arXiv subjects

Yulin Liu

Publications and source records attributed to Yulin Liu.

At least 19 recordsLinked to original sources

arXiv2026

Frequency-Structured Field Learning for Light-Field Disparity Estimation

Light-field disparity estimation requires global consistency in smooth or textureless regions and local precision near occlusion boundaries, thin structures, and abrupt depth transitions. Existing methods address these requirements through EPI matching, cost-volume or focal-stack construction, view aggregation, or direct convolutional regression, often relying on local windows, discrete disparity hypotheses, memory-intensive volumes, or attention-based aggregation. We instead formulate disparity estimation at the field level, predicting disparity from globally and locally updated EPI-derived latent features without explicitly constructing a disparity volume. We introduce FreqLF, an EPI-guided Fourier-local framework that encodes angular parallax cues from horizontal and vertical EPI stacks together with central-view appearance features. These cues are projected into a latent field and updated through stacked hybrid Fourier-local layers. Fourier low-mode updates enable global feature interaction, while local convolutions preserve spatial variations needed for fine disparity detail. A coordinate-conditioned Gaussian-mixture decoder then predicts disparity, using the mixture mean as the final estimate. Experiments on the HCI 4D Light Field Benchmark show that FreqLF approaches the accuracy of strong supervised baselines while avoiding explicit cost-volume construction in the base model. Ablations confirm the complementary roles of the Fourier and local branches, and scaling experiments demonstrate practical behavior across spatial resolutions. These results suggest that Fourier-local latent field learning is a competitive alternative for light-field disparity estimation. The code will be published soon.

cs.CV↗

arXiv2026

Data-Driven Contextual-Aware Uncertainty Set for Robust Dispatch of Power Systems

Both the level of conservativeness and the computational burden in robust optimization are critically influenced by uncertainty set design. However, contextual side information is rarely exploited in robust dispatch of power systems characterized by irregular data distributions, which hinders the explicit characterization of the relationship between covariates and uncertain parameters. To address this issue, a data-driven method for constructing contextual-aware uncertainty set is proposed in this letter. Based on a conditional Gaussian mixture model, a set of covariates is leveraged as side information to design uncertainty sets tailored to historical data exhibiting irregular distributions. The resulting set is formulated as a union-of-subsets formulation, and a mixed integer linear reformulation is adopted to describe the worst-case realization across all subsets. Finally, the effectiveness of the proposed method is demonstrated through numerical experiments applied to robust unit commitment.

math.OC↗

arXiv2026

A dataset of early blockchain-registered AI agents on Ethereum

This study presents a structured dataset of blockchain-registered artificial intelligence agents under the ERC-8004 standard on Ethereum. The dataset integrates on-chain identity records, minting transactions, transfer events, reputation summaries, and individual feedback records, together with resolved off-chain metadata where available. Data were collected from Ethereum mainnet using Web3 RPC queries and processed into tabular form to enable reproducible analysis. The dataset covers 10,000 agents within a defined block range and includes both event-level records and aggregated summaries. It enables empirical research on agent identity formation, reputation systems, service exposure, and early-stage decentralized AI ecosystems. This resource supports studies in blockchain analytics, decentralized trust infrastructure, and the emerging agentic economy.

cs.DB↗

arXiv2026

LungCURE: Benchmarking Multimodal Real-World Clinical Reasoning for Precision Lung Cancer Diagnosis and Treatment

Lung cancer clinical decision support demands precise reasoning across complex, multi-stage oncological workflows. Existing multimodal large language models (MLLMs) fail to handle guideline-constrained staging and treatment reasoning. We formalize three oncological precision treatment (OPT) tasks for lung cancer, spanning TNM staging, treatment recommendation, and end-to-end clinical decision support. We introduce LungCURE, the first standardized multimodal benchmark built from 1,000 real-world, clinician-labeled cases across more than 10 hospitals. We further propose LCAgent, a multi-agent framework that ensures guideline-compliant lung cancer clinical decision-making by suppressing cascading reasoning errors across the clinical pathway. Experiments reveal large differences across various large language models (LLMs) in their capabilities for complex medical reasoning, when given precise treatment requirements. We further verify that LCAgent, as a simple yet effective plugin, enhances the reasoning performance of LLMs in real-world medical scenarios.

cs.MM↗

arXiv2026

AnyHand: A Large-Scale Synthetic Dataset for RGB(-D) Hand Pose Estimation

We present AnyHand, a large-scale synthetic dataset designed to advance the state of the art in 3D hand pose estimation. While recent works with foundation approaches have shown that scaling training data markedly improves hand pose estimation, existing real-world datasets are limited in coverage, and prior synthetic datasets rarely provide occlusions, arm details, and aligned depth together at scale. To address this bottleneck, our proposed AnyHand contains 2.5M single-hand and 4.1M hand-object interaction RGB-D images, with rich geometric annotations. We show that extending the original training data recipes of existing RGB baselines with AnyHand yields significant gains on multiple benchmarks (FreiHAND and HO-3D), even when keeping the architectures and training schemes fixed. Together with extensive ablations on the scale and composition of the training data setups, these results suggest that training data diversity and quality are as critical as scale for advancing hand pose estimation. We further examine the utility of AnyHand's aligned depth maps in the appendix, showing that scaling RGB-D supervision with AnyHand allows a lightweight depth-fusion variant of existing RGB baselines to outperform prior RGB-D methods.

cs.CV↗

arXiv2026

UI-Venus-1.5 Technical Report

GUI agents have emerged as a powerful paradigm for automating interactions in digital environments, yet achieving both broad generality and consistently strong task performance remains challenging. In this report, we present UI-Venus-1.5, a unified, end-to-end GUI Agent designed for robust real-world applications. The proposed model family comprises two dense variants (2B and 8B) and one mixture-of-experts variant (30B-A3B) to meet various downstream application scenarios. Compared to our previous version, UI-Venus-1.5 introduces three key technical advances: (1) a comprehensive Mid-Training stage leveraging 10 billion tokens across 30+ datasets to establish foundational GUI semantics; (2) Online Reinforcement Learning with full-trajectory rollouts, aligning training objectives with long-horizon, dynamic navigation in large-scale environments; and (3) a single unified GUI Agent constructed via Model Merging, which synthesizes domain-specific models (grounding, web, and mobile) into one cohesive checkpoint. Extensive evaluations demonstrate that UI-Venus-1.5 establishes new state-of-the-art performance on benchmarks such as ScreenSpot-Pro (69.6%), VenusBench-GD (75.0%), and AndroidWorld (77.6%), significantly outperforming previous strong baselines. In addition, UI-Venus-1.5 demonstrates robust navigation capabilities across a variety of Chinese mobile apps, effectively executing user instructions in real-world scenarios. Code: https://github.com/inclusionAI/UI-Venus; Model: https://huggingface.co/collections/inclusionAI/ui-venus

cs.CV↗

arXiv2025

Scaling Cross-Embodiment World Models for Dexterous Manipulation

Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morphologies, but differences in kinematics and action spaces hinder data sharing and control transfer. We ask: What structure can be shared across embodiments despite these differences? We argue that the physical interactions they induce can be modeled in a shared geometric space, allowing world models to provide a common interface for learning and control. To realize this idea, we represent human and robot hands as sets of 3D particles and define actions as end-effector particle displacement fields. This representation abstracts away embodiment-specific joint spaces while preserving the geometry and motion relevant to physical interaction. We train a graph-based world model on random interaction data from diverse simulated robot hands and real human hands, and integrate it with model-predictive control for deployment on new hardware. Experiments on rigid and deformable manipulation reveal three findings: increasing the diversity of training embodiments improves generalization to unseen hands; appropriately combining simulated and real-world data outperforms either source alone; and the same learned model enables effective control on robotic hands with distinct kinematics and degrees of freedom. These results position particle-based world models as a shared interface for learning from and for heterogeneous embodiments.

cs.RO↗

arXiv2025

Integrated Sensing and Communication: Towards Multifunctional Perceptive Network

The capacity-maximization design philosophy has driven the growth of wireless networks for decades. However, with the slowdown in recent data traffic demand, the mobile industry can no longer rely solely on communication services to sustain development. In response, Integrated Sensing and Communications (ISAC) has emerged as a transformative solution, embedding sensing capabilities into communication networks to enable multifunctional wireless systems. This paradigm shift expands the role of networks from sole data transmission to versatile platforms supporting diverse applications. In this review, we provide a bird's-eye view of ISAC for new researchers, highlighting key challenges, opportunities, and application scenarios to guide future exploration in this field.

eess.SP↗

arXiv2025

EconAgentic in DePIN Markets: A Large Language Model Approach to the Sharing Economy of Decentralized Physical Infrastructure

The Decentralized Physical Infrastructure (DePIN) market is revolutionizing the sharing economy through token-based economics and smart contracts that govern decentralized operations. By 2024, DePIN projects have exceeded \$10 billion in market capitalization, underscoring their rapid growth. However, the unregulated nature of these markets, coupled with the autonomous deployment of AI agents in smart contracts, introduces risks such as inefficiencies and potential misalignment with human values. To address these concerns, we introduce EconAgentic, a Large Language Model (LLM)-powered framework designed to mitigate these challenges. Our research focuses on three key areas: 1) modeling the dynamic evolution of DePIN markets, 2) evaluating stakeholders' actions and their economic impacts, and 3) analyzing macroeconomic indicators to align market outcomes with societal goals. Through EconAgentic, we simulate how AI agents respond to token incentives, invest in infrastructure, and adapt to market conditions, comparing AI-driven decisions with human heuristic benchmarks. Our results show that EconAgentic provides valuable insights into the efficiency, inclusion, and stability of DePIN markets, contributing to both academic understanding and practical improvements in the design and governance of decentralized, tokenized economies.

econ.GN↗

arXiv2025

UI-Venus Technical Report: Building High-performance UI Agents with RFT

We present UI-Venus, a native UI agent that takes only screenshots as input based on a multimodal large language model. UI-Venus achieves SOTA performance on both UI grounding and navigation tasks using only several hundred thousand high-quality training samples through reinforcement finetune (RFT) based on Qwen2.5-VL. Specifically, the 7B and 72B variants of UI-Venus obtain 94.1% / 50.8% and 95.3% / 61.9% on the standard grounding benchmarks, i.e., Screenspot-V2 / Pro, surpassing the previous SOTA baselines including open-source GTA1 and closed-source UI-TARS-1.5. To show UI-Venus's summary and planing ability, we also evaluate it on the AndroidWorld, an online UI navigation arena, on which our 7B and 72B variants achieve 49.1% and 65.9% success rate, also beating existing models. To achieve this, we introduce carefully designed reward functions for both UI grounding and navigation tasks and corresponding efficient data cleaning strategies. To further boost navigation performance, we propose Self-Evolving Trajectory History Alignment & Sparse Action Enhancement that refine historical reasoning traces and balances the distribution of sparse but critical actions, leading to more coherent planning and better generalization in complex UI tasks. Our contributions include the publish of SOTA open-source UI agents, comprehensive data cleaning protocols and a novel self-evolving framework for improving navigation performance, which encourage further research and development in the community. Code is available at https://github.com/inclusionAI/UI-Venus.

cs.CV↗

arXiv2025

A mobile high spatial-resolution Muography instrument based on large-area Micromegas detectors

Muon radiography is an imaging technique based on muon absorption in matter that allows measurement of internal details in hidden objects or structures. This technique relies on measuring cosmic-ray muons tracks accurately, which reflects the incoming muon flux from both the target object and the open sky. In this paper, we report on the construction of a high spatial resolution muography instrument based on Micromegas detectors. Using four layers of 400 mm ${\times}$ 400 mm Micromegas detectors, channel multiplexing circuits, and the versatile readout system, a moveable muography instrument named $\mu$STC-R400 was designed and constructed. Results show that the channel multiplexing circuits can resolve hit positions correctly, and the spatial resolution of the detector is approximately 190 ${\mu}$m. Experiments were conducted at an under-construction subway tunnel and outdoors near a mountain, demonstrating the ${\mu}$STC-R400's ability to maintain high spatial resolution outside the laboratory and its robustness in harsh environments.

physics.ins-det↗

arXiv2025

When Noisy Labels Meet Class Imbalance on Graphs: A Graph Augmentation Method with LLM and Pseudo Label

Class-imbalanced graph node classification is a practical yet underexplored research problem. Although recent studies have attempted to address this issue, they typically assume clean and reliable labels when processing class-imbalanced graphs. This assumption often violates the nature of real-world graphs, where labels frequently contain noise. Given this gap, this paper systematically investigates robust node classification for class-imbalanced graphs with noisy labels. We propose GraphALP, a novel Graph Augmentation framework based on Large language models (LLMs) and Pseudo-labeling techniques. Specifically, we design an LLM-based oversampling method to generate synthetic minority nodes, producing label-accurate minority nodes to alleviate class imbalance. Based on the class-balanced graphs, we develop a dynamically weighted pseudo-labeling method to obtain high-confidence pseudo labels to reduce label noise ratio. Additionally, we implement a secondary LLM-guided oversampling mechanism to mitigate potential class distribution skew caused by pseudo labels. Experimental results show that GraphALP achieves superior performance over state-of-the-art methods on class-imbalanced graphs with noisy labels.

cs.LG↗

arXiv2025

Resilience assessment framework for cyber-physical distribution power system based on coordinated cyber-physical attacks under dynamic game

Owing to the advanced communication networks and intelligent electronic devices, the cyber-physical distribution systems (CPDSs) possess the capability to perform flexible economic dispatch and achieve rapid self-healing from extreme events. Meanwhile, the deep integration of cyber and physical systems makes CPDS vulnerable to coordinated cyber-physical attacks. In this paper, a resilience assessment framework for the CPDS under coordinated cyber-physical attacks is proposed to investigate the impact of the coordinated attacks on load loss and service restoration in CPDS. First, a three-stage defender-attacker-defender dynamic game model considering fake base station (FBS) and physical attacks for CPDS is established, aiming at seeking the optimal defense resource deployment strategy to enhance the resilience of the CPDS. The physical attack is launched to cause faults on the power lines, and the FBS attack is employed to interrupt the service of wireless cellular network to hinder the self-healing process of the CPDS. The lognormal shadowing model and search theory are applied to quantitatively describe the process of the coordinated cyber-physical attacks. Further, the constructed three-stage dynamic game model is equivalently recast as a tri-level max-min-max optimization model, which is solved using column-and-constraint generation combined with enumeration method. Finally, the effectiveness of the proposed resilience assessment framework and solution strategy is demonstrated by conducting simulation analysis on the modified IEEE 33-node CPDS and a real-world 47-node CPDS in China.

eess.SY↗

arXiv2025

Learning Adaptive Dexterous Grasping from Single Demonstrations

How can robots learn dexterous grasping skills efficiently and apply them adaptively based on user instructions? This work tackles two key challenges: efficient skill acquisition from limited human demonstrations and context-driven skill selection. We introduce AdaDexGrasp, a framework that learns a library of grasping skills from a single human demonstration per skill and selects the most suitable one using a vision-language model (VLM). To improve sample efficiency, we propose a trajectory following reward that guides reinforcement learning (RL) toward states close to a human demonstration while allowing flexibility in exploration. To learn beyond the single demonstration, we employ curriculum learning, progressively increasing object pose variations to enhance robustness. At deployment, a VLM retrieves the appropriate skill based on user instructions, bridging low-level learned skills with high-level intent. We evaluate AdaDexGrasp in both simulation and real-world settings, showing that our approach significantly improves RL efficiency and enables learning human-like grasp strategies across varied object configurations. Finally, we demonstrate zero-shot transfer of our learned policies to a real-world PSYONIC Ability Hand, with a 90% success rate across objects, significantly outperforming the baseline.

cs.RO↗

arXiv2024

3D-Adapter: Geometry-Consistent Multi-View Diffusion for High-Quality 3D Generation

Multi-view image diffusion models have significantly advanced open-domain 3D object generation. However, most existing models rely on 2D network architectures that lack inherent 3D biases, resulting in compromised geometric consistency. To address this challenge, we introduce 3D-Adapter, a plug-in module designed to infuse 3D geometry awareness into pretrained image diffusion models. Central to our approach is the idea of 3D feedback augmentation: for each denoising step in the sampling loop, 3D-Adapter decodes intermediate multi-view features into a coherent 3D representation, then re-encodes the rendered RGBD views to augment the pretrained base model through feature addition. We study two variants of 3D-Adapter: a fast feed-forward version based on Gaussian splatting and a versatile training-free version utilizing neural fields and meshes. Our extensive experiments demonstrate that 3D-Adapter not only greatly enhances the geometry quality of text-to-multi-view models such as Instant3D and Zero123++, but also enables high-quality 3D generation using the plain text-to-image Stable Diffusion. Furthermore, we showcase the broad application potential of 3D-Adapter by presenting high quality results in text-to-3D, image-to-3D, text-to-texture, and text-to-avatar tasks.

cs.CV↗

arXiv2024

ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI

Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks and lack features critical for scaling generalizable robotics and sim2real. We introduce and open source ManiSkill3, the fastest state-visual GPU parallelized robotics simulator with contact-rich physics targeting generalizable manipulation. ManiSkill3 supports GPU parallelization of many aspects including simulation+rendering, heterogeneous simulation, pointclouds/voxels visual input, and more. Simulation with rendering on ManiSkill3 can run 10-1000x faster with 2-3x less GPU memory usage than other platforms, achieving up to 30,000+ FPS in benchmarked environments due to minimal python/pytorch overhead in the system, simulation on the GPU, and the use of the SAPIEN parallel rendering system. Tasks that used to take hours to train can now take minutes. We further provide the most comprehensive range of GPU parallelized environments/tasks spanning 12 distinct domains including but not limited to mobile manipulation for tasks such as drawing, humanoids, and dextrous manipulation in realistic scenes designed by artists or real-world digital twins. In addition, millions of demonstration frames are provided from motion planning, RL, and teleoperation. ManiSkill3 also provides a comprehensive set of baselines that span popular RL and learning-from-demonstrations algorithms.

cs.RO↗

arXiv2024

SpaRP: Fast 3D Object Reconstruction and Pose Estimation from Sparse Views

Open-world 3D generation has recently attracted considerable attention. While many single-image-to-3D methods have yielded visually appealing outcomes, they often lack sufficient controllability and tend to produce hallucinated regions that may not align with users' expectations. In this paper, we explore an important scenario in which the input consists of one or a few unposed 2D images of a single object, with little or no overlap. We propose a novel method, SpaRP, to reconstruct a 3D textured mesh and estimate the relative camera poses for these sparse-view images. SpaRP distills knowledge from 2D diffusion models and finetunes them to implicitly deduce the 3D spatial relationships between the sparse views. The diffusion model is trained to jointly predict surrogate representations for camera poses and multi-view images of the object under known poses, integrating all information from the input sparse views. These predictions are then leveraged to accomplish 3D reconstruction and pose estimation, and the reconstructed 3D model can be used to further refine the camera poses of input views. Through extensive experiments on three datasets, we demonstrate that our method not only significantly outperforms baseline methods in terms of 3D reconstruction quality and pose prediction accuracy but also exhibits strong efficiency. It requires only about 20 seconds to produce a textured mesh and camera poses for the input views. Project page: https://chaoxu.xyz/sparp.

cs.CV↗

arXiv2024

A Compact Readout Electronics Based on Current Amplifier for Micromegas Detector in Muon Imaging

Muon imaging technology is an innovative imaging technique that can be applied in volcano imaging, heavy nuclear material detection, and archaeological research. The Micromegas detector is a promising choice for muon imaging due to its high spatial resolution and large area. However, the large number of readout channels poses a challenge for electronics. In this paper, a compact front-end electronics (FEE) for reading Micromegas detectors is presented. The electronics use the commercial current-to-digital readout chip, ADAS1128, which integrates 128 current amplifiers for multi-channel charge measurement. After verifying the basic performance of the electronics, the energy resolution was obtained with a radioactive source. Furthermore, a muon imaging system prototype was set up and its spatial resolution was evaluated in a test with cosmic ray muons. The system prototype can reconstruct the boundaries of sufficiently massive objects with a size of 2 cm in a scattering imaging test.

physics.ins-det↗