arXiv subjects

Yuyang Pang

Publications and source records attributed to Yuyang Pang.

4 recordsLinked to original sources

arXiv2026

Action with Visual Primitives

Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation. A common design in current architectures maps language instructions and visual observations to actions in a single forward pass. While conceptually simple, this formulation entangles instruction comprehension, spatial scene understanding, and motor control within a single learning objective. As a result, the action expert must implicitly relearn cognitive and perceptual capabilities already present in the pretrained VLM, which can limit both learning efficiency and generalization. We introduce AVP (Action with Visual Primitives), an end-to-end architecture that implements this visual-primitive-centric interface: the VLM infers the next-stage target and emits visual-primitive tokens that condition a flow-matching action expert, with supervision derived from end-effector kinematics. Real-robot experiments on general pick-and-place tasks show that AVP improves the success rate by 37.04% over pi_0.5 and outperforms other recent methods, with consistent gains in data efficiency, spatial-compositional generalization, and object-level transfer.

cs.RO↗

arXiv2026

Power Consumption Patterns Using Telemetry Data

This paper examines the analysis of package power consumption using Intel's telemetry data. It challenges the prevailing belief that hardware choice is the primary determinant of a device's power consumption and instead emphasizes the significant role of user behavior. The paper includes two sections: Exploratory Data Analysis (EDA) and a linear model for power consumption. The EDA section provides valuable insights from Intel's telemetry data, comparing power consumption across countries, with a specific focus on power consumption patterns in the US and China. Our simple linear model affirms those patterns and highlight the possible importance of user behavior and its influence on power consumption. Ultimately, the paper underscores the need to understand power consumption patterns and identifies areas where stakeholders like Intel can make improvements to reduce environmental impact effectively and efficiently.

cs.CY↗

arXiv2026

Scaling Law of Neural Koopman Operators

Data-driven neural Koopman operator theory has emerged as a powerful tool for linearizing and controlling nonlinear robotic systems. However, the performance of these data-driven models fundamentally depends on the trade-off between sample size and model dimensions, a relationship for which the scaling laws have remained unclear. This paper establishes a rigorous framework to address this challenge by deriving and empirically validating scaling laws that connect sample size, latent space dimension, and downstream control quality. We derive a theoretical upper bound on the Koopman approximation error, explicitly decomposing it into sampling error and projection error. We show that these terms decay at specific rates relative to dataset size and latent dimension, providing a rigorous basis for the scaling law. Based on the theoretical results, we introduce two lightweight regularizers for the neural Koopman operator: a covariance loss to help stabilize the learned latent features and an inverse control loss to ensure the model aligns with physical actuation. The results from systematic experiments across six robotic environments confirm that model fitting error follows the derived scaling laws, and the regularizers improve dynamic model fitting fidelity, with enhanced closed-loop control performance. Together, our results provide a simple recipe for allocating effort between data collection and model capacity when learning Koopman dynamics for control.

cs.RO↗

arXiv2025

Detecting $k$-nonseparability and $k$-partite Entanglement with Generalized Skew Information and Mutually Unbiased Measurements

Multipartite quantum entanglement, as a core quantum resource, is fundamental to the advancement of quantum science and technology. In multipartite quantum systems, there are two kinds of quantum entanglement: $k$-nonseparability and $k$-partite entanglement. In this paper, we propose sufficient criteria for detecting $k$-nonseparability and $k$-partite entanglement by using the generalized Wigner-Yanase skew information and mutually unbiased measurements. Examples are given to demonstrate the detection capability and advantages of these criteria. As an application, an example of recognizing the networks by detecting the depth of quantum networks is given.

quant-ph↗