arXiv subjects

Yukun Shi

Publications and source records attributed to Yukun Shi.

At least 19 recordsLinked to original sources

arXiv2026

FocusGS: Spatial Delta Layers for Local Repair and Deterministic Editing of Trained 3D Gaussian Assets

3D Gaussian Splatting (3DGS) is evolving from one-time reconstruction into deliverable, inspectable, and maintainable visual assets. Existing workflows focus on global reconstruction, training-time density control, or open-ended generative editing, leaving trained assets without precise local maintenance. We propose FocusGS, which unifies local repair and deterministic editing as composite spatial deltas. Repair is the purely additive special case: its base-manipulation term is empty, and it adds only local Gaussian bases; deterministic editing uses erase-insert factorization (EIF) to combine old-carrier erasure with new-content insertion. FocusGS addresses spatial gradient starvation: local repair raises target-region PSNR by 7.91 dB over 93 evaluation views. Across all 83 deterministic editing trials, the target ROI improves, with a trial-averaged mean edited ROI PSNR of 21.97 dB and a mean gain of +11.05 dB; across five public editing cases, FocusGS-EIF reaches 33.17 dB Target-mask PSNR and 0.994 Target-delta Correlation, while both text-driven baselines fail to complete the prescribed updates. FocusGS provides a lightweight, verifiable 3DGS maintenance operator.

cs.CV↗

arXiv2026

Future Rendering $\neq$ Future Surface: A Benchmark and Dataset for Dynamic Surface Reconstruction Beyond the Observed Window

Dynamic-scene reconstruction is almost always evaluated inside the observed time window, yet deployment settings such as AR overlays, robot interaction, and anticipatory planning need the future surface: the geometry at times beyond those captured. No standard benchmark measures this. We introduce FutureSurf, a controlled diagnostic benchmark and dataset for future-time surface reconstruction that trades scene diversity for exact future ground truth and falsification controls. A method trains on the observed first 75% of a sequence; we score its extracted per-frame surface on the held-out future by Chamfer distance, reporting absolute future CD as the primary score and the future/observed gap as a diagnostic. The dataset contains eight analytically defined controlled motions, including three falsification controls, with exact per-frame ground-truth meshes. We also provide a ground-truth-side recoverability oracle. The release includes split files, scoring code, a benchmark card, and Croissant metadata. On the controlled motions, the DG-Mesh backbone leaves a 2.7-4.1$\times$ gap even for futures predictable in principle (four of five recoverable from observed motion by a fixed rule), while the falsification controls behave as designed (the surface-invariant motion shows no gap). Beyond the contributed dataset, the gap persists across six animated DG-Mesh asset scenes and a second backbone, Deformable-3DGS (2.0-6.6$\times$; both share a deformation-MLP temporal model). The benchmark also shows that future rendering quality and future-surface accuracy are statistically decoupled, so the novel-view-synthesis metrics the field reports do not track future geometry. The future error is structured, concentrating where the surface moves. The dataset, evaluation toolkit, and scoring code are available on Hugging Face and GitHub (https://github.com/Ricky-S/futuresurf).

cs.CV↗

arXiv2026

Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation

Vision-language-action policies are a promising foundation for general robot control, but long-horizon humanoid loco-manipulation requires the robot to treat task objects as persistent physical entities across movement, contact, occlusion, and recovery. We study this problem as object-state divergence: the object state used to condition a whole-body action can differ from the state used to decide whether the action achieved the intended physical relation. We propose \emph{Persistent Object Tokenization} (POT), which maintains role-indexed 3D object records from RGB-D observations and converts them into object tokens for a whole-body action expert. Instantiated as \emph{POT-VLA}, the same object records condition action generation and support geometric predicate checks, yielding a closed-loop execution system in which object state is both actionable and verifiable. On a Unitree G1, POT-VLA improves a matched direct GR00T-N1.7 baseline from 39/80 to 71/80 successes over eight real-world task families. In an external Being-0-aligned reference, POT-VLA achieves 44/50 successes on aligned service tasks, compared with the 37/50 success reported by the Being-0 paper. The largest gains occur on tasks requiring maintained 3D relations, suggesting that persistent object-centered state is a useful abstraction for verifiable humanoid VLA execution.

cs.RO↗

arXiv2026

Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments

Vision-language-action (VLA) models across robot embodiments require high-quality observation--action supervision to learn deployable action distributions, yet scaling such robot data remains difficult, especially for high-DoF humanoids. Teleoperation provides controller-aligned supervision, while human egocentric videos capture diverse bimanual manipulation but do not directly provide executable robot actions. We introduce Human-as-Humanoid, a human-to-humanoid supervision framework that enables near-real-time human-centric action generation, making human demonstrations usable for high-DoF humanoid VLA training by jointly aligning the robot embodiment, the sensing setup, and the action-label interface. Built on PrimeU, a human-aligned 60-DoF upper-body humanoid, Human-as-Humanoid uses synchronized ego-exo videos to pair deployment-aligned egocentric observations with exocentric motion recovery, retargets the recovered human motion through staged Inverse Kinematics (IK) into controller-aligned 60-DoF action chunks, and trains the VLA model with Forward Kinematics (FK)-aware supervision to preserve wrist and fingertip task-space geometry. This converts large-scale human demonstrations from visual observations into executable observation--action supervision for the target humanoid. Experiments validate the conversion chain at the motion-recovery, robot-action-space, and real-robot deployment levels. Human-as-Humanoid yields a 4.8--7.2x raw demonstration-throughput gain over humanoid teleoperation in our data-collection analysis, and on several downstream tasks, policies post-trained only with the converted human labels generalize to real-robot deployment without target-task robot demonstrations. The official project website is available at https://zgc-embodyai.github.io/Human-as-Humanoid.

cs.RO↗

arXiv2026

EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control

Humanoid robots require whole-body motions that adapt to scene context, task requirements, and user intent. Motion tracking reproduces specified trajectories, and humanoid vision-language-action systems provide semantic interfaces, but neither offers a scalable and interactive prior for broad full-body behavior. We introduce EgoPriMo (Egocentric Motion Prior for Humanoid Robots), a unified framework that learns such priors from egocentric human demonstrations. Given egocentric observations and a text prompt, EgoPriMo reconstructs, generates, and forecasts SMPL-based full-body motion. Language is used as a high-level control signal rather than a complete motion specification. At the core of EgoPriMo is a Triple-stream DiT that jointly models body dynamics, egocentric visual context, and text; task-conditioning masks route different tasks and missing-modality data through the same checkpoint. Experiments on Nymeria and EgoExo4D show that one checkpoint improves egocentric motion generation over UniEgoMotion while supporting reconstruction and forecasting; the generated SMPL motions can also be executed by a Unitree humanoid controller. These results indicate a practical path from scalable egocentric observations to generalizable and interactive humanoid motion priors.

cs.RO↗

arXiv2026

PhysBrain 1.0 Technical Report

Vision-language-action models have advanced rapidly, but robot trajectories alone provide limited coverage for learning broad physical understanding. PhysBrain 1.0 studies a complementary route: converting large-scale human egocentric video into structured physical commonsense supervision before robot adaptation. Our data engine extracts scene elements, spatial dynamics, action execution, and depth-aware relations, then turns them into question-answer supervision for training PhysBrain VLMs. The resulting physical priors are further transferred to VLA policies through a capability-preserving and language-sensitive adaptation design. Across multimodal QA benchmarks and embodied control benchmarks, including ERQA, PhysBench, SimplerEnv-WidowX, LIBERO, and RoboCasa, PhysBrain 1.0 achieves SOTA results and shows especially strong out-of-domain performance on SimplerEnv. These results suggest that scaling physical commonsense from human interaction video can provide an effective bridge from multimodal understanding to robot action.

cs.RO↗

arXiv2026

Optimisation of a silicon-tungsten electromagnetic calorimeter energy response to photons

An innovative path for the detectors at future colliders to achieve higher performances is to use a Particle Flow approach, which requires highly granular calorimeters to image individual showers. The silicon-tungsten electromagnetic calorimeter (SiW-ECAL) aims at fulfilling all the expected physical and technical requirements. SiW-ECAL has been developed by the CALICE and ILD collaborations for more than two decades and is now reaching maturity, for linear machines. However, with the tendency towards circular machines, the progress of electronics and the rapid advancement of machine learning (ML) techniques, the SiW-ECAL design needs to be reoptimised to enhance its performance. This study develops ML-based reconstruction approaches for SiW-ECAL, achieving an approximate 20% improvement in energy resolution in the low-energy range and effectively correcting energy leakage in the high-energy range. Subsequently, the SiW-ECAL design is reoptimized based on this method.

physics.ins-det↗

arXiv2026

STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation

Robotic manipulation requires reasoning about future spatial-temporal interactions and geometric constraints, yet existing Vision-Language-Action (VLA) policies often leave predictive representation weakly coupled with action execution, causing failures in tasks requiring precise spatial-temporal coordination. We propose STARRY, a world-model-enhanced action-generation policy that aligns spatial-temporal prediction and action generation by jointly denoising future spatial-temporal latents and actions through a unified diffusion process. To bridge 2D visual tokens and 3D metric control, STARRY introduces Geometry-Aware Selective Attention Modulation (GASAM), which converts predicted depth and end-effector geometry into token-aligned weights for selective action-attention modulation. On RoboTwin 2.0, STARRY achieves 93.82% / 93.30% average success under Clean and Randomized settings across 50 bimanual tasks. Real-world experiments show that STARRY improves average success from 42.5% to 70.8% compared with $\pi_{0.5}$. These results demonstrate the effectiveness of action-centric spatial-temporal world modeling for spatially and temporally demanding robotic manipulation.

cs.RO↗

arXiv2026

LycheeDecode: Accelerating Long-Context LLM Inference via Hybrid-Head Sparse Decoding

The proliferation of long-context large language models (LLMs) exposes a key bottleneck: the rapidly expanding key-value cache during decoding, which imposes heavy memory and latency costs. While recent approaches attempt to alleviate this by sharing a single set of crucial tokens across layers, such coarse-grained sharing undermines model performance by neglecting the functional diversity of attention heads. To address this, we propose LycheeDecode, an efficient decoding method centered on a fine-grained hybrid-head attention mechanism that employs a hardware-efficient top-k selection strategy. Specifically, the novel HardKuma-based mechanism partitions attention heads into a small subset of retrieval heads that dynamically identify crucial tokens and a majority of sparse heads that reuse them for efficient computation. Through extensive experiments on leading models like Llama3 and Qwen3 across diverse benchmarks for long-context understanding (e.g., LongBench, RULER) and complex reasoning (e.g., AIME24, OlympiadBench), we demonstrate that LycheeDecode achieves generative quality comparable to, and at times surpassing even the full-attention baseline. Crucially, this is accomplished with up to a 2.7x speedup at a 128K context length. By preserving the functional diversity of attention heads, our fine-grained strategy overcomes the performance bottlenecks of existing methods, providing a powerful and validated pathway to both efficient and high-quality long-context LLM inference.

cs.CL↗

arXiv2026

Structured Episodic Event Memory

Current approaches to memory in Large Language Models (LLMs) predominantly rely on static Retrieval-Augmented Generation (RAG), which often results in scattered retrieval and fails to capture the structural dependencies required for complex reasoning. For autonomous agents, these passive and flat architectures lack the cognitive organization necessary to model the dynamic and associative nature of long-term interaction. To address this, we propose Structured Episodic Event Memory (SEEM), a hierarchical framework that synergizes a graph memory layer for relational facts with a dynamic episodic memory layer for narrative progression. Grounded in cognitive frame theory, SEEM transforms interaction streams into structured Episodic Event Frames (EEFs) anchored by precise provenance pointers. Furthermore, we introduce an agentic associative fusion and Reverse Provenance Expansion (RPE) mechanism to reconstruct coherent narrative contexts from fragmented evidence. Experimental results on the LoCoMo and LongMemEval benchmarks demonstrate that SEEM significantly outperforms baselines, enabling agents to maintain superior narrative coherence and logical consistency.

cs.CL↗

arXiv2025

PhysBrain: Human Egocentric Data as a Bridge from Vision Language Models to Physical Intelligence

Robotic generalization relies on physical intelligence: the ability to reason about state changes, contact-rich interactions, and long-horizon planning under egocentric perception and action. Vision Language Models (VLMs) are essential to Vision-Language-Action (VLA) systems, but the reliance on third-person training data creates a viewpoint gap for humanoid robots. Collecting massive robot-centric data is an ideal but impractical solution due to cost and diversity constraints. Conversely, human egocentric videos offer a highly scalable data source with rich interaction context, yet the embodiment mismatch prevents the direct application. To bridge this gap, we propose an Egocentric2Embodiment Translation Pipeline that transforms raw human egocentric videos into multi-level, schema-driven embodiment supervision with enforced evidence grounding and temporal consistency, enabling the construction of the Egocentric2Embodiment dataset (E2E-3M) at scale. An egocentric-aware embodied brain, termed PhysBrain, is obtained by training on the E2E-3M dataset. PhysBrain exhibits substantially improved egocentric understanding, particularly for planning. It provides an egocentric-aware initialization that enables more sample-efficient VLA fine-tuning and higher success rates, demonstrating effective transfer from human egocentric supervision to downstream robot control.

cs.RO↗

arXiv2025

Development of the CEPC analog hadron calorimeter prototype

The Circular Electron Positron Collider (CEPC) is a next-generation electron$-$positron collider proposed for the precise measurement of the properties of the Higgs boson. To emphasize boson separation and jet reconstruction, the baseline design of the CEPC detector was guided by the particle flow algorithm (PFA) concept. As one of the calorimeter options, the analogue hadron calorimeter (AHCAL) was proposed. The CEPC AHCAL comprises a 40-layer sandwich structure using steel plates as absorbers and scintillator tiles coupled with silicon photomultipliers (SiPM) as sensitive units. To validate the feasibility of the AHCAL option, a series of studies were conducted to develop a prototype. This AHCAL prototype underwent an electronic test and a cosmic ray test to assess its performance and ensure it was ready for three beam tests performed in 2022 and 2023. The test beam data is currently under analysis, and the results are expected to deepen our understanding of hadron showers, validate the concept of Particle Flow Algorithm (PFA), and ultimately refine the design of the CEPC detector.

physics.ins-det↗

arXiv2025

Exchange operation of Majorana zero modes in topological insulator-based Josephson trijunctions

Majorana zero modes are anyons obeying non-Abelian exchange statistics distinct from fermions or bosons. While significant progresses have been achieved in the past two decades in searching for these exotic excitations in solid-state systems, their non-Abelian nature remains unverified, as definitive proof requires braiding operations. Here, we report preliminarily experimental advances in creating, manipulating, and exchanging the presumed Majorana zero modes in an envelope-shaped Josephson device composed of multiple trijunctions on a topological insulator surface. We observed the signatures of in-gap states migration consistent with the expectations of the Fu-Kane model, supporting the realization of an exchange operation. This work would establish a critical pathway toward ultimately braiding Majorana zero modes in the Fu-Kane scheme of topological quantum computation.

cond-mat.mes-hall↗

arXiv2025

Gap reopening as a possible signature of coupling between Majorana zero modes in Sn-(Bi,Sb)2(Te,S)3-based Josephson trijunctions

In the past two decades, enormous efforts have been made to search for possible platforms and schemes to implement topological quantum computation (TQC). In exploring the Fu-Kane scheme of TQC based on Josephson trijunctions constructed on topological insulators, the predicted Majorana phase diagram of an individual trijunction has already been verified experimentally. If Majorana zero modes indeed exist in this kind of trijunction, coupling between them in multiple trijunction devices should be further expected. In this study, we fabricated Josephson devices containing two adjacent Josephson trijunctions on the surface of Sn-(Bi, Sb)2(Te, S)3 and observed a possible signature of the coupling effect manifesting as the reopening of a minigap in both trijunctions where a closure would otherwise be expected if the trijunctions existed individually. While alternative interpretations cannot be fully ruled out, our findings provide experimental support for the validity of the Fu-Kane theory and provide further motivation for advancing the TQC scheme proposed by Fu and Kane.

cond-mat.supr-con↗

arXiv2025

Procedure of tuning up a three-site artificial Kitaev chain based on transmon measurements

Artificial Kitaev chains (AKCs), formed of quantum dot-superconductor linear arrays, provide a promising platform for hosting Majorana bound states (MBSs) and implementing topological quantum computing. The main challenges along this research direction would include the tuning up of AKCs for hosting MBSs and the readout of the parity of the chains. In this work, we present a step-by-step procedure for tuning up a three-site AKC to its sweet spots based on the spectra of a transmon circuit which is integrated with the chain for the purpose of reading out the parity of the chain. The signatures of the transmon's plasma modes in each step, particular those related to the appearance of MBSs in the chain, will be given. We find that the sweet spots in a three-site AKC can be classified into three types based on the relative strengths of elastic cotunneling (ECT) and crossed Andreev reflection (CAR): ECT-dominated sweet spots, genuine sweet spots and CAR-dominated sweet spots. We show that the ECT-dominated and CAR-dominated sweet spots can be more conveniently accessed and utilized in transmon-based measurements.

cond-mat.mes-hall↗

arXiv2025

Controllable creation of topological boundary states in topological-insulator-based Josephson corner junctions

Majorana zero modes (MZMs) in condensed matter systems have attracted great attention in the past two decades, due to their interesting physics and potential application in topological quantum computing (TQC). However, the topologically protected nature of MZMs still need more experimental verifications. In this study, we have realized controllable creation of a topological boundary state at the corner of topological insulator (TI)-based Josephson corner junctions. This state demonstrates protected existence across a broad region in parametric space, and exhibits a non-2{\pi}-period but 4{\pi}-period-compatible energy-phase relation. Our study suggests that TI-based Josephson junctions, as proposed in the Fu-Kane scheme of TQC, may provide a promising platform for hosting and braiding MZMs.

cond-mat.mes-hall↗

arXiv2025

Measurement of parity-dependent energy-phase relation of the low-energy states in a potential artificial Kitaev chain utilizing a transmon qubit

Artificial Kitaev chains have emerged as a promising platform for realizing topological quantum computing. Once the chains are formed and the Majorana zero modes are braided/fused, reading out the parity of the chains is essential for further verifying the non-Abelian property of the Majorana zero modes. Here we demonstrate the feasibility of using a superconducting transmon qubit, which incorporates an end of a four-site quantum dot-superconductor chain based on a Ge/Si nanowire, to directly detect the singlet/doublet state, and thus the parity of the entire chain. We also demonstrate that for multiple-dot chains there are two types of 0-{\pi} transitions between different charging states: the parity-flip 0-{\pi} transition and the parity-preserved 0-{\pi} transition. Furthermore, we show that the inter-dot coupling, hence the strengths of cross Andreev reflection and elastic cotunneling of electrons, can be adjusted by local electrostatic gating in chains fabricated on Ge/Si core-shell nanowires. Our exploration would be helpful for the ultimate realization of topological quantum computing based on artificial Kitaev chains.

cond-mat.mes-hall↗

arXiv2024

Study of residual artificial neural network for particle identification in the CEPC high-granularity calorimeter prototype

Particle Identification (PID) plays a central role in associating the energy depositions in calorimeter cells with the type of primary particle in a particle flow oriented detector system. In this paper, we propose novel PID methods based on the Residual Network (ResNet) architecture which enable the training of very deep networks, bypass the need to reconstruct feature variables, and ensure the generalization ability among various geometries of detectors, to classify electromagnetic showers and hadronic showers. Using Geant4 simulation samples with energy ranging from 5 GeV to 120 GeV, the efficacy of Residual Connections is validated and the performance of our model is compared with Boosted Decision Trees (BDT) and other pioneering Artificial Neural Network (ANN) approaches. In shower classification, we observe an improvement in background rejection over a wide range of high signal efficiency ($> 95\%$). These findings highlight the prospects of ANN with Residual Blocks for imaging detectors in the PID task of particle physics experiments.

hep-ex↗