arXiv subjects

Yuxuan Xu

Publications and source records attributed to Yuxuan Xu.

7 recordsLinked to original sources

arXiv2026

Sparse Latent Class Analysis For Dichotomous Responses: Post-Estimation Refinement via Item-level Pseudo-Likelihood

Latent Class Analysis (LCA) is widely used to identify unobserved subgroups in social and behavioural sciences. A long-standing challenge for LCA is the interpretability of the latent classes, due to the high complexity of the estimated item response probability matrix. To address this, we propose a computationally efficient post-estimation refinement procedure that enhances model interpretability by a sparse model estimate. The method begins by estimating a classical, unrestricted, latent class model and determining the number of classes using the Bayesian information criterion (BIC). It is followed by a refinement step that further performs model selection on the item-specific response probabilities based on the initial estimate. This refinement penalises the number of distinct response probability levels per item, collapsing redundant levels to yield a sparse matrix that is significantly easier to interpret than those produced by classical LCA. We provide asymptotic theory showing that the proposed procedure consistently recovers the sparse pattern of the item response probabilities for each item, and further validate its performance through extensive simulations. The practical power of the proposed method is further illustrated via an application to survey data on social role performance, where it provides a parsimonious and clear characterisation of the resulting latent classes. The code for implementing the proposed method is publicly available at https://github.com/florence07/Sparse-LCA-Refinement.

stat.ME↗

arXiv2026

Uncertainty-Aware Gaussian Map for Vision-Language Navigation

Vision-Language Navigation (VLN) requires an agent to navigate 3D environments following natural language instructions. During navigation, existing agents commonly encounter perceptual uncertainty, such as insufficient evidence for reliable grounding or ambiguity in interpreting spatial cues, yet they typically ignore such information when predicting actions. In this work, we explicitly model three forms of perceptual uncertainty (i.e., geometric, semantic, and appearance uncertainty) and integrate them into the agent's observation space to enable informed decision-making. Concretely, our agent first constructs a Semantic Gaussian Map (SGM), composed of differentiable 3D Gaussian primitives initialized from panoramic observations, that encodes both the geometric structure and semantic content of the environment. On top of SGM, geometric uncertainty is estimated through variational perturbations of Gaussian position and scale to assess structural reliability; semantic uncertainty is captured by perturbing Gaussian semantic attributes to reveal ambiguous interpretations; and appearance uncertainty is characterized by Fisher Information, which measures the sensitivity of rendered observations to Gaussian-level variations. These uncertainties are incorporated into SGM, extending it into a unified 3D Value Map, which grounds them as affordances and constraints that support reliable navigation. Comprehensive evaluations across multiple VLN benchmarks show the effectiveness of our agent.

cs.CV↗

arXiv2026

From Path Signatures to Sequential Modeling: Incremental Signature Contributions for Offline RL

Path signatures embed trajectories into tensor algebra and constitute a universal, non-parametric representation of paths; however, in the standard form, they collapse temporal structure into a single global object, which limits their suitability for decision-making problems that require step-wise reactivity. We propose the Incremental Signature Contribution (ISC) method, which decomposes truncated path signatures into a temporally ordered sequence of elements in the tensor-algebra space, corresponding to incremental contributions induced by last path increments. This reconstruction preserves the algebraic structure and expressivity of signatures, while making their internal temporal evolution explicit, enabling processing signature-based representations via sequential modeling approaches. In contrast to full signatures, ISC is inherently sensitive to instantaneous trajectory updates, which is critical for sensitive and stability-requiring control dynamics. Building on this representation, we introduce ISC-Transformer (ISCT), an offline reinforcement learning model that integrates ISC into a standard Transformer architecture without further architectural modification. We evaluate ISCT on HalfCheetah, Walker2d, Hopper, and Maze2d, including settings with delayed rewards and downgraded datasets. The results demonstrate that ISC method provides a theoretically grounded and practically effective alternative to path processing for temporally sensitive control tasks.

cs.LG↗

arXiv2025

An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation

The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable simulation to address this gap by iteratively refining simulation parameters, aligning them with real-world conditions, and enabling robust and efficient policy transfer. A key contribution of our work is the design of an informative cost function that encourages the collection of diverse and representative real-world data, minimizing bias and maximizing the utility of each data point for simulation refinement. This cost function integrates seamlessly into existing reinforcement learning algorithms (e.g., PPO, SAC) and ensures a balanced exploration of critical regions in the real domain. Furthermore, our approach is implemented on the versatile Mujoco MJX platform, and our framework is compatible with a wide range of robotic systems. Experimental results on several robotic manipulation tasks demonstrate that our method significantly reduces the sim-to-real gap, achieving high task performance and generalizability across diverse scenarios of both explicit and implicit environmental uncertainties.

cs.RO↗

arXiv2024

Charge transfer induced cubic gauche nitrogen from azides

Cubic gauche nitrogen (cg-N) with a three-dimensional network of N-N single bonds attracted lots of attentions in last decades, since it theoretically has five times larger energy than TNT. While, extreme environments of high pressure or plasma treatment were required in traditional routes. Quite recently, in vacuum or protective gas environments, a one-step synthesis route relying solely on heating is reported giving the highest cg-N content. However, corresponding mechanism is missing, which hinders the improvement of yield and the development of simpler methods. Here, by treating KN3 in different gas environments, we find that moisture can prevent the transition from KN3 to cg-N. In a dry air environment at 260 ~ 300°C, KN3 decomposes into K and N2, and charge transfer from K to KN3 can induce cg-N. Furthermore, by grinding or loading pressure on the mixture of KN3 with Li, Na, K, Cs, Ca, Mg and Al, we find that elements with higher electronegativity, higher pressure and temperature conditions are needed to induce cg-N, while grinding alone is sufficient for alkali metals even without heating, thus confirming the charge-transfer mechanism. These findings provide guidance for the synthesis of cg-N under ambient conditions through metal-catalyzed polymerization of various azides.

cond-mat.mtrl-sci↗

arXiv2024

One-step Synthesis of Cubic Gauche Polymeric Nitrogen with High Yield Just by Heating

A high-efficient one-step synthesis of cubic gauche polymeric nitrogen was developed just by thermal treatment of KN3 powders. The Raman and infrared spectra confirm the formation of polymeric nitrogen networks. Thermogravimetric differential scanning calorimeter measurements show that the content of cubic gauche polymeric nitrogen is as high as 1.5 wt% with high thermal stability, which is the highest content value so far.

cond-mat.mtrl-sci↗

arXiv2024

Free-standing cubic gauche nitrogen stable at 760 K under ambient pressure

Cubic gauche nitrogen (cg-N) has received wide attention due to its high energy density and environmental friendliness. However, existing synthesis methods for cg-N predominantly rely on the high-pressure techniques, or the utilization of nanoconfined effects using highly toxic and sensitive sodium azide as precursor, which significantly restrict the practical application of cg-N as high energy density materials (HDEM). Here, based on the first-principles simulations, we find that the adsorption of potassium on the cg-N surface exhibits superior stabilization compared to sodium. Then, we chose the safer potassium azide as raw material for synthesizing cg-N. Through plasma-enhanced chemical vapor deposition treatment, the free-standing cg-N was successfully synthesized without the need of high-pressure and nanoconfined effects. Importantly, it demonstrates excellent thermal stability up to 760 K, and then a rapid and intense thermal decomposition occurs, exhibiting typical behaviors of HDEM thermal decomposition. Our work has significantly promoted the practical application of cg-N as HDEM.

cond-mat.mtrl-sci↗