arXiv subjects

Yuyang Li

Publications and source records attributed to Yuyang Li.

At least 19 recordsLinked to original sources

arXiv2026

RDFdL: Integrating RDF with Differential Dynamic Logic

Knowledge graphs modeled in RDF are powerful for describing static knowledge, but they cannot capture or reason about the dynamic behavior of physical systems, e.g., systems described by differential equations, which is a critical gap for AI-driven cyber-physical systems. To solve this, we propose RDFdL, a framework that integrates RDF with Differential Dynamic Logic (dL) to represent and reason about both static knowledge and the continuous dynamics of physical systems. For the dynamic part, we syntactically represent differential equations and ranges in the state space in RDF and SHACL and provide semantics using a translation to dL. Linking RDF and dL through their shared foundation in first-order logic achieves a unique integration: verification results for safety and reachability properties in the dynamic logic domain become available as entailment to SPARQL queries over RDF data. We implement the pipeline using Apache Jena for ontology-driven RDF reasoning and KeYmaera X, the theorem prover for dL, and sketch its applicability in manufacturing.

cs.AI↗

arXiv2026

Towards Human-level Dexterous Teleoperation

Humans routinely wield tools, swap grasps, and reposition objects within a single hand, seamlessly orchestrating contact transitions that span translation, reorientation, and finger gaiting. Endowing robot dexterous hands with this level of in-hand dexterity through teleoperation requires precise control of object motion via dynamic hand-object contact, yet current teleoperation systems remain far from this capability. To bridge this gap, we take a major step towards human-level dexterous teleoperation by introducing TeleDexter, a hand-object co-tracking controller that maps operator intent into learned, low-level contact execution. The controller is trained on consecutive co-tracking subgoals derived from human reference motions, utilizing a hybrid reward that couples sparse subgoal objectives with dense tracking rewards to enable learning across diverse interaction modalities rather than frame-wise trajectory imitation. The entire pipeline requires only single-stage RL and, with random action masking and domain randomization, transfers zero-shot to the real robot. We evaluate TeleDexter on seven challenging dexterous teleoperation tasks spanning object reorientation and long-horizon tool use across two dexterous hands, achieving a 75% average success rate where all baselines consistently fail. Furthermore, the collected demonstrations successfully train autonomous policies via behavioral cloning, marking a concrete step towards human-level dexterous teleoperation.

cs.RO↗

arXiv2026

Deep Learning with Magnetic Parameter Constraints for Short-Term Prediction of Solar Active Region Vector Magnetic Fields

Forecasting the dynamic evolution of solar magnetic fields is a critical technique for enabling space weather warnings. Addressing the limitations of existing methods in predicting all vector magnetic field components and in maintaining consistency with solar surface magnetic-field-related quantities, this study proposes a deep learning prediction method that integrates dynamic masks of active regions with multiple magnetic parameter constraints. By constructing a three-channel representation of vector magnetic fields, applying dynamic masks to enhance attention to strong-field regions, and incorporating multi-parameter magnetic parameter constraints, we developed an end-to-end short-term (12-hour) predictive model of solar vector magnetic field evolution. Using SDO/SHARP vector magnetogram data, the model predicts and analyses field evolution across all components. Quantitative evaluations demonstrate that our approach achieves horizon-averaged structural similarity index measure (SSIM) of 0.912 (per-hour range: 0.909--0.916) and correlation coefficient (CC) of 0.998 for the radial component Br (root-mean-square error (RMSE) 13.0--21.0 G); the horizontal components achieve Bphi SSIM 0.760--0.800 (CC 0.910--0.945, RMSE 38.5--50.0 G) and Btheta SSIM 0.728--0.750 (CC 0.895--0.920, RMSE 38.5--49.0 G). The model maintains unsigned magnetic flux prediction errors at 7.82% (95% confidence interval (CI): +/-0.11%). These results demonstrate strong image-domain performance together with consistency under the magnetic-parameter diagnostics used here, suggesting initial potential for supporting future space weather forecasting efforts.

astro-ph.SR↗

arXiv2026

MoRE: A Mixture-of-Experts-Based Task-Adaptive End-to-End Network for Multimodal MRI Reconstruction

Although accelerated MRI reconstruction has advanced rapidly through end-to-end learning, deploying a single unified network that generalizes across diverse anatomies and contrasts under constrained computational resources remains challenging. In this paper, we introduce MoRE, a sparsely activated mixture-of-experts (MoE) module integrated into an end-to-end variational network. MoRE couples a shared encoder with sample-wise, unsupervised routing to activate a minimal subset of expert decoders while strictly preserving physics-based data consistency. Evaluated on the fastMRI multi-coil brain and knee datasets under 8x undersampling, MoRE achieves highly stable SSIM and PSNR performance across multi-contrast datasets. Furthermore, t-SNE visualization of the routing embeddings reveals interpretable, modality-aware expert specialization. The sparse conditional computation mechanism ensures that the architectural overhead remains modest. These results demonstrate that MoE-style capacity scaling can significantly enhance general-purpose MRI reconstruction without requiring proportional increases in computational power.

eess.IV↗

arXiv2026

RASER: Recoverability-Aware Selective Escalation Router for Multi-Hop Question Answering

Multi-hop question-answering systems often use expensive retrieval on every question. They may decompose the question, run several retrieval rounds, or search through bridge entities before answering. All of these strategies rely on repeated LLM calls to rewrite or decompose the question, which increases extra token cost, and it is not fitting when the LLM budget is tight. However, our analysis shows that lots of multi-hop questions are already answered correctly by a single one-shot RAG, so running an extra retrieval on every question wastes the budget. We introduce RASER (Recoverability-Aware Selective Escalation Router), a family of cheap routers built on one-shot RAG and six features from it. RASER-2 decides whether to stop or escalate to the extra-retrieval action PRUNE. RASER-3 chooses among one-shot RAG, PRUNE, and iterative retrieval IRCoT, using the same features but adding an explicit cost-accuracy trade-off. Neither router makes an extra LLM call to decide. Across six LLMs and three multi-hop QA benchmarks, both routers stay competitive with the other state-of-the-art (SOTA) baselines in F1 while spending only 41-49% of always-prune's tokens and also less than the iterative and decomposition retrieval baselines.

cs.AI↗

arXiv2026

Learning Agent-Compatible Context Management for Long-Horizon Tasks

LLM agents increasingly face long-horizon tasks such as web search and deep research in real-world applications, where accumulated context can cause long-context degradation and reasoning failures. Prior work mitigates this through context management with agent-side context control or fixed strategies such as summarization, which require training the agent itself for adaptation - making it impractical for closed-source agents and ignoring that different agents may require different strategies. We introduce Adaptive Context Management (AdaCoM), which trains an external LLM to manage the context of a frozen agent through flexible modification actions and end-to-end reinforcement learning. Across diverse agents on web search and deep research benchmarks, AdaCoM substantially improves performance by preserving task constraints and progress while pruning stale content. The learned strategies reveal a Fidelity-Reliability Trade-off: agents with higher vanilla ReAct performance benefit from higher-fidelity context preservation, whereas lower-performing agents require more aggressive compression to stay within a reliable reasoning regime. Transfer experiments show that AdaCoM generalizes most effectively across agents with similar capability (measured by vanilla ReAct performance), suggesting a practical path toward reusable context managers for agent systems.

cs.AI↗

arXiv2026

A Marine Debris Detection Framework for Ocean Robots via Self-Attention Enhancement and Feature Interaction Optimization

Marine debris detection for ocean robot is crucial for ecological protection, yet performance is often degraded by low-quality images with blur, complex backgrounds, and small targets. To address these challenges, we propose YOLO-MD, an enhanced YOLO-based detection framework. A Dual-Branch Convolutional Enhanced Self-Attention (DB-CASA) module is designed to strengthen spatial-channel interactions, improving feature representation in degraded images. Additionally, a lightweight shift-based operation is introduced to enhance fine-grained feature extraction for objects of varying scales while maintaining parameter efficiency. We further propose SFG-Loss to mitigate class imbalance and optimization instability via dynamic sample reweighting. Experiments on the UODM dataset demonstrate that YOLO-MD achieves 0.875 precision, 0.822 F1-score, and 0.849 mAP50, outperforming the latest state-of-the-art methods. The effectiveness of this method has also been verified through real-world robotic edge deployment experiments.

cs.CV↗

arXiv2026

EviMem: Evidence-Gap-Driven Iterative Retrieval for Long-Term Conversational Memory

Long-term conversational memory requires retrieving evidence scattered across multiple sessions, yet single-pass retrieval fails on temporal and multi-hop questions. Existing iterative methods refine queries via generated content or document-level signals, but none explicitly diagnoses the evidence gap, namely what is missing from the accumulated retrieval set, leaving query refinement untargeted. We present EviMem, combining IRIS (Iterative Retrieval via Insufficiency Signals), a closed-loop framework that detects evidence gaps through sufficiency evaluation, diagnoses what is missing, and drives targeted query refinement, with LaceMem (Layered Architecture for Conversational Evidence Memory), a coarse-to-fine memory hierarchy supporting fine-grained gap diagnosis. On LoCoMo, EviMem improves Judge Accuracy over MIRIX on temporal (73.3% to 81.6%) and multi-hop (65.9% to 85.2%) questions at 4.5x lower latency. Code: https://github.com/AIGeeksGroup/EviMem.

cs.CV↗

arXiv2026

Industrial Surface Defect Detection via Diffusion Generation and Asymmetric Student-Teacher Network

Industrial surface defect detection often suffers from limited defect samples, severe long-tailed distributions, and difficulties in accurately localizing subtle defects under complex backgrounds. To address these challenges, this paper proposes an unsupervised defect detection method that integrates a Denoising Diffusion Probabilistic Model (DDPM) with an asymmetric teacher-student architecture. First, at the data level, the DDPM is trained solely on normal samples. By introducing constant-variance Gaussian perturbations and Perlin noise-based masks, high-fidelity and physically consistent defect samples along with pixel-level annotations are generated, effectively alleviating the data scarcity problem. Second, at the model level, an asymmetric dual-stream network is constructed. The teacher network provides stable representations of normal features, while the student network reconstructs normal patterns and amplifies discrepancies between normal and anomalous regions. Finally, a joint optimization strategy combining cosine similarity loss and pixel-wise segmentation supervision is adopted to achieve precise localization of subtle defects. Experimental results on the MVTecAD dataset show that the proposed method achieves 98.4\% image-level AUROC and 98.3\% pixel-level AUROC, significantly outperforming existing unsupervised and mainstream deep learning methods. The proposed approach does not require large amounts of real defect samples and enables accurate and robust industrial defect detection and localization. \keywords{Industrial defect detection \and diffusion models \and data generation \and teacher-student architecture \and pixel-level localization}

cs.AI↗

arXiv2026

Inductive Convolution Nuclear Norm Minimization for Tensor Completion with Arbitrary Sampling

The recently established Convolution Nuclear Norm Minimization (CNNM) addresses the problem of \textit{tensor completion with arbitrary sampling} (TCAS), which involves restoring a tensor from a subset of its entries sampled in an arbitrary manner. Despite its promising performance, the optimization procedure of CNNM needs performing Singular Value Decomposition (SVD) multiple times, which is computationally expensive and hard to parallelize. To address the issue, we reformulate the optimization objective of CNNM from the perspective of convolution eigenvectors. By introducing pre-learned convolution eigenvectors which are shared among different tensors, we propose a novel method called Inductive Convolution Nuclear Norm Minimization (ICNNM), which bypasses the SVD step so as to decrease significantly the computational time. In addition, due to the extra prior knowledge encoded in the pre-learned convolution eigenvectors, ICNNM also outperforms CNNM in terms of recovery performance. Extensive experiments on video completion, prediction and frame interpolation verify the superiority of ICNNM over CNNM and several other competing methods.

cs.CV↗

arXiv2026

Convolutionally Low-Rank Models with Modified Quantile Regression for Interval Time Series Forecasting

The quantification of uncertainty in prediction models is crucial for reliable decision-making, yet remains a significant challenge. Interval time series forecasting offers a principled solution to this problem by providing prediction intervals (PIs), which indicates the probability that the true value falls within the predicted range. We consider a recently established point forecasts (PFs) method termed Learning-Based Convolution Nuclear Norm Minimization (LbCNNM), which directly generates multi-step ahead forecasts by leveraging the convolutional low-rankness property derived from training data. While theoretically complete and empirically effective, LbCNNM lacks inherent uncertainty estimation capabilities, a limitation shared by many advanced forecasting methods. To resolve the issue, we modify the well-known Quantile Regression (QR) and integrate it into LbCNNM, resulting in a novel interval forecasting method termed LbCNNM with Modified Quantile Regression (LbCNNM-MQR). In addition, we devise interval calibration techniques to further improve the accuracy of PIs. Extensive experiments on over 100,000 real-world time series demonstrate the superior performance of LbCNNM-MQR.

cs.LG↗

arXiv2026

JW-VL: A Vision-Language Model for Solar Physics

Vision-Language Models (VLMs) have achieved breakthrough progress in general knowledge domains, yet adaptation to specialized scientific fields remains challenging due to multimodal representation shifts and the limited integration of domain-specific knowledge. To address the limitations of general-purpose VLMs when applied to solar physics image recognition, analysis, and reasoning, we propose JinWu Vision-Language (JW-VL), a fine-tuned foundation model tailored for solar physics. The model integrates multi-wavelength observational data from both space-based and ground-based telescopes, encompassing representative spectral bands spanning the photosphere, chromosphere, and corona. Built upon a cross-modal alignment knowledge distillation framework, JW-VL learns a joint visual-semantic embedding that enables end-to-end modeling from raw solar observational data to downstream tasks, including solar image recognition, solar activity analysis via image-based question answering, and optical character recognition (OCR), while also supporting the construction of a multi-band, cross-instrument solar image benchmark dataset. Furthermore, as a demonstration of interdisciplinary applicability, we developed a "Daily Solar Activity Reports" agent comprising core modules for solar activity level assessment, significant active region characterization, magnetic field complexity analysis, potential space weather impact assessment, and identifying active regions for targeted observation. While JW-VL may not yet meet the rigorous, high-precision demands of operational solar physics, it bridges raw observations and diverse downstream tasks, establishing a valuable methodological framework for applying multimodal deep learning to the field.

astro-ph.SR↗

arXiv2026

Sim-and-Human Co-training for Data-Efficient and Generalizable Robotic Manipulation

Synthetic simulation data and real-world human data provide scalable alternatives to circumvent the prohibitive costs of robot data collection. However, these sources suffer from the sim-to-real visual gap and the human-to-robot embodiment gap, respectively, which limits the policy's generalization to real-world scenarios. In this work, we identify a natural yet underexplored complementarity between these sources: simulation offers the robot action that human data lacks, while human data provides the real-world observation that simulation struggles to render. Motivated by this insight, we present SimHum, a co-training framework to simultaneously extract kinematic prior from simulated robot actions and visual prior from real-world human observations. Based on the two complementary priors, we achieve data-efficient and generalizable robotic manipulation in real-world tasks. Empirically, SimHum outperforms the baseline by up to $\mathbf{40\%}$ under the same data collection budget, and achieves a $\mathbf{62.5\%}$ OOD success with only 80 real data, outperforming the real only baseline by $7.1\times$. Videos and additional information can be found at \href{https://kaipengfang.github.io/sim-and-human}{project website}.

cs.RO↗

arXiv2025

Branch Learning in MRI: More Data, More Models, More Training

We investigated two complementary strategies for multicontrast cardiac MR reconstruction: physics-consistent data-space augmentation (DualSpaceCMR) and parameter-efficient capacity scaling via VQPrompt and Moero. DualSpaceCMR couples image-level transforms with kspace noise and motion simulations while preserving forwardmodel consistency. VQPrompt adds a lightweight bottleneck prompt; Moero embeds a sparse mixture of experts within a deep unrolled network with histogram-based routing. In the multivendor, multisite CMRxRecon25 benchmark, we evaluate fewshot and out-of-distribution generalization. On small datasets, k-space motion-plus-noise improves reconstruction; on the large benchmark it degrades performance, revealing sensitivity to augmentation ratio and schedule. VQPrompt produces modest and consistent gains with negligible memory overhead. Moero continues to improve after early plateaus and maintains baseline-like fewshot and out-of-distribution behavior despite mild overfitting, but sparse routing lowers PyTorch throughput and makes wall clock time the main bottleneck. These results motivate scale-aware augmentation and suggest prompt-based capacity scaling as a practical path, while efficiency improvements are crucial for sparse expert models.

eess.IV↗

arXiv2025

Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation

Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing capabilities, while modern imitation learning provides powerful tools for policy acquisition. However, existing STS designs lack simultaneous multimodal perception and suffer from unreliable tactile tracking. Furthermore, integrating these rich multimodal signals into learning-based manipulation pipelines remains an open challenge. We introduce TacThru, an STS sensor enabling simultaneous visual perception and robust tactile signal extraction, and TacThru-UMI, an imitation learning framework that leverages these multimodal signals for manipulation. Our sensor features a fully transparent elastomer, persistent illumination, novel keyline markers, and efficient tracking, while our learning system integrates these signals through a Transformer-based Diffusion Policy. Experiments on five challenging real-world tasks show that TacThru-UMI achieves an average success rate of 85.5%, significantly outperforming the baselines of tactile policy(66.3%) and vision-only policy (55.4%). The system excels in critical scenarios, including contact detection with thin and soft objects and precision manipulation requiring multimodal coordination. This work demonstrates that combining simultaneous multimodal perception with modern learning frameworks enables more precise, adaptable robotic manipulation.

cs.RO↗

arXiv2025

Ternary-Input Binary-Weight CNN Accelerator Design for Miniature Object Classification System with Query-Driven Spatial DVS

Miniature imaging systems are essential for space-constrained applications but are limited by memory and power constraints. While machine learning can reduce data size by extracting key features, its high energy demands often exceed the capacity of small batteries. This paper presents a CNN hardware accelerator optimized for object classification in miniature imaging systems. It processes data from a spatial Dynamic Vision Sensor (DVS), reconfigurable to a temporal DVS via pixel sharing, minimizing sensor area. By using ternary DVS outputs and a ternary-input, binary-weight neural network, the design reduces computation and memory needs. Fabricated in 28 nm CMOS, the accelerator cuts data size by 81% and MAC operations by 27%. It achieves 440 ms inference time at just 1.6 mW power consumption, improving the Figure-of-Merit (FoM) by 7.3x over prior CNN accelerators for miniature systems.

cs.AR↗

arXiv2025

Advances and Challenges in Solar Flare Prediction: A Review

Solar flares, as one of the most prominent manifestations of solar activity, have a profound impact on both the Earth's space environment and human activities. As a result, accurate solar flare prediction has emerged as a central topic in space weather research. In recent years, substantial progress has been made in the field of solar flare forecasting, driven by the rapid advancements in space observation technology and the continuous improvement of data processing capabilities. This paper presents a comprehensive review of the current state of research in this area, with a particular focus on tracing the evolution of data-driven approaches -- which have progressed from early statistical learning techniques to more sophisticated machine learning and deep learning paradigms, and most recently, to the emergence of Multimodal Large Models (MLMs). Furthermore, this study examines the realistic performance of existing flare forecasting platforms, elucidating their limitations in operational space weather applications and thereby offering a practical reference for future advancements in technological optimization and system design.

astro-ph.SR↗

arXiv2025

JW-Flare: Accurate Solar Flare Forecasting Method Based on Multimodal Large Language Models

Solar flares, the most powerful explosive phenomena in the solar system, may pose significant hazards to spaceborne satellites and ground-based infrastructure. Despite decades of intensive research, reliable flare prediction remains a challenging task. Large Language Models, as a milestone in artificial intelligence, exhibit exceptional general knowledge and next-token prediction capabilities. Here we introduce JW-Flare, the first Multimodal Large Language Models (MLLMs) explicitly trained for solar flare forecasting through fine-tuning on textual physic parameters of solar active regions and magnetic field images. This method demonstrates state-of-the-art (SOTA) performance for large flares prediction on the test dataset. It effectively identifies all 79 X-class flares from 18,949 test samples, yielding a True Skill Statistic (TSS) of 0.95 and a True Positive Rate (TPR) of 1.00, outperforming traditional predictive models. We further investigate the capability origins of JW-Flare through explainability experiments, revealing that solar physics knowledge acquired during pre-training contributes to flare forecasting performance. Additionally, we evaluate models of different parameter scales, confirming the Scaling_Law of Large Language Models in domain-specific applications, such as solar physics. This study marks a substantial advance in both the scale and accuracy of solar flare forecasting and opens a promising avenue for AI-driven methodologies in broader scientific domains.

astro-ph.SR↗