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Yuming Huang

Publications and source records attributed to Yuming Huang.

At least 19 recordsLinked to original sources
arXiv2026

CompanionBench: A Theory-Anchored, Real-World-Grounded Benchmark for AI Emotional Companionship

LLM companions are deployed at scale in personally consequential settings, yet poorly evaluated. Existing benchmarks use hand-authored scenarios and prompted simulators, aggregate empathy into one score, and overlook judge biases such as same-family favoritism and scale drift. We introduce CompanionBench, an interactive bilingual benchmark. To our knowledge, it is the first companion benchmark to ground both its scenarios and a trained user simulator in de-identified real-world data. A hidden disclosure gate branches each persona's trajectory on the agent's own behavior, controlling the interaction state space without scripting dialogue. We operationalize ten capabilities derived from 25 theories across psychology and counseling, four of them not graded explicitly by prior work: holding ambiguity, selfobject responsiveness, positive resonance and calibrated challenge. Agents are assessed on two complementary axes: a subjective ten-capability rubric and a deterministic measure of whether deeper disclosure was earned. A cross-family panel dilutes same-family favoritism; an Item Response Theory model separates agent quality from judge severity. Theory fixes what to measure and how personas are structured; real data supply events, history, and profiles -- coverage from theory, authenticity from data. Rankings are reproducible in both languages (rho = 0.996 ZH / 0.953 EN). Evaluating 28 agents reveals capability-level differences obscured by aggregate scores. Emotion regulation and calibrated challenge remain common weaknesses; holding ambiguity discriminates most. Role-play agents rank near the bottom: immersion does not imply relational competence. Across agents, the dominant failure mode is substituting surface warmth for substantive relational support. We will release 500 Chinese-English parallel pairs and the evaluation code.

cs.CL↗
arXiv2026

Reduced-order Neural Modeling with Differentiable Simulation for High-Detail Tactile Perception

Tactile perception is key to dexterous manipulation, yet simulating high-resolution elastomer deformation remains computationally prohibitive. Finite element methods (FEM) deliver high fidelity but demand costly remeshing, while Material Point Methods (MPM) suffer from heavy particle-memory tradeoffs. We propose a {reduced-order neural simulation framework} that couples coarse-grained MPM dynamics with an implicit neural decoder to reconstruct sub-particle tactile details from compact latent states. The framework learns a continuous deformation manifold from paired high- and low-resolution simulations, enabling physically consistent, differentiable inference. Compared to the TacIPC, our method achieves over 65\% faster simulation and {40\% lower memory usage}, while maintaining better geometric fidelity. In tactile rendering and 3D surface reconstruction, our methods further improve accuracy by 25\% and produce realistic depth images and surface mesh within a faster inference speed. These results demonstrate that the proposed reduced-order neural model enables high-detail, physically grounded tactile simulation with substantial efficiency gains for robotic interaction and optimization.

cs.RO↗
arXiv2026

SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments

Humans routinely leverage semantic hints provided by signage to navigate to destinations within novel Large-Scale Indoor (LSI) environments, such as hospitals and airport terminals. However, this capability remains underexplored within the field of embodied navigation. This paper introduces a novel embodied navigation task, SignNav, which requires the agent to interpret semantic hint from signage and reason about the subsequent action based on current observation. To facilitate research in this domain, we construct the LSI-Dataset for the training and evaluation of various SignNav agents. Dynamically changing semantic hints and sparse placement of signage in LSI environments present significant challenges to the SignNav task. To address these challenges, we propose the Spatial-Temporal Aware Transformer (START) model for end-to-end decision-making. The spatial-aware module grounds the semantic hint of signage into physical world, while the temporal-aware module captures long-range dependencies between historical states and current observation. Leveraging a two-stage training strategy with Dataset Aggregation (DAgger), our approach achieves state-of-the-art performance, recording an 80% Success Rate (SR) and 0.74 NDTW on val-unseen split. Real-world deployment further demonstrates the practicality of our method in physical environment without pre-built map.

cs.RO↗
arXiv2026

PRIME: Efficient Algorithm for Token Graph Routing Problem

Optimizing asset exchanges on blockchain-driven platforms poses a novel and challenging graph query optimization problem. In this model, assets represent vertices and exchanges form edges, recasting the graph query task as a routing problem over a large-scale, dynamic graph. However, the existing solutions fail to solve the problem efficiently due to the non-linear nature of the edge weights defined by a concave swap function. To address the challenge, we propose PRIME, a two-stage iterative graph algorithm designed for the Token Graph Routing Problem (TGRP). The first stage employs a pruned graph search to efficiently identify a set of high-potential routing paths. The second stage formulates the allocation task as a strongly convex optimization problem, which we solve using our novel Adaptive Sign Gradient Method (ASGM) with a linear convergence rate. Extensive experiments on real-world Ethereum data confirm PRIME's advantages over industry baselines. PRIME consistently outperforms the widely-used Uniswap routing algorithm, achieving up to 8.42 basis points (bps) better execution prices on large trades while reducing computation up to 96.7%. The practicality of PRIME is further validated by its deployment in hedge fund production environments, demonstrating its viability as a scalable graph query processing solution for high-frequency decentralized markets.

cs.DB↗
arXiv2026

High-Q AlN microresonators for nonlinear near-infrared and near-visible photonics

High Q-factors of microresonators are crucial for nonlinear integrated photonics, as many nonlinear dynamics have quadratic or even cubic dependence on Q-factors. The unique material properties make AlN microresonators invaluable for microcomb generation, Raman lasing and visible integrated photonics. However, the loss level of AlN falls behind other integrated platforms. By optimizing the fabrication, we demonstrate record Q-factors of 5.4$\times$10$^6$ and 2.2$\times$10$^6$ for AlN microresonators in the near-infrared and near-visible, respectively. Polarized-mode-interaction was used to create anomalous dispersion to support bright AlN Dirac solitons. Measurement of polarization-dependent spectra reveals the polarization hybridization of the Dirac soliton. In a microresonator with normal dispersion, Raman assisted four-wave-mixing (RFWM) was observed to initiate platicon formation, adding an approach to generate normal dispersion microcombs. A design of width-varying waveguides was used to ensure both efficient coupling and high Q-factor for racetrack microresonators at 780 nm. The microresonator was pumped to generate near-visble Raman laser at 820 nm with a fundamental linewidth narrower than 220 Hz. Our work unlocks new opportunities for integrated AlN photonics by improving Q-factors and uncovering nonlinear dynamics in AlN microresonators.

physics.optics↗
arXiv2025

Can any model be fabricated? Inverse operation based planning for hybrid additive-subtractive manufacturing

This paper presents a method for computing interleaved additive and subtractive manufacturing operations to fabricate models of arbitrary shapes. We solve the manufacturing planning problem by searching a sequence of inverse operations that progressively transform a target model into a null shape. Each inverse operation corresponds to either an additive or a subtractive step, ensuring both manufacturability and structural stability of intermediate shapes throughout the process. We theoretically prove that any model can be fabricated exactly using a sequence generated by our approach. To demonstrate the effectiveness of this method, we adopt a voxel-based implementation and develop a scalable algorithm that works on models represented by a large number of voxels. Our approach has been tested across a range of digital models and further validated through physical fabrication on a hybrid manufacturing system with automatic tool switching.

cs.GR↗
arXiv2025

TraceLLM: Security Diagnosis Through Traces and Smart Contracts in Ethereum

Ethereum smart contracts hold tens of billions of USD in DeFi and NFTs, yet comprehensive security analysis remains difficult due to unverified code, proxy-based architectures, and the reliance on manual inspection of complex execution traces. Existing approaches fall into two main categories: anomaly transaction detection, which flags suspicious transactions but offers limited insight into specific attack strategies hidden in execution traces inside transactions, and code vulnerability detection, which cannot analyze unverified contracts and struggles to show how identified flaws are exploited in real incidents. As a result, analysts must still manually align transaction traces with contract code to reconstruct attack scenarios and conduct forensics. To address this gap, TraceLLM is proposed as a framework that leverages LLMs to integrate execution trace-level detection with decompiled contract code. We introduce a new anomaly execution path identification algorithm and an LLM-refined decompile tool to identify vulnerable functions and provide explicit attack paths to LLM. TraceLLM establishes the first benchmark for joint trace and contract code-driven security analysis. For comparison, proxy baselines are created by jointly transmitting the results of three representative code analysis along with raw traces to LLM. TraceLLM identifies attacker and victim addresses with 85.19\% precision and produces automated reports with 70.37\% factual precision across 27 cases with ground truth expert reports, achieving 25.93\% higher accuracy than the best baseline. Moreover, across 148 real-world Ethereum incidents, TraceLLM automatically generates reports with 66.22\% expert-verified accuracy, demonstrating strong generalizability.

cs.CR↗
arXiv2025

Neural Co-Optimization of Structural Topology, Manufacturable Layers, and Path Orientations for Fiber-Reinforced Composites

We propose a neural network-based computational framework for the simultaneous optimization of structural topology, curved layers, and path orientations to achieve strong anisotropic strength in fiber-reinforced thermoplastic composites while ensuring manufacturability. Our framework employs three implicit neural fields to represent geometric shape, layer sequence, and fiber orientation. This enables the direct formulation of both design and manufacturability objectives - such as anisotropic strength, structural volume, machine motion control, layer curvature, and layer thickness - into an integrated and differentiable optimization process. By incorporating these objectives as loss functions, the framework ensures that the resultant composites exhibit optimized mechanical strength while remaining its manufacturability for filament-based multi-axis 3D printing across diverse hardware platforms. Physical experiments demonstrate that the composites generated by our co-optimization method can achieve an improvement of up to 33.1% in failure loads compared to composites with sequentially optimized structures and manufacturing sequences.

cs.LG↗
arXiv2025

SafeCast: Risk-Responsive Motion Forecasting for Autonomous Vehicles

Accurate motion forecasting is essential for the safety and reliability of autonomous driving (AD) systems. While existing methods have made significant progress, they often overlook explicit safety constraints and struggle to capture the complex interactions among traffic agents, environmental factors, and motion dynamics. To address these challenges, we present SafeCast, a risk-responsive motion forecasting model that integrates safety-aware decision-making with uncertainty-aware adaptability. SafeCast is the first to incorporate the Responsibility-Sensitive Safety (RSS) framework into motion forecasting, encoding interpretable safety rules--such as safe distances and collision avoidance--based on traffic norms and physical principles. To further enhance robustness, we introduce the Graph Uncertainty Feature (GUF), a graph-based module that injects learnable noise into Graph Attention Networks, capturing real-world uncertainties and enhancing generalization across diverse scenarios. We evaluate SafeCast on four real-world benchmark datasets--Next Generation Simulation (NGSIM), Highway Drone (HighD), ApolloScape, and the Macao Connected Autonomous Driving (MoCAD)--covering highway, urban, and mixed-autonomy traffic environments. Our model achieves state-of-the-art (SOTA) accuracy while maintaining a lightweight architecture and low inference latency, underscoring its potential for real-time deployment in safety-critical AD systems.

cs.RO↗
arXiv2025

Learning Orientation Field for OSM-Guided Autonomous Navigation

OpenStreetMap (OSM) has gained popularity recently in autonomous navigation due to its public accessibility, lower maintenance costs, and broader geographical coverage. However, existing methods often struggle with noisy OSM data and incomplete sensor observations, leading to inaccuracies in trajectory planning. These challenges are particularly evident in complex driving scenarios, such as at intersections or facing occlusions. To address these challenges, we propose a robust and explainable two-stage framework to learn an Orientation Field (OrField) for robot navigation by integrating LiDAR scans and OSM routes. In the first stage, we introduce the novel representation, OrField, which can provide orientations for each grid on the map, reasoning jointly from noisy LiDAR scans and OSM routes. To generate a robust OrField, we train a deep neural network by encoding a versatile initial OrField and output an optimized OrField. Based on OrField, we propose two trajectory planners for OSM-guided robot navigation, called Field-RRT* and Field-Bezier, respectively, in the second stage by improving the Rapidly Exploring Random Tree (RRT) algorithm and Bezier curve to estimate the trajectories. Thanks to the robustness of OrField which captures both global and local information, Field-RRT* and Field-Bezier can generate accurate and reliable trajectories even in challenging conditions. We validate our approach through experiments on the SemanticKITTI dataset and our own campus dataset. The results demonstrate the effectiveness of our method, achieving superior performance in complex and noisy conditions. Our code for network training and real-world deployment is available at https://github.com/IMRL/OriField.

cs.RO↗
arXiv2024

A First Look at Ethereum Blob Revolution: Market, Strategies, and Optimality

As a key enabler of Web3, Ethereum has long faced scalability challenges. The recent EIP-4844 upgrade aims to alleviate the scalability issue by introducing the ''blob'', a new data structure for Layer-2 rollups that enables off-chain storage with much reduced costs. Yet, this new mechanism's impact on Ethereum, and the wider Web3 ecosystem, remains largely underexplored. In this paper, we conduct the first large-scale empirical analysis of the post-EIP-4844 ecosystem, leveraging a dataset of 319.5 million transactions, out of which 1.3 million are blob-carrying. Our analysis reveals two major trends: (1) average block size has increased 2.5 times, from 150 KB to 400 KB, while the share of conventional transactions has shrunk from over $150$ KB to around 80 KB; (2) rollups are rapidly migrating from expensive calldata, falling from approximately 7,500 to nearly zero, toward cheap blobs, rising from zero to about 10,000. These shifts introduce a new economic game between block builders and rollups. Thus, we develop a game-theoretic model to characterize their equilibrium strategies: a profit-maximizing inclusion rule for builders, and a cost-minimizing blob batching strategy for rollups. Empirically, however, we find notable economic inefficiencies: for example, 29.48% of blob-containing blocks are built sub-optimally, yielding less revenue than available alternatives. These findings highlight the intricacies of the blob marketplace, and our work has established both methodological and empirical foundations to understand the evolving post-EIP4844 Ethereum ecosystem.

cs.DC↗
arXiv2024

3D Distance-color-coded Assessment of PCI Stent Apposition via Deep-learning-based Three-dimensional Multi-object Segmentation

Coronary artery disease poses a significant global health challenge, often necessitating percutaneous coronary intervention (PCI) with stent implantation. Assessing stent apposition holds pivotal importance in averting and identifying PCI complications that lead to in-stent restenosis. Here we proposed a novel three-dimensional (3D) distance-color-coded assessment (DccA)for PCI stent apposition via deep-learning-based 3D multi-object segmentation in intravascular optical coherence tomography (IV-OCT). Our proposed 3D DccA accurately segments 3D vessel lumens and stents in IV-OCT images, using a spatial matching network and dual-layer training with style transfer. It quantifies and maps stent-lumen distances into a 3D color space, facilitating 3D visual assessment of PCI stent apposition. Achieving over 95% segmentation precision, our proposed DccA enhances clinical evaluation of PCI stent deployment and supports personalized treatment planning.

cs.CV↗
arXiv2024

Private Order Flows and Builder Bidding Dynamics: The Road to Monopoly in Ethereum's Block Building Market

Ethereum, as a representative of Web3, adopts a novel framework called Proposer Builder Separation (PBS) to prevent the centralization of block profits in the hands of institutional Ethereum stakers. Introducing builders to generate blocks based on public transactions, PBS aims to ensure that block profits are distributed among all stakers. Through the auction among builders, only one will win the block in each slot. Ideally, the equilibrium strategy of builders under public information would lead them to bid all block profits. However, builders are now capable of extracting profits from private order flows. In this paper, we explore the effect of PBS with private order flows. Specifically, we propose the asymmetry auction model of MEV-Boost auction. Moreover, we conduct empirical study on Ethereum blocks from January 2023 to May 2024. Our analysis indicates that private order flows contribute to 54.59% of the block value, indicating that different builders will build blocks with different valuations. Interestingly, we find that builders with more private order flows (i.e., higher block valuations) are more likely to win the block, while retain larger proportion of profits. In return, such builders will further attract more private order flows, resulting in a monopolistic market gradually. Our findings reveal that PBS in current stage is unable to balance the profit distribution, which just transits the centralization of block profits from institutional stakers to the monopolistic builder.

cs.CE↗
arXiv2024

Co-Optimization of Tool Orientations, Kinematic Redundancy, and Waypoint Timing for Robot-Assisted Manufacturing

In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on input toolpaths with large numbers of waypoints to improve kinematic smoothness while incorporating manufacturing constraints. Differently, existing methods always determine them in a decoupled manner. To deal with the large number of waypoints on a toolpath, we propose a decomposition-based numerical scheme to optimize the trajectory in an out-of-core manner, which can also run in parallel to improve the efficiency. Simulations and physical experiments have been conducted to demonstrate the performance of our method in examples of robot-assisted additive manufacturing.

cs.RO↗
arXiv2024

Learning Based Toolpath Planner on Diverse Graphs for 3D Printing

This paper presents a learning based planner for computing optimized 3D printing toolpaths on prescribed graphs, the challenges of which include the varying graph structures on different models and the large scale of nodes & edges on a graph. We adopt an on-the-fly strategy to tackle these challenges, formulating the planner as a Deep Q-Network (DQN) based optimizer to decide the next `best' node to visit. We construct the state spaces by the Local Search Graph (LSG) centered at different nodes on a graph, which is encoded by a carefully designed algorithm so that LSGs in similar configurations can be identified to re-use the earlier learned DQN priors for accelerating the computation of toolpath planning. Our method can cover different 3D printing applications by defining their corresponding reward functions. Toolpath planning problems in wire-frame printing, continuous fiber printing, and metallic printing are selected to demonstrate its generality. The performance of our planner has been verified by testing the resultant toolpaths in physical experiments. By using our planner, wire-frame models with up to 4.2k struts can be successfully printed, up to 93.3% of sharp turns on continuous fiber toolpaths can be avoided, and the thermal distortion in metallic printing can be reduced by 24.9%.

cs.RO↗
arXiv2024

Less is More: Efficient Brain-Inspired Learning for Autonomous Driving Trajectory Prediction

Accurately and safely predicting the trajectories of surrounding vehicles is essential for fully realizing autonomous driving (AD). This paper presents the Human-Like Trajectory Prediction model (HLTP++), which emulates human cognitive processes to improve trajectory prediction in AD. HLTP++ incorporates a novel teacher-student knowledge distillation framework. The "teacher" model equipped with an adaptive visual sector, mimics the dynamic allocation of attention human drivers exhibit based on factors like spatial orientation, proximity, and driving speed. On the other hand, the "student" model focuses on real-time interaction and human decision-making, drawing parallels to the human memory storage mechanism. Furthermore, we improve the model's efficiency by introducing a new Fourier Adaptive Spike Neural Network (FA-SNN), allowing for faster and more precise predictions with fewer parameters. Evaluated using the NGSIM, HighD, and MoCAD benchmarks, HLTP++ demonstrates superior performance compared to existing models, which reduces the predicted trajectory error with over 11% on the NGSIM dataset and 25% on the HighD datasets. Moreover, HLTP++ demonstrates strong adaptability in challenging environments with incomplete input data. This marks a significant stride in the journey towards fully AD systems.

cs.AI↗