arXiv subjects

Yuyang Zhang

Publications and source records attributed to Yuyang Zhang.

At least 37 records · Page 2Linked to original sources

arXiv2026

A Spatio-Temporal Graph Convolutional Network for Gesture Recognition from High-Density Electromyography

Accurate hand gesture prediction is crucial for effective upper-limb prosthetic limbs control. As the high flexibility and multiple degrees of freedom exhibited by human hands, there has been a growing interest in integrating deep networks with high-density surface electromyography (HD-sEMG) grids to enhance gesture recognition capabilities. However, many existing methods fall short in fully exploit the specific spatial topology and temporal dependencies present in HD-sEMG data. Additionally, these studies are often limited number of gestures and lack generality. Hence, this study introduces a novel gesture recognition method, named STGCN-GR, which leverages spatio-temporal graph convolution networks for HD-sEMG-based human-machine interfaces. Firstly, we construct muscle networks based on functional connectivity between channels, creating a graph representation of HD-sEMG recordings. Subsequently, a temporal convolution module is applied to capture the temporal dependences in the HD-sEMG series and a spatial graph convolution module is employed to effectively learn the intrinsic spatial topology information among distinct HD-sEMG channels. We evaluate our proposed model on a public HD-sEMG dataset comprising a substantial number of gestures (i.e., 65). Our results demonstrate the remarkable capability of the STGCN-GR method, achieving an impressive accuracy of 91.07% in predicting gestures, which surpasses state-of-the-art deep learning methods applied to the same dataset.

cs.HC↗

arXiv2026

GeoBrowse: A Geolocation Benchmark for Agentic Tool Use with Expert-Annotated Reasoning Traces

Deep research agents integrate fragmented evidence through multi-step tool use. BrowseComp offers a text-only testbed for such agents, but existing multimodal benchmarks rarely require both weak visual cues composition and BrowseComp-style multi-hop verification. Geolocation is a natural testbed because answers depend on combining multiple ambiguous visual cues and validating them with open-web evidence. Thus, we introduce GeoBrowse, a geolocation benchmark that combines visual reasoning with knowledge-intensive multi-hop queries. Level 1 tests extracting and composing fragmented visual cues, and Level 2 increases query difficulty by injecting long-tail knowledge and obfuscating key entities. To support evaluation, we provide an agentic workflow GATE with five think-with-image tools and four knowledge-intensive tools, and release expert-annotated stepwise traces grounded in verifiable evidence for trajectory-level analysis. Experiments show that GATE outperforms direct inference and open-source agents, indicating that no-tool, search-only or image-only setups are insufficient. Gains come from coherent, level-specific tool-use plans rather than more tool calls, as they more reliably reach annotated key evidence steps and make fewer errors when integrating into the final decision. The GeoBrowse bernchmark and codes are provided in https://github.com/ornamentt/GeoBrowse

cs.CL↗

arXiv2026

Goal-Driven Reward by Video Diffusion Models for Reinforcement Learning

Reinforcement Learning (RL) has achieved remarkable success in various domains, yet it often relies on carefully designed programmatic reward functions to guide agent behavior. Designing such reward functions can be challenging and may not generalize well across different tasks. To address this limitation, we leverage the rich world knowledge contained in pretrained video diffusion models to provide goal-driven reward signals for RL agents without ad-hoc design of reward. Our key idea is to exploit off-the-shelf video diffusion models pretrained on large-scale video datasets as informative reward functions in terms of video-level and frame-level goals. For video-level rewards, we first finetune a pretrained video diffusion model on domain-specific datasets and then employ its video encoder to evaluate the alignment between the latent representations of agent's trajectories and the generated goal videos. To enable more fine-grained goal-achievement, we derive a frame-level goal by identifying the most relevant frame from the generated video using CLIP, which serves as the goal state. We then employ a learned forward-backward representation that represents the probability of visiting the goal state from a given state-action pair as frame-level reward, promoting more coherent and goal-driven trajectories. Experiments on Meta-World and Distracting Control Suite demonstrate the effectiveness of our approach.

cs.LG↗

arXiv2026

Cross-modal Fuzzy Alignment Network for Text-Aerial Person Retrieval and A Large-scale Benchmark

Text-aerial person retrieval aims to identify targets in UAV-captured images from eyewitness descriptions, supporting intelligent transportation and public security applications. Compared to ground-view text--image person retrieval, UAV-captured images often suffer from degraded visual information due to drastic variations in viewing angles and flight altitudes, making semantic alignment with textual descriptions very challenging. To address this issue, we propose a novel Cross-modal Fuzzy Alignment Network, which quantifies the token-level reliability by fuzzy logic to achieve accurate fine-grained alignment and incorporates ground-view images as a bridge agent to further mitigate the gap between aerial images and text descriptions, for text--aerial person retrieval. In particular, we design the Fuzzy Token Alignment module that employs the fuzzy membership function to dynamically model token-level association strength and suppress the influence of unobservable or noisy tokens. It can alleviate the semantic inconsistencies caused by missing visual cues and significantly enhance the robustness of token-level semantic alignment. Moreover, to further mitigate the gap between aerial images and text descriptions, we design a Context-Aware Dynamic Alignment module to incorporate the ground-view agent as a bridge in text--aerial alignment and adaptively combine direct alignment and agent-assisted alignment to improve the robustness. In addition, we construct a large-scale benchmark dataset called AERI-PEDES by using a chain-of-thought to decompose text generation into attribute parsing, initial captioning, and refinement, thus boosting textual accuracy and semantic consistency. Experiments on AERI-PEDES and TBAPR demonstrate the superiority of our method.

cs.CV↗

arXiv2026

MoRoCo: An Online Topology-Adaptive Framework for Multi-Operator Multi-Robot Coordination under Restricted Communication

Fleets of autonomous robots are increasingly deployed with multiple human operators in communication-restricted environments for exploration and intervention tasks such as subterranean inspection, reconnaissance, and search-and-rescue. In these settings, communication is often limited to short-range ad-hoc links, making it difficult to coordinate exploration while supporting online human-fleet interactions. Existing work on multi-robot exploration largely focuses on information gathering itself, but pays limited attention to the fact that operators and robots issue time-critical requests during execution. These requests may require different communication structures, ranging from intermittent status delivery to sustained video streaming and teleoperation. To address this challenge, this paper presents MoRoCo, an online topology-adaptive framework for multi-operator multi-robot coordination under restricted communication. MoRoCo is built on a latency-bounded intermittent communication backbone that guarantees a prescribed delay for information collected by any robot to reach an operator, together with a detach-and-rejoin mechanism that enables online team resizing and topology reconfiguration. On top of this backbone, the framework instantiates request-consistent communication subgraphs to realize different modes of operator-robot interaction by jointly assigning robot roles, positions, and communication topology. It further supports the online decomposition and composition of these subgraphs using only local communication, allowing multiple requests to be serviced during exploration. The framework extends to heterogeneous fleets, multiple teams, and robot failures. Extensive human-in-the-loop simulations and hardware experiments demonstrate effective and reliable coordination under restricted communication.

cs.RO↗

arXiv2026

Human-AI Co-Embodied Intelligence for Scientific Experimentation and Manufacturing

Scientific experimentation and manufacturing rely on prolonged protocol development and complex, multi-step implementation, which require continuous human expertise for precise execution and decision-making, limiting interpretability and scalability. Here, we introduce human-artificial intelligence (AI) co-embodied intelligence, a new form of physical AI that unites human researchers, agentic AI, and wearable hardware. In this paradigm, humans provide precise execution, while agentic AI contributes contextual reasoning, adaptive planning, and analysis. The wearable interface continuously captures experimentation and manufacturing, facilitating seamless communication between humans and AI. We instantiate this paradigm in a microfabrication cleanroom, leading to the agentic-physical experimentation (APEX) system which understands fabrication procedure with accuracy 51% higher than state-of-the-art multimodal large language models/vision language models (LLMs/VLMs), detects and corrects fabrication errors in real-time, and transfers procedural expertise to novice users. Critically, APEX system enables the co-development of fabrication protocols in cleanrooms, overcoming the incompatibility of elastomeric materials in standard microfabrication processes and enabling previously unattainable fabrication outcomes, as demonstrated by the wafer-scale realization of brain-level soft neural probe capable of single-unit-resolution neural recording. These results establish the human-AI co-embodied intelligence that extends agentic reasoning beyond computation into the physical domain, transforming scientific experimentation and manufacturing into autonomous, traceable, interpretable and scalable processes.

cs.AI↗

arXiv2026

Vision Also You Need: Navigating Out-of-Distribution Detection with Multimodal Large Language Model

Out-of-Distribution (OOD) detection is a critical task that has garnered significant attention. The emergence of CLIP has spurred extensive research into zero-shot OOD detection, often employing a training-free approach. Current methods leverage expert knowledge from large language models (LLMs) to identify potential outliers. However, these approaches tend to over-rely on knowledge in the text space, neglecting the inherent challenges involved in detecting out-of-distribution samples in the image space. In this paper, we propose a novel pipeline, MM-OOD, which leverages the multimodal reasoning capabilities of MLLMs and their ability to conduct multi-round conversations for enhanced outlier detection. Our method is designed to improve performance in both near OOD and far OOD tasks. Specifically, (1) for near OOD tasks, we directly feed ID images and corresponding text prompts into MLLMs to identify potential outliers; and (2) for far OOD tasks, we introduce the sketch-generate-elaborate framework: first, we sketch outlier exposure using text prompts, then generate corresponding visual OOD samples, and finally elaborate by using multimodal prompts. Experiments demonstrate that our method achieves significant improvements on widely used multimodal datasets such as Food-101, while also validating its scalability on ImageNet-1K.

cs.CV↗

arXiv2026

STEP3-VL-10B Technical Report

We present STEP3-VL-10B, a lightweight open-source foundation model designed to redefine the trade-off between compact efficiency and frontier-level multimodal intelligence. STEP3-VL-10B is realized through two strategic shifts: first, a unified, fully unfrozen pre-training strategy on 1.2T multimodal tokens that integrates a language-aligned Perception Encoder with a Qwen3-8B decoder to establish intrinsic vision-language synergy; and second, a scaled post-training pipeline featuring over 1k iterations of reinforcement learning. Crucially, we implement Parallel Coordinated Reasoning (PaCoRe) to scale test-time compute, allocating resources to scalable perceptual reasoning that explores and synthesizes diverse visual hypotheses. Consequently, despite its compact 10B footprint, STEP3-VL-10B rivals or surpasses models 10$\times$-20$\times$ larger (e.g., GLM-4.6V-106B, Qwen3-VL-235B) and top-tier proprietary flagships like Gemini 2.5 Pro and Seed-1.5-VL. Delivering best-in-class performance, it records 92.2% on MMBench and 80.11% on MMMU, while excelling in complex reasoning with 94.43% on AIME2025 and 75.95% on MathVision. We release the full model suite to provide the community with a powerful, efficient, and reproducible baseline.

cs.CV↗

arXiv2026

On the Absolute-Value Integral of a Brownian Motion with Drift: Exact and Asymptotic Formulae

The present paper is concerned with the integral of the absolute value of a Brownian motion with drift. By establishing an asymptotic expansion of the space Laplace transform, we obtain series representations for the probability density function and cumulative distribution function of the integral, making use of Meijer's G-function. A functional recursive formula is derived for the moments, which is shown to yield only exponentials and Gauss' error function up to arbitrary orders, permitting exact computations. To obtain sharp asymptotic estimates for small- and large-deviation probabilities, we employ a marginal space-time Laplace transform and apply a newly developed generalization of Laplace's method to exponential Airy integrals. The impact of drift on the complete distribution of the integral is explored in depth. The resultant new formulae complement existing ones in the standard Brownian motion case to great extent in terms of both theoretical generality and modeling capacity and have been presented for easy implementation, which numerical experiments demonstrate.

math.PR↗

arXiv2026

ELAIPBench: A Benchmark for Expert-Level Artificial Intelligence Paper Understanding

While large language models (LLMs) excel at many domain-specific tasks, their ability to deeply comprehend and reason about full-length academic papers remains underexplored. Existing benchmarks often fall short of capturing such depth, either due to surface-level question design or unreliable evaluation metrics. To address this gap, we introduce ELAIPBench, a benchmark curated by domain experts to evaluate LLMs' comprehension of artificial intelligence (AI) research papers. Developed through an incentive-driven, adversarial annotation process, ELAIPBench features 403 multiple-choice questions from 137 papers. It spans three difficulty levels and emphasizes non-trivial reasoning rather than shallow retrieval. Our experiments show that the best-performing LLM achieves an accuracy of only 39.95%, far below human performance. Moreover, we observe that frontier LLMs equipped with a thinking mode or a retrieval-augmented generation (RAG) system fail to improve final results-even harming accuracy due to overthinking or noisy retrieval. These findings underscore the significant gap between current LLM capabilities and genuine comprehension of academic papers.

cs.AI↗

arXiv2025

Ultrafast Exciton-Polariton Transport and Relaxation in Halide Perovskite

Halide perovskites offer a great platform for room-temperature exciton-polaritons (EPs) due to their strong oscillator strength and large exciton binding energy, promising applications in next-generation photonic and polaritonic devices. Efficient manipulation of EP transport and relaxation is critical for device performance, yet their spatiotemporal dynamics across different in-plane momenta (k//) remain poorly understood due to limitations in experimental access. In this work, we employ energy-resolved transient reflectance microscopy (TRM) combined with the dispersion relation of EPs to achieve high-resolution imaging of EP transport at specific k//. This approach directly reveals the quasi-ballistic transport and ultrafast relaxation of EPs in different k// regions, showcasing diffusion as fast as ~490 cm2/s and a relaxation time of ~95.1 fs. Furthermore, by tuning the detuning parameter, we manipulate the ballistic transport group velocity and relaxation time of EPs across varying k//. Our results reveal key insights into the dynamics of EP transport and relaxation, providing valuable guidance for the design and optimization of polaritonic devices.

cond-mat.mtrl-sci↗

arXiv2025

Max-Entropy Reinforcement Learning with Flow Matching and A Case Study on LQR

Soft actor-critic (SAC) is a popular algorithm for max-entropy reinforcement learning. In practice, the energy-based policies in SAC are often approximated using simple policy classes for efficiency, sacrificing the expressiveness and robustness. In this paper, we propose a variant of the SAC algorithm that parameterizes the policy with flow-based models, leveraging their rich expressiveness. In the algorithm, we evaluate the flow-based policy utilizing the instantaneous change-of-variable technique and update the policy with an online variant of flow matching developed in this paper. This online variant, termed importance sampling flow matching (ISFM), enables policy update with only samples from a user-specified sampling distribution rather than the unknown target distribution. We develop a theoretical analysis of ISFM, characterizing how different choices of sampling distributions affect the learning efficiency. Finally, we conduct a case study of our algorithm on the max-entropy linear quadratic regulator problems, demonstrating that the proposed algorithm learns the optimal action distribution.

cs.LG↗

arXiv2025

Empowering Real-World: A Survey on the Technology, Practice, and Evaluation of LLM-driven Industry Agents

With the rise of large language models (LLMs), LLM agents capable of autonomous reasoning, planning, and executing complex tasks have become a frontier in artificial intelligence. However, how to translate the research on general agents into productivity that drives industry transformations remains a significant challenge. To address this, this paper systematically reviews the technologies, applications, and evaluation methods of industry agents based on LLMs. Using an industry agent capability maturity framework, it outlines the evolution of agents in industry applications, from "process execution systems" to "adaptive social systems." First, we examine the three key technological pillars that support the advancement of agent capabilities: Memory, Planning, and Tool Use. We discuss how these technologies evolve from supporting simple tasks in their early forms to enabling complex autonomous systems and collective intelligence in more advanced forms. Then, we provide an overview of the application of industry agents in real-world domains such as digital engineering, scientific discovery, embodied intelligence, collaborative business execution, and complex system simulation. Additionally, this paper reviews the evaluation benchmarks and methods for both fundamental and specialized capabilities, identifying the challenges existing evaluation systems face regarding authenticity, safety, and industry specificity. Finally, we focus on the practical challenges faced by industry agents, exploring their capability boundaries, developmental potential, and governance issues in various scenarios, while providing insights into future directions. By combining technological evolution with industry practices, this review aims to clarify the current state and offer a clear roadmap and theoretical foundation for understanding and building the next generation of industry agents.

cs.CL↗

arXiv2025

EditTrack: Detecting and Attributing AI-assisted Image Editing

In this work, we formulate and study the problem of image-editing detection and attribution: given a base image and a suspicious image, detection seeks to determine whether the suspicious image was derived from the base image using an AI editing model, while attribution further identifies the specific editing model responsible. Existing methods for detecting and attributing AI-generated images are insufficient for this problem, as they focus on determining whether an image was AI-generated/edited rather than whether it was edited from a particular base image. To bridge this gap, we propose EditTrack, the first framework for this image-editing detection and attribution problem. Building on four key observations about the editing process, EditTrack introduces a novel re-editing strategy and leverages carefully designed similarity metrics to determine whether a suspicious image originates from a base image and, if so, by which model. We evaluate EditTrack on five state-of-the-art editing models across six datasets, demonstrating that it consistently achieves accurate detection and attribution, significantly outperforming five baselines.

cs.CR↗

arXiv2025

FlyKites: Human-centric Interactive Exploration and Assistance under Limited Communication

Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter un-identified targets, blocked passages, interactive objects, temporary failure, or other unexpected events, all of which require consistent human assistance with reliable communication for a time period. This however can be particularly challenging if the communication among the robots is severely restricted to only close-range exchange via ad-hoc networks, especially in extreme environments like caves and underground tunnels. This paper presents a novel human-centric interactive exploration and assistance framework called FlyKites, for multi-robot systems under limited communication. It consists of three interleaved components: (I) the distributed exploration and intermittent communication (called the "spread mode"), where the robots collaboratively explore the environment and exchange local data among the fleet and with the operator; (II) the simultaneous optimization of the relay topology, the operator path, and the assignment of robots to relay roles (called the "relay mode"), such that all requested assistance can be provided with minimum delay; (III) the human-in-the-loop online execution, where the robots switch between different roles and interact with the operator adaptively. Extensive human-in-the-loop simulations and hardware experiments are performed over numerous challenging scenes.

cs.RO↗

arXiv2025

Error-In-Variables Methods for Efficient System Identification with Finite-Sample Guarantees

This paper addresses the problem of learning linear dynamical systems from noisy observations. In this setting, existing algorithms either yield biased parameter estimates or have large sample complexities. We resolve these issues by adapting the instrumental variable method and the bias compensation method, originally proposed for error-in-variables models, to our setting. We provide refined non-asymptotic analysis for both methods. Under mild conditions, our algorithms achieve superior sample complexities that match the best-known sample complexity for learning a fully observable system without observation noise.

eess.SY↗

arXiv2025

Directed Link Prediction using GNN with Local and Global Feature Fusion

Link prediction is a classical problem in graph analysis with many practical applications. For directed graphs, recently developed deep learning approaches typically analyze node similarities through contrastive learning and aggregate neighborhood information through graph convolutions. In this work, we propose a novel graph neural network (GNN) framework to fuse feature embedding with community information. We theoretically demonstrate that such hybrid features can improve the performance of directed link prediction. To utilize such features efficiently, we also propose an approach to transform input graphs into directed line graphs so that nodes in the transformed graph can aggregate more information during graph convolutions. Experiments on benchmark datasets show that our approach outperforms the state-of-the-art in most cases when 30%, 40%, 50%, and 60% of the connected links are used as training data, respectively.

cs.LG↗

arXiv2025

Towards Action Hijacking of Large Language Model-based Agent

Recently, applications powered by Large Language Models (LLMs) have made significant strides in tackling complex tasks. By harnessing the advanced reasoning capabilities and extensive knowledge embedded in LLMs, these applications can generate detailed action plans that are subsequently executed by external tools. Furthermore, the integration of retrieval-augmented generation (RAG) enhances performance by incorporating up-to-date, domain-specific knowledge into the planning and execution processes. This approach has seen widespread adoption across various sectors, including healthcare, finance, and software development. Meanwhile, there are also growing concerns regarding the security of LLM-based applications. Researchers have disclosed various attacks, represented by jailbreak and prompt injection, to hijack the output actions of these applications. Existing attacks mainly focus on crafting semantically harmful prompts, and their validity could diminish when security filters are employed. In this paper, we introduce AI$\mathbf{^2}$, a novel attack to manipulate the action plans of LLM-based applications. Different from existing solutions, the innovation of AI$\mathbf{^2}$ lies in leveraging the knowledge from the application's database to facilitate the construction of malicious but semantically-harmless prompts. To this end, it first collects action-aware knowledge from the victim application. Based on such knowledge, the attacker can generate misleading input, which can mislead the LLM to generate harmful action plans, while bypassing possible detection mechanisms easily. Our evaluations on three real-world applications demonstrate the effectiveness of AI$\mathbf{^2}$: it achieves an average attack success rate of 84.30\% with the best of 99.70\%. Besides, it gets an average bypass rate of 92.7\% against common safety filters and 59.45\% against dedicated defense.

cs.CR↗