arXiv subjects

Yunfei Guo

Publications and source records attributed to Yunfei Guo.

7 recordsLinked to original sources

arXiv2026

ThinkLocoManip: A Whole-Body Control Agentic Harness for Legged Loco-Manipulation

In this paper, we propose ThinkLocoManip, an agentic harness for legged loco-manipulation designed to tackle complex, long-horizon tasks in large-scale environments. Existing approaches typically follow either direct action generation or a plan-then-act paradigm, both of which can struggle with the generalization and error-recovery capabilities required for extended task execution. In contrast, ThinkLocoManip adopts an interleaved reasoning-and-acting paradigm, allowing the agent to continuously reason about its current state, execute actions, observe their outcomes, and adapt its strategy accordingly. Building on this paradigm, our agentic harness orchestrates a suite of specialized tools for perception, navigation, manipulation, and locomotion, enabling flexible composition of heterogeneous capabilities. Unlike existing robotic agentic harnesses, ThinkLocoManip explicitly incorporates locomotion as a tool domain for agent reasoning and execution. We further design a set of skills that explicitly account for both tool usage within each functional domain and coordination across domains, supporting effective execution of complex behaviors over long horizons. To tackle task failure during long-horizon interactions, we develop keyframe thinking mechanism to preserve critical execution context and support efficient error recovery. Extensive real-world experiments demonstrate that ThinkLocoManip substantially outperforms representative methods based on both direct action generation and plan-then-act paradigms across challenging long-horizon legged loco-manipulation tasks. Notably, ThinkLocoManip achieves a success rate of 77%, more than twice that of the strongest plan-then-act baseline (37.1%). Our experiments further validate the effectiveness of interleaved reasoning and acting, tool orchestration, and coordinated skill execution.

cs.RO↗

arXiv2026

SimpleVLN: Towards Simple and Frontier Vision-Language Navigation

Vision-and-Language Navigation (VLN) requires embodied agents to ground language in visual observations and make long-horizon decisions. Existing methods often address these demands through task-specific architectures. As multimodal large language models (MLLMs) become increasingly capable, an important question remains: Have we truly unlocked the potential of native MLLMs for VLN before introducing task-specific architecture? We present SimpleVLN, an architecture-preserving framework developed through studies of navigation formulation, data construction, and optimization. At the formulation level, SimpleVLN combines single-turn decision inputs with fixed-budget global-local memory to efficiently use navigation history without unbounded context growth, while action chunks enable efficient output of multiple primitive actions per model invocation. For data construction, we combine expert demonstrations with policy-dependent DAgger experience and develop a scalable synthesis pipeline that generates large-scale tasks for reinforcement learning. At the optimization level, a progressive IL-DAgger-RL pipeline advances from action imitation to task-level outcome optimization. Comprehensive experiments validate the effectiveness of these three aspects. We instantiate SimpleVLN across multiple MLLM backbones and model sizes, demonstrating its generality. SimpleVLN achieves 76.7% and 80.1% success rates on the R2R-CE and RxR-CE splits, respectively, substantially outperforming existing methods. These results show that the navigation capabilities of native MLLMs can be effectively unlocked without task-specific architectural designs.

cs.RO↗

arXiv2026

From Sharp Eyes to Expert Mind: Internalizing Expert Knowledge in MLLMs for Tampered Text Detection

Tampered Text Detection (TTD) is essential for safeguarding document authenticity in security-critical workflows. Existing expert models are effective at capturing subtle manipulation traces but often generalize poorly across diverse document domains, while Multimodal Large Language Models (MLLMs) offer stronger semantic understanding and transferability yet remain insensitive to fine-grained forensic artifacts. This complementarity motivates us to investigate how expert forensic perception can be internalized into an MLLM rather than merely accessed through an external module. We identify a fundamental Double Mismatch that hinders this goal: a Spatial Precision Mismatch between coarse visual tokens and tiny tampered regions, and a Perceptual Granularity Mismatch between semantics-oriented pre-training and low-level forensic perception. To address these challenges, we propose Expert Knowledge Internalization (EKI), a progressive two-stage framework that transfers forensic expertise into the MLLM itself. In Stage 1, Text-Focused and Image-Focused strategies establish precise spatial focus on small text regions. In Stage 2, the proposed Forensic-General Representation Alignment (FGRA) loss aligns shallow LLM representations with those of a pre-trained forensic expert, enabling the model to acquire fine-grained artifact perception before such cues are diluted by deeper semantic abstraction. Extensive experiments on multiple in-domain and cross-domain benchmarks demonstrate that EKI achieves state-of-the-art performance and stronger generalization than existing expert-model-based and MLLM-based methods. Moreover, the expert is required only during training, allowing the resulting MLLM to maintain inference efficiency nearly identical to the vanilla model without relying on any external expert at inference.

cs.CV↗

arXiv2026

ParkGaussian: Surround-view 3D Gaussian Splatting for Autonomous Parking

Parking is a critical task for autonomous driving systems (ADS), with unique challenges in crowded parking slots and GPS-denied environments. However, existing works focus on 2D parking slot perception, mapping, and localization, 3D reconstruction remains underexplored, which is crucial for capturing complex spatial geometry in parking scenarios. Naively improving the visual quality of reconstructed parking scenes does not directly benefit autonomous parking, as the key entry point for parking is the slots perception module. To address these limitations, we curate the first benchmark named ParkRecon3D, specifically designed for parking scene reconstruction. It includes sensor data from four surround-view fisheye cameras with calibrated extrinsics and dense parking slot annotations. We then propose ParkGaussian, the first framework that integrates 3D Gaussian Splatting (3DGS) for parking scene reconstruction. To further improve the alignment between reconstruction and downstream parking slot detection, we introduce a slot-aware reconstruction strategy that leverages existing parking perception methods to enhance the synthesis quality of slot regions. Experiments on ParkRecon3D demonstrate that ParkGaussian achieves state-of-the-art reconstruction quality and better preserves perception consistency for downstream tasks. The code and dataset will be released at: https://github.com/wm-research/ParkGaussian

cs.CV↗

arXiv2025

A Dataset Generation Scheme Based on Video2EEG-SPGN-Diffusion for SEED-VD

This paper introduces an open-source framework, Video2EEG-SPGN-Diffusion, that leverages the SEED-VD dataset to generate a multimodal dataset of EEG signals conditioned on video stimuli. Additionally, we disclose an engineering pipeline for aligning video and EEG data pairs, facilitating the training of multimodal large models with EEG alignment capabilities. Personalized EEG signals are generated using a self-play graph network (SPGN) integrated with a diffusion model. As a major contribution, we release a new dataset comprising over 1000 samples of SEED-VD video stimuli paired with generated 62-channel EEG signals at 200 Hz and emotion labels, enabling video-EEG alignment and advancing multimodal research. This framework offers novel tools for emotion analysis, data augmentation, and brain-computer interface applications, with substantial research and engineering significance.

cs.CV↗

arXiv2024

Design and Control of a Low-cost Non-backdrivable End-effector Upper Limb Rehabilitation Device

This paper presents GARD, an upper limb end-effector rehabilitation device developed for stroke patients. GARD offers assistance force along or towards a 2D trajectory during physical therapy sessions. GARD employs a non-backdrivable mechanism with novel motor velocity-control-based algorithms, which offers superior control precision and stability. To our knowledge, this innovative technical route has not been previously explored in rehabilitation robotics. In alignment with the new design, GARD features two novel control algorithms: Implicit Euler Velocity Control (IEVC) algorithm and a generalized impedance control algorithm. These algorithms achieve O(n) runtime complexity for any arbitrary trajectory. The system has demonstrated a mean absolute error of 0.023mm in trajectory-following tasks and 0.14mm in trajectory-restricted free moving tasks. The proposed upper limb rehabilitation device offers all the functionalities of existing commercial devices with superior performance. Additionally, GARD provides unique functionalities such as area-restricted free moving and dynamic Motion Restriction Map interaction. This device holds strong potential for widespread clinical use, potentially improving rehabilitation outcomes for stroke patients.

cs.RO↗

arXiv2023

Emotion recognition based on multi-modal electrophysiology multi-head attention Contrastive Learning

Emotion recognition is an important research direction in artificial intelligence, helping machines understand and adapt to human emotional states. Multimodal electrophysiological(ME) signals, such as EEG, GSR, respiration(Resp), and temperature(Temp), are effective biomarkers for reflecting changes in human emotions. However, using electrophysiological signals for emotion recognition faces challenges such as data scarcity, inconsistent labeling, and difficulty in cross-individual generalization. To address these issues, we propose ME-MHACL, a self-supervised contrastive learning-based multimodal emotion recognition method that can learn meaningful feature representations from unlabeled electrophysiological signals and use multi-head attention mechanisms for feature fusion to improve recognition performance. Our method includes two stages: first, we use the Meiosis method to group sample and augment unlabeled electrophysiological signals and design a self-supervised contrastive learning task; second, we apply the trained feature extractor to labeled electrophysiological signals and use multi-head attention mechanisms for feature fusion. We conducted experiments on two public datasets, DEAP and MAHNOB-HCI, and our method outperformed existing benchmark methods in emotion recognition tasks and had good cross-individual generalization ability.

cs.MM↗