arXiv subjects

Yunhui Liu

Publications and source records attributed to Yunhui Liu.

At least 37 records · Page 2Linked to original sources

arXiv2025

Rethinking Intermediate Representation for VLM-based Robot Manipulation

Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate representation often needs a tradeoff between VLM-comprehensibility and generalizability. Inspired by context-free grammar, we design the Semantic Assembly representation named SEAM, by decomposing the intermediate representation into vocabulary and grammar. Doing so leads us to a concise vocabulary of semantically-rich operations and a VLM-friendly grammar for handling diverse unseen tasks. In addition, we design a new open-vocabulary segmentation paradigm with a retrieval-augmented few-shot learning strategy to localize fine-grained object parts for manipulation, effectively with the shortest inference time over all state-of-the-art parallel works. Also, we formulate new metrics for action-generalizability and VLM-comprehensibility, demonstrating the compelling performance of SEAM over mainstream representations on both aspects. Extensive real-world experiments further manifest its SOTA performance under varying settings and tasks.

cs.RO↗

arXiv2025

Dynamic Graph Recommendation via Sparse Augmentation and Singular Adaptation

Dynamic recommendation, focusing on modeling user preference from historical interactions and providing recommendations on current time, plays a key role in many personalized services. Recent works show that pre-trained dynamic graph neural networks (GNNs) can achieve excellent performance. However, existing methods by fine-tuning node representations at large scales demand significant computational resources. Additionally, the long-tail distribution of degrees leads to insufficient representations for nodes with sparse interactions, posing challenges for efficient fine-tuning. To address these issues, we introduce GraphSASA, a novel method for efficient fine-tuning in dynamic recommendation systems. GraphSASA employs test-time augmentation by leveraging the similarity of node representation distributions during hierarchical graph aggregation, which enhances node representations. Then it applies singular value decomposition, freezing the original vector matrix while focusing fine-tuning on the derived singular value matrices, which reduces the parameter burden of fine-tuning and improves the fine-tuning adaptability. Experimental results demonstrate that our method achieves state-of-the-art performance on three large-scale datasets.

cs.SI↗

arXiv2025

Prescribed Performance Control of Deformable Object Manipulation in Spatial Latent Space

Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for shape control with constraints imposed on key points. Unlike existing methods that rely on feature dimensionality reduction, the proposed controller leverages the coordinates of key points as the feature vector, which are extracted from the deformable object's point cloud using deep learning methods. This approach not only reduces the dimensionality of the feature space but also retains the spatial information of the object. By extracting key points, the manipulation of deformable objects is simplified into a visual servoing problem, where the shape dynamics are described using a deformation Jacobian matrix. To enhance control accuracy, a prescribed performance control method is developed by integrating barrier Lyapunov functions (BLF) to enforce constraints on the key points. The stability of the closed-loop system is rigorously analyzed and verified using the Lyapunov method. Experimental results further demonstrate the effectiveness and robustness of the proposed method.

cs.RO↗

arXiv2025

Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability

Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in constrained spaces, among others. However, many existing variable stiffness solutions rely on complex actuation schemes, continuous input power, or monolithic designs, limiting their modularity and scalability. This paper presents the Programmable Locking Cell (PLC)-a modular, tendon-driven unit that achieves discrete stiffness modulation through mechanically interlocked joints actuated by cable tension. Each unit transitions between compliant and firm states via structural engagement, and the assembled system exhibits high stiffness variation-up to 950% per unit-without susceptibility to damage under high payload in the firm state. Multiple PLC units can be assembled into reconfigurable robotic structures with spatially programmable stiffness. We validate the design through two functional prototypes: (1) a variable-stiffness gripper capable of adaptive grasping, firm holding, and in-hand manipulation; and (2) a pipe-traversing robot composed of serial PLC units that achieves shape adaptability and stiffness control in confined environments. These results demonstrate the PLC as a scalable, structure-centric mechanism for programmable stiffness and motion, enabling robotic systems with reconfigurable morphology and task-adaptive interaction.

cs.RO↗

arXiv2025

Perceiving and Acting in First-Person: A Dataset and Benchmark for Egocentric Human-Object-Human Interactions

Learning action models from real-world human-centric interaction datasets is important towards building general-purpose intelligent assistants with efficiency. However, most existing datasets only offer specialist interaction category and ignore that AI assistants perceive and act based on first-person acquisition. We urge that both the generalist interaction knowledge and egocentric modality are indispensable. In this paper, we embed the manual-assisted task into a vision-language-action framework, where the assistant provides services to the instructor following egocentric vision and commands. With our hybrid RGB-MoCap system, pairs of assistants and instructors engage with multiple objects and the scene following GPT-generated scripts. Under this setting, we accomplish InterVLA, the first large-scale human-object-human interaction dataset with 11.4 hours and 1.2M frames of multimodal data, spanning 2 egocentric and 5 exocentric videos, accurate human/object motions and verbal commands. Furthermore, we establish novel benchmarks on egocentric human motion estimation, interaction synthesis, and interaction prediction with comprehensive analysis. We believe that our InterVLA testbed and the benchmarks will foster future works on building AI agents in the physical world.

cs.CV↗

arXiv2025

Teaching MLPs to Master Heterogeneous Graph-Structured Knowledge for Efficient and Accurate Inference

Heterogeneous Graph Neural Networks (HGNNs) have achieved promising results in various heterogeneous graph learning tasks, owing to their superiority in capturing the intricate relationships and diverse relational semantics inherent in heterogeneous graph structures. However, the neighborhood-fetching latency incurred by structure dependency in HGNNs makes it challenging to deploy for latency-constrained applications that require fast inference. Inspired by recent GNN-to-MLP knowledge distillation frameworks, we introduce HG2M and HG2M+ to combine both HGNN's superior performance and MLP's efficient inference. HG2M directly trains student MLPs with node features as input and soft labels from teacher HGNNs as targets, and HG2M+ further distills reliable and heterogeneous semantic knowledge into student MLPs through reliable node distillation and reliable meta-path distillation. Experiments conducted on six heterogeneous graph datasets show that despite lacking structural dependencies, HG2Ms can still achieve competitive or even better performance than HGNNs and significantly outperform vanilla MLPs. Moreover, HG2Ms demonstrate a 379.24$\times$ speedup in inference over HGNNs on the large-scale IGB-3M-19 dataset, showcasing their ability for latency-sensitive deployments.

cs.LG↗

arXiv2025

Fish Mouth Inspired Origami Gripper for Robust Multi-Type Underwater Grasping

Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff, irregular object shapes, and varying surface frictions. One common approach involves developing finger-based hands with embedded compliance using underactuation and soft actuators. This study introduces an effective alternative solution that does not rely on finger-based hand designs. We present a fish mouth inspired origami gripper that utilizes a single degree of freedom to perform a variety of robust grasping tasks underwater. The innovative structure transforms a simple uniaxial pulling motion into a grasping action based on the Yoshimura crease pattern folding. The origami gripper offers distinct advantages, including scalable and optimizable design, grasping compliance, and robustness, with four grasping types: pinch, power grasp, simultaneous grasping of multiple objects, and scooping from the seabed. In this work, we detail the design, modeling, fabrication, and validation of a specialized underwater gripper capable of handling various marine creatures, including jellyfish, crabs, and abalone. By leveraging an origami and bio-inspired approach, the presented gripper demonstrates promising potential for robotic grasping and manipulation in underwater environments.

cs.RO↗

arXiv2025

Learning Accurate, Efficient, and Interpretable MLPs on Multiplex Graphs via Node-wise Multi-View Ensemble Distillation

Multiplex graphs, with multiple edge types (graph views) among common nodes, provide richer structural semantics and better modeling capabilities. Multiplex Graph Neural Networks (MGNNs), typically comprising view-specific GNNs and a multi-view integration layer, have achieved advanced performance in various downstream tasks. However, their reliance on neighborhood aggregation poses challenges for deployment in latency-sensitive applications. Motivated by recent GNN-to-MLP knowledge distillation frameworks, we propose Multiplex Graph-Free Neural Networks (MGFNN and MGFNN+) to combine MGNNs' superior performance and MLPs' efficient inference via knowledge distillation. MGFNN directly trains student MLPs with node features as input and soft labels from teacher MGNNs as targets. MGFNN+ further employs a low-rank approximation-based reparameterization to learn node-wise coefficients, enabling adaptive knowledge ensemble from each view-specific GNN. This node-wise multi-view ensemble distillation strategy allows student MLPs to learn more informative multiplex semantic knowledge for different nodes. Experiments show that MGFNNs achieve average accuracy improvements of about 10% over vanilla MLPs and perform comparably or even better to teacher MGNNs (accurate); MGFNNs achieve a 35.40$\times$-89.14$\times$ speedup in inference over MGNNs (efficient); MGFNN+ adaptively assigns different coefficients for multi-view ensemble distillation regarding different nodes (interpretable).

cs.LG↗

arXiv2025

Norm Augmented Graph AutoEncoders for Link Prediction

Link Prediction (LP) is a crucial problem in graph-structured data. Graph Neural Networks (GNNs) have gained prominence in LP, with Graph AutoEncoders (GAEs) being a notable representation. However, our empirical findings reveal that GAEs' LP performance suffers heavily from the long-tailed node degree distribution, i.e., low-degree nodes tend to exhibit inferior LP performance compared to high-degree nodes. \emph{What causes this degree-related bias, and how can it be mitigated?} In this study, we demonstrate that the norm of node embeddings learned by GAEs exhibits variation among nodes with different degrees, underscoring its central significance in influencing the final performance of LP. Specifically, embeddings with larger norms tend to guide the decoder towards predicting higher scores for positive links and lower scores for negative links, thereby contributing to superior performance. This observation motivates us to improve GAEs' LP performance on low-degree nodes by increasing their embedding norms, which can be implemented simply yet effectively by introducing additional self-loops into the training objective for low-degree nodes. This norm augmentation strategy can be seamlessly integrated into existing GAE methods with light computational cost. Extensive experiments on various datasets and GAE methods show the superior performance of norm-augmented GAEs.

cs.LG↗

arXiv2024

Multi-Scale Heterogeneous Text-Attributed Graph Datasets From Diverse Domains

Heterogeneous Text-Attributed Graphs (HTAGs), where different types of entities are not only associated with texts but also connected by diverse relationships, have gained widespread popularity and application across various domains. However, current research on text-attributed graph learning predominantly focuses on homogeneous graphs, which feature a single node and edge type, thus leaving a gap in understanding how methods perform on HTAGs. One crucial reason is the lack of comprehensive HTAG datasets that offer original textual content and span multiple domains of varying sizes. To this end, we introduce a collection of challenging and diverse benchmark datasets for realistic and reproducible evaluation of machine learning models on HTAGs. Our HTAG datasets are multi-scale, span years in duration, and cover a wide range of domains, including movie, community question answering, academic, literature, and patent networks. We further conduct benchmark experiments on these datasets with various graph neural networks. All source data, dataset construction codes, processed HTAGs, data loaders, benchmark codes, and evaluation setup are publicly available at GitHub and Hugging Face.

cs.LG↗

arXiv2024

Negative-Free Self-Supervised Gaussian Embedding of Graphs

Graph Contrastive Learning (GCL) has recently emerged as a promising graph self-supervised learning framework for learning discriminative node representations without labels. The widely adopted objective function of GCL benefits from two key properties: \emph{alignment} and \emph{uniformity}, which align representations of positive node pairs while uniformly distributing all representations on the hypersphere. The uniformity property plays a critical role in preventing representation collapse and is achieved by pushing apart augmented views of different nodes (negative pairs). As such, existing GCL methods inherently rely on increasing the quantity and quality of negative samples, resulting in heavy computational demands, memory overhead, and potential class collision issues. In this study, we propose a negative-free objective to achieve uniformity, inspired by the fact that points distributed according to a normalized isotropic Gaussian are uniformly spread across the unit hypersphere. Therefore, we can minimize the distance between the distribution of learned representations and the isotropic Gaussian distribution to promote the uniformity of node representations. Our method also distinguishes itself from other approaches by eliminating the need for a parameterized mutual information estimator, an additional projector, asymmetric structures, and, crucially, negative samples. Extensive experiments over seven graph benchmarks demonstrate that our proposal achieves competitive performance with fewer parameters, shorter training times, and lower memory consumption compared to existing GCL methods.

cs.LG↗

arXiv2024

Enhancing Vectorized Map Perception with Historical Rasterized Maps

In autonomous driving, there is growing interest in end-to-end online vectorized map perception in bird's-eye-view (BEV) space, with an expectation that it could replace traditional high-cost offline high-definition (HD) maps. However, the accuracy and robustness of these methods can be easily compromised in challenging conditions, such as occlusion or adverse weather, when relying only on onboard sensors. In this paper, we propose HRMapNet, leveraging a low-cost Historical Rasterized Map to enhance online vectorized map perception. The historical rasterized map can be easily constructed from past predicted vectorized results and provides valuable complementary information. To fully exploit a historical map, we propose two novel modules to enhance BEV features and map element queries. For BEV features, we employ a feature aggregation module to encode features from both onboard images and the historical map. For map element queries, we design a query initialization module to endow queries with priors from the historical map. The two modules contribute to leveraging map information in online perception. Our HRMapNet can be integrated with most online vectorized map perception methods. We integrate it in two state-of-the-art methods, significantly improving their performance on both the nuScenes and Argoverse 2 datasets. The source code is released at https://github.com/HXMap/HRMapNet.

cs.CV↗

arXiv2024

Enhanced Scale-aware Depth Estimation for Monocular Endoscopic Scenes with Geometric Modeling

Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from training with monocular endoscopic sequences. Additionally, conventional methods face difficulties in accurately estimating details on tissue and instruments boundaries. In this paper, we tackle these problems by proposing a novel enhanced scale-aware framework that only uses monocular images with geometric modeling for depth estimation. Specifically, we first propose a multi-resolution depth fusion strategy to enhance the quality of monocular depth estimation. To recover the precise scale between relative depth and real-world values, we further calculate the 3D poses of instruments in the endoscopic scenes by algebraic geometry based on the image-only geometric primitives (i.e., boundaries and tip of instruments). Afterwards, the 3D poses of surgical instruments enable the scale recovery of relative depth maps. By coupling scale factors and relative depth estimation, the scale-aware depth of the monocular endoscopic scenes can be estimated. We evaluate the pipeline on in-house endoscopic surgery videos and simulated data. The results demonstrate that our method can learn the absolute scale with geometric modeling and accurately estimate scale-aware depth for monocular scenes.

cs.CV↗

arXiv2024

Scalable and Adaptive Spectral Embedding for Attributed Graph Clustering

Attributed graph clustering, which aims to group the nodes of an attributed graph into disjoint clusters, has made promising advancements in recent years. However, most existing methods face challenges when applied to large graphs due to the expensive computational cost and high memory usage. In this paper, we introduce Scalable and Adaptive Spectral Embedding (SASE), a simple attributed graph clustering method devoid of parameter learning. SASE comprises three main components: node features smoothing via $k$-order simple graph convolution, scalable spectral clustering using random Fourier features, and adaptive order selection. With these designs, SASE not only effectively captures global cluster structures but also exhibits linear time and space complexity relative to the graph size. Empirical results demonstrate the superiority of SASE. For example, on the ArXiv dataset with 169K nodes and 1.17M edges, SASE achieves a 6.9\% improvement in ACC and a $5.87\times$ speedup compared to the runner-up, S3GC.

cs.LG↗

arXiv2024

Bootstrap Latents of Nodes and Neighbors for Graph Self-Supervised Learning

Contrastive learning is a significant paradigm in graph self-supervised learning. However, it requires negative samples to prevent model collapse and learn discriminative representations. These negative samples inevitably lead to heavy computation, memory overhead and class collision, compromising the representation learning. Recent studies present that methods obviating negative samples can attain competitive performance and scalability enhancements, exemplified by bootstrapped graph latents (BGRL). However, BGRL neglects the inherent graph homophily, which provides valuable insights into underlying positive pairs. Our motivation arises from the observation that subtly introducing a few ground-truth positive pairs significantly improves BGRL. Although we can't obtain ground-truth positive pairs without labels under the self-supervised setting, edges in the graph can reflect noisy positive pairs, i.e., neighboring nodes often share the same label. Therefore, we propose to expand the positive pair set with node-neighbor pairs. Subsequently, we introduce a cross-attention module to predict the supportiveness score of a neighbor with respect to the anchor node. This score quantifies the positive support from each neighboring node, and is encoded into the training objective. Consequently, our method mitigates class collision from negative and noisy positive samples, concurrently enhancing intra-class compactness. Extensive experiments are conducted on five benchmark datasets and three downstream task node classification, node clustering, and node similarity search. The results demonstrate that our method generates node representations with enhanced intra-class compactness and achieves state-of-the-art performance.

cs.LG↗

arXiv2024

Reliable Node Similarity Matrix Guided Contrastive Graph Clustering

Graph clustering, which involves the partitioning of nodes within a graph into disjoint clusters, holds significant importance for numerous subsequent applications. Recently, contrastive learning, known for utilizing supervisory information, has demonstrated encouraging results in deep graph clustering. This methodology facilitates the learning of favorable node representations for clustering by attracting positively correlated node pairs and distancing negatively correlated pairs within the representation space. Nevertheless, a significant limitation of existing methods is their inadequacy in thoroughly exploring node-wise similarity. For instance, some hypothesize that the node similarity matrix within the representation space is identical, ignoring the inherent semantic relationships among nodes. Given the fundamental role of instance similarity in clustering, our research investigates contrastive graph clustering from the perspective of the node similarity matrix. We argue that an ideal node similarity matrix within the representation space should accurately reflect the inherent semantic relationships among nodes, ensuring the preservation of semantic similarities in the learned representations. In response to this, we introduce a new framework, Reliable Node Similarity Matrix Guided Contrastive Graph Clustering (NS4GC), which estimates an approximately ideal node similarity matrix within the representation space to guide representation learning. Our method introduces node-neighbor alignment and semantic-aware sparsification, ensuring the node similarity matrix is both accurate and efficiently sparse. Comprehensive experiments conducted on $8$ real-world datasets affirm the efficacy of learning the node similarity matrix and the superior performance of NS4GC.

cs.LG↗

arXiv2024

Co-benefits of Agricultural Diversification and Technology for Food and Nutrition Security in China

China is the leading crop producer and has successfully implemented sustainable development programs related to agriculture. Sustainable agriculture has been promoted to achieve national food security targets such as food self-sufficiency through the well-facilitated farmland construction (WFFC) approach. The WFFC is introduced in Chinas current national 10-year plan to consolidate farmlands into large and simplified production areas to maximise automation, and improve soil fertility and productivity. However, research suggests that diversified and smaller farms faciliate ecosystem services, can improve yield resilience, defuse human health threats, and increase farm profitability. Currently, WFFC has not considered ecological farmland improvements and it may miss long-term environmental benefits including ecosystem service preservation conducive to yields. Moreover, the nutritional status in China has changed in recent decades with undernutrition being dramatically reduced, but the prevalence of overweight, obesity, and chronic diseases being increased. While a strategic choice and management of crop and livestock species can improve nutrition, the environmental and production benefits of agricultural diversification are currently not well interlinked with Chinas food and nutrition security discussions. Lastly, the role of agricultural technology for socioeconomic benefits and the link with diversified agricultural production may provide vast benefits for food security. Here, we focus on the opportunities and co-benefits of agricultural diversification and technology innovations to advance food and nutrition security in China through ecosystem service and yield benefits. Our applied five-point research agenda can provide evidence-based opportunities to support China in reaching its ambitious food security targets through agricultural diversification with global ramifications.

econ.GN↗

arXiv2024

$E^{3}$Gen: Efficient, Expressive and Editable Avatars Generation

This paper aims to introduce 3D Gaussian for efficient, expressive, and editable digital avatar generation. This task faces two major challenges: (1) The unstructured nature of 3D Gaussian makes it incompatible with current generation pipelines; (2) the expressive animation of 3D Gaussian in a generative setting that involves training with multiple subjects remains unexplored. In this paper, we propose a novel avatar generation method named $E^3$Gen, to effectively address these challenges. First, we propose a novel generative UV features plane representation that encodes unstructured 3D Gaussian onto a structured 2D UV space defined by the SMPL-X parametric model. This novel representation not only preserves the representation ability of the original 3D Gaussian but also introduces a shared structure among subjects to enable generative learning of the diffusion model. To tackle the second challenge, we propose a part-aware deformation module to achieve robust and accurate full-body expressive pose control. Extensive experiments demonstrate that our method achieves superior performance in avatar generation and enables expressive full-body pose control and editing. Our project page is https://olivia23333.github.io/E3Gen.

cs.CV↗