arXiv subjects

Zhiyuan Yu

Publications and source records attributed to Zhiyuan Yu.

At least 37 records · Page 2Linked to original sources

arXiv2025

HumanRAM: Feed-forward Human Reconstruction and Animation Model using Transformers

3D human reconstruction and animation are long-standing topics in computer graphics and vision. However, existing methods typically rely on sophisticated dense-view capture and/or time-consuming per-subject optimization procedures. To address these limitations, we propose HumanRAM, a novel feed-forward approach for generalizable human reconstruction and animation from monocular or sparse human images. Our approach integrates human reconstruction and animation into a unified framework by introducing explicit pose conditions, parameterized by a shared SMPL-X neural texture, into transformer-based large reconstruction models (LRM). Given monocular or sparse input images with associated camera parameters and SMPL-X poses, our model employs scalable transformers and a DPT-based decoder to synthesize realistic human renderings under novel viewpoints and novel poses. By leveraging the explicit pose conditions, our model simultaneously enables high-quality human reconstruction and high-fidelity pose-controlled animation. Experiments show that HumanRAM significantly surpasses previous methods in terms of reconstruction accuracy, animation fidelity, and generalization performance on real-world datasets. Video results are available at https://zju3dv.github.io/humanram/.

cs.GR↗

arXiv2025

PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation

While non-prehensile manipulation (e.g., controlled pushing/poking) constitutes a foundational robotic skill, its learning remains challenging due to the high sensitivity to complex physical interactions involving friction and restitution. To achieve robust policy learning and generalization, we opt to learn a world model of the 3D rigid body dynamics involved in non-prehensile manipulations and use it for model-based reinforcement learning. We propose PIN-WM, a Physics-INformed World Model that enables efficient end-to-end identification of a 3D rigid body dynamical system from visual observations. Adopting differentiable physics simulation, PIN-WM can be learned with only few-shot and task-agnostic physical interaction trajectories. Further, PIN-WM is learned with observational loss induced by Gaussian Splatting without needing state estimation. To bridge Sim2Real gaps, we turn the learned PIN-WM into a group of Digital Cousins via physics-aware randomizations which perturb physics and rendering parameters to generate diverse and meaningful variations of the PIN-WM. Extensive evaluations on both simulation and real-world tests demonstrate that PIN-WM, enhanced with physics-aware digital cousins, facilitates learning robust non-prehensile manipulation skills with Sim2Real transfer, surpassing the Real2Sim2Real state-of-the-arts.

cs.LG↗

arXiv2025

Dynamics of Spinning Test Body in quadratic Einstein-Cartan Theory and its Free-fall Test

We study the dynamics of the non-relativistic spinning test body (STB) in the framework of Einstein-Cartan theory(ECT), in which the weak equivalence principle is violated by the spin-gravitational interaction. We derive the general equation of geodesic in terms of comoving tetrads. More concretely, we consider the case of the quadratic form of the lagrangian, within the environment of weak and static spherically symmetric space-time. We find that the trajectories of STB deviate from the traditional Mathisson\textendash Papapetrou equation, which is due to the coupling of the spin of the test particle to the torsion field of the environment. This allows us to test the theory with free-fall experiment in the laboratory, such as atom interferometer. By using the previous data, we find the upper bound of the possible torsion field on Earth is given by up to $2.0\times 10^{1} \mathrm{~m^{-1}}$ and torsion gradient up to $3.1 \times 10^{-6}\mathrm{~m^{-2}}$. This result may enable us to provide a theoretical foundation for future precision measurements of the existence of the fifth force.

gr-qc↗

arXiv2025

Sampling from the Random Linear Model via Stochastic Localization Up to the AMP Threshold

Recently, Approximate Message Passing (AMP) has been integrated with stochastic localization (diffusion model) by providing a computationally efficient estimator of the posterior mean. Existing (rigorous) analysis typically proves the success of sampling for sufficiently small noise, but determining the exact threshold involves several challenges. In this paper, we focus on sampling from the posterior in the linear inverse problem, with an i.i.d. random design matrix, and show that the threshold for sampling coincides with that of posterior mean estimation. We give a proof for the convergence in smoothed KL divergence whenever the noise variance $Δ$ is below $Δ_{\rm AMP}$, which is the computation threshold for mean estimation introduced in (Barbier et al., 2020). We also show convergence in the Wasserstein distance under the same threshold assuming a dimension-free bound on the operator norm of the posterior covariance matrix, a condition strongly suggested by recent breakthroughs on operator norm bounds in similar replica symmetric systems. A key observation in our analysis is that phase transition does not occur along the sampling and interpolation paths assuming $Δ<Δ_{\rm AMP}$.

math.ST↗

arXiv2025

RIS-Aided Integrated Sensing and Communication Systems under Dual-polarized Channels

This paper considers reconfigurable intelligent surface (RIS)-aided integrated sensing and communication (ISAC) systems under dual-polarized (DP) channels. Unlike the existing ISAC systems, which ignored polarization of electromagnetic waves, this study adopts DP base station (BS) and DP RIS to serve users with a pair of DP antennas. The achievable sum rate is maximized through jointly optimizing the beamforming matrix at the DP BS, and the reflecting coefficients at the DP RIS. To address this problem, we first utilize the weighted minimum mean-square error (WMMSE) method to transform the objective function into a more tractable form, and then an alternating optimization (AO) method is employed to decouple the original problem into two subproblems. Due to the constant modulus constraint, the DP RIS reflection matrix optimization problem is addressed by the majorization-minimization (MM) method. For the DP beamforming matrix, we propose a penalty-based algorithm that can obtain a low-complexity closed-form solution. Simulation results validate the advantage of deploying DP transmit array and DP RIS in the considered ISAC systems.

cs.IT↗

arXiv2024

Representing Long Volumetric Video with Temporal Gaussian Hierarchy

This paper aims to address the challenge of reconstructing long volumetric videos from multi-view RGB videos. Recent dynamic view synthesis methods leverage powerful 4D representations, like feature grids or point cloud sequences, to achieve high-quality rendering results. However, they are typically limited to short (1~2s) video clips and often suffer from large memory footprints when dealing with longer videos. To solve this issue, we propose a novel 4D representation, named Temporal Gaussian Hierarchy, to compactly model long volumetric videos. Our key observation is that there are generally various degrees of temporal redundancy in dynamic scenes, which consist of areas changing at different speeds. Motivated by this, our approach builds a multi-level hierarchy of 4D Gaussian primitives, where each level separately describes scene regions with different degrees of content change, and adaptively shares Gaussian primitives to represent unchanged scene content over different temporal segments, thus effectively reducing the number of Gaussian primitives. In addition, the tree-like structure of the Gaussian hierarchy allows us to efficiently represent the scene at a particular moment with a subset of Gaussian primitives, leading to nearly constant GPU memory usage during the training or rendering regardless of the video length. Extensive experimental results demonstrate the superiority of our method over alternative methods in terms of training cost, rendering speed, and storage usage. To our knowledge, this work is the first approach capable of efficiently handling minutes of volumetric video data while maintaining state-of-the-art rendering quality. Our project page is available at: https://zju3dv.github.io/longvolcap.

cs.CV↗

arXiv2024

Don't Listen To Me: Understanding and Exploring Jailbreak Prompts of Large Language Models

Recent advancements in generative AI have enabled ubiquitous access to large language models (LLMs). Empowered by their exceptional capabilities to understand and generate human-like text, these models are being increasingly integrated into our society. At the same time, there are also concerns on the potential misuse of this powerful technology, prompting defensive measures from service providers. To overcome such protection, jailbreaking prompts have recently emerged as one of the most effective mechanisms to circumvent security restrictions and elicit harmful content originally designed to be prohibited. Due to the rapid development of LLMs and their ease of access via natural languages, the frontline of jailbreak prompts is largely seen in online forums and among hobbyists. To gain a better understanding of the threat landscape of semantically meaningful jailbreak prompts, we systemized existing prompts and measured their jailbreak effectiveness empirically. Further, we conducted a user study involving 92 participants with diverse backgrounds to unveil the process of manually creating jailbreak prompts. We observed that users often succeeded in jailbreak prompts generation regardless of their expertise in LLMs. Building on the insights from the user study, we also developed a system using AI as the assistant to automate the process of jailbreak prompt generation.

cs.CR↗

arXiv2024

LLM-enhanced Scene Graph Learning for Household Rearrangement

The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective side and human user preference on the subjective side. In achieving such task, we propose to mine object functionality with user preference alignment directly from the scene itself, without relying on human intervention. To do so, we work with scene graph representation and propose LLM-enhanced scene graph learning which transforms the input scene graph into an affordance-enhanced graph (AEG) with information-enhanced nodes and newly discovered edges (relations). In AEG, the nodes corresponding to the receptacle objects are augmented with context-induced affordance which encodes what kind of carriable objects can be placed on it. New edges are discovered with newly discovered non-local relations. With AEG, we perform task planning for scene rearrangement by detecting misplaced carriables and determining a proper placement for each of them. We test our method by implementing a tiding robot in simulator and perform evaluation on a new benchmark we build. Extensive evaluations demonstrate that our method achieves state-of-the-art performance on misplacement detection and the following rearrangement planning.

cs.RO↗

arXiv2024

A Framework of RIS-assisted ICSC User-centric Based Systems: Latency Optimization and Design

This paper studies a comprehensive framework for reconfigurable intelligent surface (RIS)-assisted integrated communication, sensing, and computation (ICSC) systems with a User-centric focus. The study encompasses two scenarios: the general multi-user equipment (UE) scenario and the simplified single-UE scenario. To satisfy the critical need for time-efficient sensing, we investigate the latency minimization problem, subject to constraints on UEs' transmit power, radar signal-to-interference-plus-noise-ratio (SINR), RIS phase shift, and computation capability. To address the formulated non-convex problem in the multi-UE scenario, we decouple the original problem into two subproblems, where the computational and beamforming settings are optimized alternately. Specifically, for the computational settings, we derive a closed-form solution for the offloading volume and propose a low-complexity algorithm based on the bisection search method to optimize the edge computing resource allocation. Additionally, we employ two equivalent transformations to address the challenge posed by the non-convex sum-of-ratios form in the objective function (OF) of the subproblem related to active and passive beamforming. Several techniques are then combined to address these subproblems. Furthermore, a low-complexity algorithm that offers closed-form solutions is developed for the simplified single UE scenario. Finally, simulation results substantiate the effectiveness of the proposed framework.

eess.SP↗

arXiv2024

Addressing the Mutual Interference in Uplink ISAC Receivers: A Projection Method

Dual function radar and communication (DFRC) is a promising research direction within integrated sensing and communication (ISAC), improving hardware and spectrum efficiency by merging sensing and communication (S&C) functionalities into a shared platform. However, the DFRC receiver (DFRC-R) is tasked with both uplink communication signal detection and simultaneously target-related parameter estimation from the echoes, leading to issues with mutual interference. In this paper, a projection-based scheme is proposed to equivalently transform the joint signal detection and target estimation problem into a joint signal detection process across multiple snapshots. Compared with conventional successive interference cancellation (SIC) schemes, our proposed approach achieves a higher signal-to-noise ratio (SNR), and a higher ergodic rate when the radar signal is non-negligible. Nonetheless, it introduces an ill-conditioned signal detection problem, which is addressed using a non-linear detector. By jointly processing an increased number of snapshots, the proposed scheme can achieve high S&C performance simultaneously.

cs.IT↗

arXiv2024

Beamforming Design for Double-Active-RIS-aided Communication Systems with Inter-Excitation

In this paper, we investigate a double-active-reconfigurable intelligent surface (RIS)-aided downlink wireless communication system, where a multi-antenna base station (BS) serves multiple single-antenna users with both double reflection and single reflection links. Due to the signal amplification capability of active RISs, they can effectively mitigate the multiplicative fading effect. However, this also induces signal bouncing between the two active RISs that cannot be ignored. This phenomenon is termed as the "inter-excitation" effect and is characterized in the received signal by proposing a feedback-type model. Based on the signal model, we formulate a weighted sum rate (WSR) maximization problem by jointly optimizing the beamforming matrix at the BS and the reflecting coefficient matrices at the two active RISs, subject to power constraints at the BS and active RISs, as well as the maximum amplification gain constraints of the active RISs. To solve this non-convex problem, we first transform the problem into a more tractable form using the fractional programming (FP) method. Then, by introducing auxiliary variables, the problem can be converted into an equivalent form that can be solved by using a penalty dual decomposition (PDD) algorithm. Finally, simulation results indicate that it proposed scheme outperforms benchmark schemes with single active RIS and double passive RISs in terms of achievable rate. Furthermore, the results demonstrate that the proposed scheme can enhance the WSR by 30\% compared to scenarios that do not take this effect into account when the maximum amplification gain is 40 dB. Additionally, the proposed scheme is capable of achieving high WSR performance at most locations where double active RISs are deployed between the BS and the users, thereby providing greater flexibility in their positioning.

eess.SP↗

arXiv2024

Learning Instance-Aware Correspondences for Robust Multi-Instance Point Cloud Registration in Cluttered Scenes

Multi-instance point cloud registration estimates the poses of multiple instances of a model point cloud in a scene point cloud. Extracting accurate point correspondence is to the center of the problem. Existing approaches usually treat the scene point cloud as a whole, overlooking the separation of instances. Therefore, point features could be easily polluted by other points from the background or different instances, leading to inaccurate correspondences oblivious to separate instances, especially in cluttered scenes. In this work, we propose MIRETR, Multi-Instance REgistration TRansformer, a coarse-to-fine approach to the extraction of instance-aware correspondences. At the coarse level, it jointly learns instance-aware superpoint features and predicts per-instance masks. With instance masks, the influence from outside of the instance being concerned is minimized, such that highly reliable superpoint correspondences can be extracted. The superpoint correspondences are then extended to instance candidates at the fine level according to the instance masks. At last, an efficient candidate selection and refinement algorithm is devised to obtain the final registrations. Extensive experiments on three public benchmarks demonstrate the efficacy of our approach. In particular, MIRETR outperforms the state of the arts by 16.6 points on F1 score on the challenging ROBI benchmark. Code and models are available at https://github.com/zhiyuanYU134/MIRETR.

cs.CV↗

arXiv2024

Automatic and Universal Prompt Injection Attacks against Large Language Models

Large Language Models (LLMs) excel in processing and generating human language, powered by their ability to interpret and follow instructions. However, their capabilities can be exploited through prompt injection attacks. These attacks manipulate LLM-integrated applications into producing responses aligned with the attacker's injected content, deviating from the user's actual requests. The substantial risks posed by these attacks underscore the need for a thorough understanding of the threats. Yet, research in this area faces challenges due to the lack of a unified goal for such attacks and their reliance on manually crafted prompts, complicating comprehensive assessments of prompt injection robustness. We introduce a unified framework for understanding the objectives of prompt injection attacks and present an automated gradient-based method for generating highly effective and universal prompt injection data, even in the face of defensive measures. With only five training samples (0.3% relative to the test data), our attack can achieve superior performance compared with baselines. Our findings emphasize the importance of gradient-based testing, which can avoid overestimation of robustness, especially for defense mechanisms.

cs.AI↗

arXiv2024

Reconfigurable Intelligent Surface-Aided Dual-Function Radar and Communication Systems With MU-MIMO Communication

In this paper, we investigate an reconfigurable intelligent surface (RIS)-aided integrated sensing and communication (ISAC) system. Our objective is to maximize the achievable sum rate of the multi-antenna communication users through the joint active and passive beamforming. {Specifically}, the weighted minimum mean-square error (WMMSE) method is { first} used to reformulate the original problem into an equivalent one. Then, we utilize an alternating optimization (AO) { algorithm} to decouple the optimization variables and decompose this challenging problem into two subproblems. Given reflecting coefficients, a penalty-based algorithm is utilized to deal with the non-convex radar signal-to-noise ratio (SNR) constraints. For the given beamforming matrix of the BS, we apply majorization-minimization (MM) to transform the problem into a quadratic constraint quadratic programming (QCQP) problem, which is ultimately solved using a semidefinite relaxation (SDR)-based algorithm. Simulation results illustrate the advantage of deploying RIS in the considered multi-user MIMO (MU-MIMO) ISAC systems.

eess.SP↗

arXiv2024

Joint Beamforming Design for Double Active RIS-assisted Radar-Communication Coexistence Systems

Integrated sensing and communication (ISAC) technology has been considered as one of the key candidate technologies in the next-generation wireless communication systems. However, when radar and communication equipment coexist in the same system, i.e. radar-communication coexistence (RCC), the interference from communication systems to radar can be large and cannot be ignored. Recently, reconfigurable intelligent surface (RIS) has been introduced into RCC systems to reduce the interference. However, the "multiplicative fading" effect introduced by passive RIS limits its performance. To tackle this issue, we consider a double active RIS-assisted RCC system, which focuses on the design of the radar's beamforming vector and the active RISs' reflecting coefficient matrices, to maximize the achievable data rate of the communication system. The considered system needs to meet the radar detection constraint and the power budgets at the radar and the RISs. Since the problem is non-convex, we propose an algorithm based on the penalty dual decomposition (PDD) framework. Specifically, we initially introduce auxiliary variables to reformulate the coupled variables into equation constraints and incorporate these constraints into the objective function through the PDD framework. Then, we decouple the equivalent problem into several subproblems by invoking the block coordinate descent (BCD) method. Furthermore, we employ the Lagrange dual method to alternately optimize these subproblems. Simulation results verify the effectiveness of the proposed algorithm. Furthermore, the results also show that under the same power budget, deploying double active RISs in RCC systems can achieve higher data rate than those with single active RIS and double passive RISs.

eess.SP↗

arXiv2024

Active RIS Aided ISAC Systems: Beamforming Design and Performance Analysis

This paper considers an active reconfigurable intelligent surface (RIS)-aided integrated sensing and communication (ISAC) system. We aim to maximize radar signal-to-interference-plus-noise-ratio (SINR) by jointly optimizing the beamforming matrix at the dual-function radar-communication (DFRC) base station (BS) and the reflecting coefficients at the active RIS subject to the quality of service (QoS) constraints of communication users (UE) and the transmit power constraints of active RIS and DFRC BS. To tackle the optimization problem, the majorization-minimization (MM) algorithm is applied to address the nonconvex radar SINR objective function, and the resulting quartic problem is solved by developing an semidefinite relaxation (SDR)-based approach. Moreover, we derive the scaling order of the radar SINR with a large number of reflecting elements. Next, the transmit power allocation problem and the deployment strategy of the active RIS are studied with a moderate number of reflecting elements. Finally, we validate the potential of the active RIS in ISAC systems compared to passive RIS. Additionally, we deliberate on several open problems that remain for future research.

cs.IT↗

arXiv2024

Secure Wireless Communication in Active RIS-Assisted DFRC System

This work considers a dual-functional radar and communication (DFRC) system with an active reconfigurable intelligent surface (RIS) and a potential eavesdropper. Our purpose is to maximize the secrecy rate (SR) of the system by jointly designing the beamforming matrix at the DFRC base station (BS) and the reflecting coefficients at the active RIS, subject to the signal-to-interference-plus-noise-ratio (SINR) constraint of the radar echo and the power consumption constraints at the DFRC-BS and active RIS. An alternating optimization (AO) algorithm based on semi-definite relaxation (SDR) and majorizationminimization (MM) is applied to solve the SR-maximization problem by alternately optimizing the beamforming matrix and the reflecting coefficients. Specifically, we first apply the SDR and successive convex approximation (SCA) methods to transform the two subproblems into more tractable forms, then the MM method is applied to derive a concave surrogate function and iteratively solve the subproblems. Finally, simulation results indicate that the active RIS can better confront the impact of "multiplicative fading" and outperforms traditional passive RIS in terms of both secure data rate and radar sensing performance.

eess.SP↗

arXiv2024

Reconstructing Close Human Interactions from Multiple Views

This paper addresses the challenging task of reconstructing the poses of multiple individuals engaged in close interactions, captured by multiple calibrated cameras. The difficulty arises from the noisy or false 2D keypoint detections due to inter-person occlusion, the heavy ambiguity in associating keypoints to individuals due to the close interactions, and the scarcity of training data as collecting and annotating motion data in crowded scenes is resource-intensive. We introduce a novel system to address these challenges. Our system integrates a learning-based pose estimation component and its corresponding training and inference strategies. The pose estimation component takes multi-view 2D keypoint heatmaps as input and reconstructs the pose of each individual using a 3D conditional volumetric network. As the network doesn't need images as input, we can leverage known camera parameters from test scenes and a large quantity of existing motion capture data to synthesize massive training data that mimics the real data distribution in test scenes. Extensive experiments demonstrate that our approach significantly surpasses previous approaches in terms of pose accuracy and is generalizable across various camera setups and population sizes. The code is available on our project page: https://github.com/zju3dv/CloseMoCap.

cs.CV↗