenue for exploring design principles of superconductivity. Experimentally determining the electronic structure and magnetic interactions in this new system is crucial to elucidating the mechanism behind the enhanced superconductivity. Here, we report a Ni $L$-edge resonant inelastic x-ray scattering (RIXS) study of superconducting Sm-based IL nickelate thin films Sm$_{1-x-y-z}$Eu$_x$Ca$_y$Sr$_z$NiO$_2$ (SECS). Dispersive paramagnonic excitations are observed in both optimally and overdoped SECS samples, supporting a spin-fluctuation-mediated pairing scenario. However, despite the two-fold enhancement of $T_c$ in the Sm-based nickelates compared to their Pr-based counterparts, the effective exchange coupling strength is reduced by approximately $20\%$. This behavior contrasts with hole-doped cuprates, where magnetic interactions correlate positively with $T_c$, highlighting essential differences in their superconducting mechanisms.

cond-mat.supr-con↗

Using Ear-EEG to Decode Auditory Attention in Multiple-speaker Environment

Auditory Attention Decoding (AAD) can help to determine the identity of the attended speaker during an auditory selective attention task, by analyzing and processing measurements of electroencephalography (EEG) data. Most studies on AAD are based on scalp-EEG signals in two-speaker scenarios, which are far from real application. Ear-EEG has recently gained significant attention due to its motion tolerance and invisibility during data acquisition, making it easy to incorporate with other devices for applications. In this work, participants selectively attended to one of the four spatially separated speakers' speech in an anechoic room. The EEG data were concurrently collected from a scalp-EEG system and an ear-EEG system (cEEGrids). Temporal response functions (TRFs) and stimulus reconstruction (SR) were utilized using ear-EEG data. Results showed that the attended speech TRFs were stronger than each unattended speech and decoding accuracy was 41.3\% in the 60s (chance level of 25\%). To further investigate the impact of electrode placement and quantity, SR was utilized in both scalp-EEG and ear-EEG, revealing that while the number of electrodes had a minor effect, their positioning had a significant influence on the decoding accuracy. One kind of auditory spatial attention detection (ASAD) method, STAnet, was testified with this ear-EEG database, resulting in 93.1% in 1-second decoding window. The implementation code and database for our work are available on GitHub: https://github.com/zhl486/Ear_EEG_code.git and Zenodo: https://zenodo.org/records/10803261.

eess.SP↗

A DenseNet-based method for decoding auditory spatial attention with EEG

Auditory spatial attention detection (ASAD) aims to decode the attended spatial location with EEG in a multiple-speaker setting. ASAD methods are inspired by the brain lateralization of cortical neural responses during the processing of auditory spatial attention, and show promising performance for the task of auditory attention decoding (AAD) with neural recordings. In the previous ASAD methods, the spatial distribution of EEG electrodes is not fully exploited, which may limit the performance of these methods. In the present work, by transforming the original EEG channels into a two-dimensional (2D) spatial topological map, the EEG data is transformed into a three-dimensional (3D) arrangement containing spatial-temporal information. And then a 3D deep convolutional neural network (DenseNet-3D) is used to extract temporal and spatial features of the neural representation for the attended locations. The results show that the proposed method achieves higher decoding accuracy than the state-of-the-art (SOTA) method (94.3% compared to XANet's 90.6%) with 1-second decision window for the widely used KULeuven (KUL) dataset, and the code to implement our work is available on Github: https://github.com/xuxiran/ASAD_DenseNet

eess.SP↗

ConvConcatNet: a deep convolutional neural network to reconstruct mel spectrogram from the EEG

To investigate the processing of speech in the brain, simple linear models are commonly used to establish a relationship between brain signals and speech features. However, these linear models are ill-equipped to model a highly dynamic and complex non-linear system like the brain. Although non-linear methods with neural networks have been developed recently, reconstructing unseen stimuli from unseen subjects' EEG is still a highly challenging task. This work presents a novel method, ConvConcatNet, to reconstruct mel-specgrams from EEG, in which the deep convolution neural network and extensive concatenation operation were combined. With our ConvConcatNet model, the Pearson correlation between the reconstructed and the target mel-spectrogram can achieve 0.0420, which was ranked as No.1 in the Task 2 of the Auditory EEG Challenge. The codes and models to implement our work will be available on Github: https://github.com/xuxiran/ConvConcatNet

eess.SP↗