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Hang Yu

Publications and source records attributed to Hang Yu.

At least 19 recordsLinked to original sources
arXiv2026

UniGeo: A Multi-modal Large Language Model for Text-Guided Cross-View Geo-Localization

Text-guided drone geo-localization aims to identify a target region in a large-scale image gallery from a natural-language description. Existing methods mainly formulate this task as direct matching between an open-ended text query and candidate images. However, incomplete queries and highly similar candidates often make global cross-modal matching insufficient for reliable fine-grained localization. We propose UniGeo, a unified multimodal large language model (MLLM) for text-guided drone geo-localization. Built on a shared vision-language framework, UniGeo jointly supports geo-semantic understanding, cross-view semantic generation, and candidate-level verification. Specifically, it establishes stable correspondences among local scene elements, spatial relations, and language descriptions through geo-semantic learning, and further models semantic mappings between drone and satellite views through cross-view generation. Based on these capabilities, a plug-and-play verification module performs fine-grained discrimination among highly confusable candidates. We further introduce a multi-stage training strategy that progressively learns geo-semantic understanding, cross-view generation, and candidate verification, improving adaptation to text-guided geo-localization. Experiments demonstrate consistent improvements across multiple retrieval backbones. On GeoText-1652, UniGeo improves R@10 and mAP by 13.59 and 2.83 percentage points, respectively, validating its effectiveness for fine-grained text-guided drone geo-localization.

cs.CV↗
arXiv2026

NumerosityVLM: A Cognitively Inspired Benchmark for Interpreting Numerosity Representations in Vision-Language Models

Vision-language models (VLMs) achieve strong performance on high-level multimodal tasks, yet numerosity perception, a cognitive ability that emerges in human infants before language acquisition, remains poorly understood in current models, as existing counting benchmarks entangle numerosity with correlated visual factors. We introduce a cognitively inspired diagnostic benchmark, NumerosityVLM, comprising 10,800 synthetic images across six controlled conditions. The benchmark orthogonally manipulates object size, spatial arrangement, and numerosity, while progressively ablating texture, shape, and color. Evaluating seven VLMs in a zero-shot setting, multi-factor analysis reveals that model architecture explains the largest proportion of performance variance (partial $\omega^{2}=0.325$), far exceeding visual conditions. Layer-wise probing further shows that linearly separable numerosity signals consistently emerge at early stages of the vision encoder, while performance differences across evaluated models are primarily associated with the language model component. Code and data are publicly available at https://github.com/fuy3/NumerosityVLM-Benchmark, and https://huggingface.co/datasets/fuy3/NumerosityVLM.

cs.CV↗
arXiv2026

DH-VLM: Dual-Horizon Cooperative Latent Reasoning for Autonomous Driving

Large-scale language models for autonomous driving enable enhanced global understanding and long-horizon planning. However, when deployed in isolated vehicles, limited sensing range and occlusions restrict reliable decision-making, and the substantial computational and latency overhead makes on-board deployment impractical. Cooperative driving provides a potential solution by leveraging external agents for information exchange, but existing methods remain limited in semantic reasoning capability under practical constraints. To address these challenges, we propose DH-VLM, a dual-horizon cooperative latent reasoning framework that enables asymmetric semantic cooperation between the infrastructure and ego vehicle. The infrastructure aggregates multi-layer hidden states to form a global-reasoning horizon latent guidance, which is integrated into the ego model through an Infrastructure-Driven Latent Evolution mechanism for conditional latent refinement. This enables the ego vehicle to leverage long-range contextual understanding while preserving autonomous decision-making within its local planning horizon. Furthermore, we construct a cooperation-oriented question-answer (QA) dataset covering fundamental scene understanding and ego-personalized comprehension to support counterfactual and safety-aware reasoning. Extensive experiments demonstrate that DH-VLM achieves state-of-the-art planning performance, outperforming the previous state of the art by 14.6% in L2 error and 26.9% in collision rate. Compared with query-based end-to-end cooperative driving methods, our approach reduces the communication cost by 57.3% and GPU memory usage by 25.5%, while maintaining strong robustness against infrastructure guidance errors, providing a practical and robust paradigm for cooperative autonomous driving.

cs.RO↗
arXiv2026

VLZip: Unified Visual and Textual Compression for Interleaved Long-Context Modeling

Vision Language Models (VLMs) face significant challenges with ultra-long, interleaved image-text sequences due to the quadratic complexity of self-attention. Current solutions either resort to aggressive token pruning, risking irreversible information loss, or adopt efficient but less precise architectures, while largely ignoring the equally vital textual component. We introduce VLZip, a framework that unifies visual and textual compression for high-fidelity reasoning within a pure Transformer. At its core, VLZip hierarchically distills visual and textual segments into compact, layer-specific "soft prefixes" and injects them into each decoder layer's hidden states, drastically shortening the attention sequence while preserving fine-grained global context. To address deficient evaluations in the field, we also introduce LongVLBench, a new benchmark derived from video narratives that demands holistic, narrative-level reasoning. Extensive experiments show VLZip achieves leading performance on long-context multimodal reasoning, enabling training up to 120K tokens, a 6x increase over the baseline, and inference beyond 280K tokens with significantly reduced memory, while demonstrating the memory scalability to handle up to 2M tokens. By excelling at extreme context lengths where existing methods collapse, VLZip establishes an efficient and powerful new standard for long-context multimodal AI. Code is available at https://github.com/ShareLab-SII/VLZip.

cs.CV↗
arXiv2026

MRI super-resolution in ten sampling steps using a diffusion bridge model

Objective. MRI provides excellent soft-tissue contrast, but long acquisition times can cause patient discomfort and lead to motion artifacts, forcing a trade-off between spatial resolution and scan time. Diffusion-based super-resolution (SR) reconstructs high-resolution (HR) images from low-resolution (LR) inputs, but typically needs many sampling steps and initializes from a Gaussian prior ill-suited to image restoration. We developed an efficient diffusion framework that reconstructs HR MRI directly from LR data. Approach. We propose super-resolution diffusion bridge model (SR-DBM), a super-resolution diffusion bridge model that casts SR as a stochastic transport between the LR and HR image distributions. Through a Doob's h-transform of a mean-reverting stochastic differential equation, SR-DBM pins the process to the paired HR and LR images at its endpoints, initializing reconstruction from the measured anatomy rather than from Gaussian noise. The HR image is recovered by a deterministic reverse trajectory in which a network predicts the clean image at each of only ten sampling steps. We evaluated SR-DBM on ultra-high-field 7T brain T1 MP2RAGE maps and pelvic T2-weighted prostate images against nine comparison methods using PSNR, SSIM, GMSD, and LPIPS. Main results. SR-DBM attained the highest PSNR and SSIM and the lowest GMSD on both datasets (brain: 27.66+-1.52 dB, 0.96+-0.02, 7.96+-1.86$; prostate: 27.87+-2.29 dB, 0.80+-0.05, 8.38+- 1.44), with statistically significant gains over every comparison method (two-sided Wilcoxon signed-rank test with Holm correction, p<0.05). The strongest baseline, SR-EMamba, ranked second. Qualitatively, SR-DBM produced the smallest residual errors and best preserved fine structures and lesions.

cs.CV↗
arXiv2026

GWM-VLA: Geometry-Aware Latent World Modeling for Vision-Language-Action Learning

Vision-Language-Action (VLA) models achieve strong robotic manipulation performance but often degrade under visual and environmental shifts. Latent world modeling offers a promising approach to improving robustness, yet existing methods commonly encode camera views independently and predict holistic scene dynamics without explicitly modeling their geometric relationships. We propose GWM-VLA, a geometry-aware latent world modeling framework for VLA learning. GWM-VLA combines geometry-aware multi-view state encoding, global context-conditioned target-view prediction, and shared latent-action representations grounded by robot-action supervision. Specifically, VGGT-$\Omega$ jointly aggregates multi-view observations at each timestep to construct geometry-aware multi-view states. The latent world model predicts the next-step patch tokens of a selected target view using patch and register tokens obtained after multi-view aggregation, thereby retaining multi-view geometric information without predicting the complete multi-view state. We use the wrist view as the target in our experiments, placing greater emphasis on end-effector motion and local gripper-object interactions. Finally, the shared latent-action representations condition both the latent world model and the flow-matching action head, allowing latent-prediction supervision and ground-truth robot-action supervision to jointly shape the same latent-action representations. Experiments across both simulation and real-world environments demonstrate the effectiveness and robustness of GWM-VLA.

cs.RO↗
arXiv2026

Constructing Effective Interactions via Projection-Based Inversion

We present a numerical prescription for extracting continuum scattering information from discrete spectra by constraining effective interactions inspired by effective field theory (EFT). Using a Multiparameter Eigenvalue Problem (MEP) emulator, we map energies to a sum of contact potentials by recasting the inverse problem as a linear eigenvalue equation. Because our method determines the effective interaction rather than the scattering amplitude, it can handle non-perturbative Coulomb interactions and different types of truncated Hilbert spaces without analytic quantization conditions. It therefore allows standard bound-state codes to be used for scattering calculations without modification. We validate this prescription across multiple ab initio frameworks using neutron-alpha scattering, alpha-alpha scattering with full Coulomb, and a prediction of proton-$^{14}$O resonances.

nucl-th↗
arXiv2026

You Don't Need To Stay in The Loop: An Agentic Robotics Loop for Robot-Policy Improvement

Coding agents such as Claude Code and Codex close the software loop: a main agent manages the loop, subagents analyze and execute, tools do the work. We port this architecture to robot-policy improvement, where one difference dominates the design: robotic tools---trained policies, training pipelines, data collection---fail routinely, so a tool's quality must be measured, recorded at every call, and expired when the artifact behind it changes. AgenticRobotics is a backend-independent control plane in which an LLM controller drives disposable workers through durable train--evaluate--improve transactions: an immutable objective, controller-owned measurement, commit-keyed crash recovery, an evidence-graded skill library, and a tool registry with a standardized, recorded call surface. The title is an operational claim, not a selection claim: the operator can leave because promotion is evidence-gated, state is recoverable, and capability quality is derived from records---not because the loop picks better checkpoints than a human; on the one lineage we measured, it does not. The gates measurably buy false-promotion control (0.001 per run hardened versus 0.005--0.021 shipped), anytime-valid decisions under optional stopping, zero lost or duplicate effects under kill injection, and six of six artifact-tampering classes caught by a signed verifier.

cs.RO↗
arXiv2026

LLM-OSDA: An Optimal-Stopping Dynamic Auction for Native Advertising in Multi-Turn LLM Conversations

LLM-native advertising embeds sponsored content directly into model-generated responses, shifting the unit of sale from a fixed slot to a moment within an evolving conversation. Existing LLM ad-auction mechanisms primarily operate within a single response, settling the winner but not the timing. The extension is nontrivial: with one native insertion opportunity per session, the stopping time depends on bids, coupling timing with allocation, so static truthfulness arguments no longer apply. We propose the LLM-based Optimal Stopping Dynamic Auction (LLM-OSDA), a dynamic cost-per-click auction that integrates Bellman optimal stopping, winner allocation, and envelope pricing. A bid-independent LLM layer estimates contextual click quality and seamlessly renders the winning ad, while bids enter only the committed auction mechanism. Under an exact Bellman oracle, the expected discounted-click allocation is monotone in each advertiser's bid, and the corresponding envelope payment makes truthful bidding weakly dominant in expectation. For practical deployment, a learned StopNet approximates the Bellman action values. We show that its decisions differ from the optimal policy only near the stopping boundary and bound the resulting incentive loss in terms of its approximation error. Experiments on a simulated conversational advertising corpus show that LLM-OSDA improves net revenue by 11 percent over the strongest fixed-timing baseline while maintaining comparable user retention. Code is at https://github.com/2025Fang2025/llm-osda.

cs.CL↗
arXiv2026

TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging

Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents. Recently, autoregressive token-based action generation has driven the development of many representative VLA models. However, this paradigm often reduces action generation to next-token prediction, thereby lacking explicit modeling of the spatiotemporal structure of action sequences and the disentanglement between vision-language representations and actions, which can limit performance in long-horizon and complex scenarios. In this paper, we propose TS-Mask VLA, a vision-language-action framework for robot manipulation. TS-Mask VLA is built upon two key designs: (1) a Discrete Diffusion Action Expert equipped with a Bridge Attention conditioning bridge, which enables multi-layer conditioning from the VLM and facilitates more accurate and stable action generation; and (2) a temporal-spatial 2D masking strategy for discrete action tokens that strengthens the model's understanding of cross-time dependencies and inter-dimensional coupling, leading to more structurally consistent action sequences. We conduct extensive experiments on simulation benchmarks and real-world tasks. On LIBERO, TS-Mask VLA achieves a 95.7 percent average success rate with only 0.5B parameters, outperforming significantly larger models. On CALVIN, it attains the best average sequence length of 4.19 and strong long-horizon performance. Comprehensive analyses and ablations further validate the effectiveness of our design.

cs.RO↗
arXiv2026

Shift & Drift: A Zero-Shot Benchmark for Generalizable and Robust Autonomous Driving Motion Planning

While closed-loop motion planners trained on large-scale, object-level datasets, e.g., nuPlan, demonstrate strong in-distribution (ID) performance, their generalization to novel urban topologies and recovery mechanisms following execution perturbations remain under-explored. To address this, we present Shift & Drift, a novel dual-track benchmark designed to rigorously stress-test motion planners across two critical axes of distribution shift: (1) The Semantic Shift Track leverages a novel conversion pipeline that transforms the aerial, DeepScenario Open 3D dataset into the nuPlan simulation framework. This enables zero-shot evaluation of planners trained on North American and Singaporean data against 1,182 scenarios spanning four German cities and the US city of San Francisco featuring dense pedestrian-cyclist interactions. (2) The State-Distribution Drift Track injects stochastic perturbations into the ego vehicle's dynamics to quantify robustness against compounding execution errors. Based on this, we systematically evaluate the failure modes of diverse planning paradigms under semantic and state-distribution shifts. While imitation learning methods achieve high scores in ID benchmarks, they exhibit significant failures under semantic shift, particularly in pedestrian-dense environments, and suffer from persistent drift when subjected to temporally correlated actuation noise. In contrast, the evaluated reinforcement-learning-based planner demonstrates more graceful degradation, maintaining higher safety and progress metrics across both tracks. Our findings reveal an empirical trade-off between imitation fidelity and closed-loop resilience, providing the community with a rigorous benchmark to evaluate progress toward reliable deployment.

cs.RO↗
arXiv2026

Nonlinear hydrodynamics in spinning neutron stars: Theoretical universal relations and equilibrium solutions

We study tides during the inspiral of a binary neutron star system, including nonlinear hydrodynamical interactions. Using an affine approximation that treats the perturbed neutron star (NS) as an ellipsoid, we analytically derive coupling coefficients among the quadrupolar f-modes and the radial mode to the four-wave order (next-to-next-to-leading order) in the Hamiltonian, allowing for arbitrary (aligned or anti-aligned) spin of the background star. Our model reveals a series of universal relations from first-principles arguments. We show that the three-wave (next-to-leading-order) interaction coefficients in a non-spinning star are fully determined by the properties of the linear tide. They do not probe new physics of the NS. Nonetheless, three-wave nonlinear tides are significant corrections to the gravitational waveform. We support this via a hybrid approach that simultaneously captures mode resonances expected in Newtonian hydrodynamics and is consistent with relativistic calculations in the low-frequency expansion. The nonlinear tide in a single NS can cause a phase shift of around 1.8 radians accumulated up to merger compared to the linear tide model; for a binary, the phase shift is approximately doubled. In a low-frequency expansion, the nonlinear tide is degenerate with the finite-frequency correction of the linear tide, introducing systematic bias when ignored. Our calculation extends to four-wave interactions, which, for a slowly spinning neutron star, provide only small corrections. For a rapidly rotating neutron star, the nonlinear centrifugal drive of the f-mode provides a window to study the internal buoyancy that cannot be probed by the linear and three-wave f-mode tides in slowly spinning systems. The four-wave anharmonicity cannot lead to resonance locking of the f-mode.

gr-qc↗
arXiv2026

Multimodal Continuous Reasoning via Asymmetric Mutual Variational Learning

Multimodal Large Language Models (MLLMs) are often constrained by a language-space bottleneck, forcing complex visual reasoning into discrete tokens which can lose perceptual nuance. A promising alternative is continuous latent reasoning, where the goal is to discover implicit reasoning pathways that bridge the multimodal query and the final answer. However, this introduces a severe train-inference mismatch: a training-time posterior, conditioned on the ground-truth answer, can exploit answer-dependent shortcuts. Standard variational training then forces the inference-time prior to mimic a posterior that has access to information unavailable at test time, leading to poor performance. To address this, we propose Asymmetric Mutual Variational Learning (AMVL), a framework that resolves this mismatch via a bidirectional calibration objective. A forward KL divergence trains the target-agnostic prior to match the posterior, while a novel reverse KL divergence simultaneously regularizes the posterior, preventing it from collapsing into inference-incompatible regions and mitigating this ``answer leakage''. We provide theoretical analysis formalizing this leakage as prior contamination and prove that our dual-KL objective reduces it. We instantiate AMVL in a latent-integrated MLLM and show that it consistently outperforms strong discrete and latent-reasoning baselines, improving the average score on the complex BLINK benchmark by +10.83 and achieving gains of up to +32.00 on individual reasoning tasks, with analyses confirming improved latent-space stability.

cs.CV↗
arXiv2026

Nonperturbative Leakage Elimination Operator-Based Quantum Control Pulse Design Beyond the High Frequency Driving Regime

Precise quantum pulse design is central to achieving high precision quantum control, while level leakage induced by system environment coupling is the bottleneck limiting control precision. The leakage elimination operator (LEO) approach is highly effective at suppressing leakage from target subspace to other leakage spaces. The analytical control conditions under the high frequency driving limit have been derived via the Feshbach PQ partitioning technique. However, low frequency driving is experimentally more feasible, and the driving strength is subject to a fundamental physical bound. In this work, we overcome the high frequency driving limit in the pulse design by recasting the LEO protocol within the nonperturbative Floquet-Magnus framework. Applying the Magnus expansion to Floquet dynamical localization, we establish a generalized optimal control formalism that is applicable to the low frequency regime. We prove that the analytical control conditions derived via the Feshbach PQ partitioning technique are equivalent to the zero order Magnus expansion, and that higher order Magnus terms must be taken into account in the low frequency driving regime. We validate our nonperturbative framework using two examples: near perfect quantum state transfer in a one dimensional spin chain and adiabatic speedup in a two level system, corresponding to time independent and time dependent system Hamiltonians, respectively. Our results provide an effective route for designing control pulses in the low frequency regime, which is promising for practical quantum information processing tasks across diverse experimental platforms, including superconducting qubits and ion traps.

quant-ph↗
arXiv2026

G2DP: Diffusion Planning with Spatio-Temporal Grid Guidance

In autonomous driving, diffusion-based planners have emerged as a promising paradigm for robust motion planning in dense and interactive traffic, as they can effectively model diverse driving behaviors. However, their inherent stochasticity often requires explicit guidance during denoising to ensure safety and route adherence for robust closed-loop execution. Existing guidance typically relies on sparse, entity-centric geometric queries or post-hoc refinement, yielding limited situational awareness and fragile performance in interactive scenes. To address this issue, we propose G2DP (Grid-Guided Diffusion Planning), a diffusion-based planner that directly enforces dense environmental constraints through inference-time guidance. Specifically, G2DP constructs a differentiable spatio-temporal cost volume by fusing probabilistic future occupancy distributions with a route-progress map. By formulating this volume as a continuous safety energy functional, it injects dense gradients directly into the denoising loop, actively steering trajectory generation toward collision-free and progress-optimal regions. Extensive closed-loop evaluations show that G2DP achieves state-of-the-art performance on nuPlan, outperforming the strongest imitation-learning baseline by +7.2 points in reactive score. It further maintains top scores in zero-shot transfers to interPlan and DeepScenario benchmarks, with collision avoidance improving by +10.15 over the unguided approach on interPlan. These results demonstrate that spatio-temporal cost grids serve as an effective representation for robust guidance in diffusion-based planning. Code is available at https://github.com/HangYuu/G2DP.

cs.RO↗
arXiv2026

Detecting classical nova-like explosions with LISA

Gravitational waves from close binary white dwarfs will form the bulk of measurements obtained by the Laser Interferometer Space Antenna (LISA). Previous studies have highlighted the importance of including the effects of steady-state mass transfer in waveform models as many individually resolvable white dwarf binaries will be interacting during the LISA observation window. However, few studies have considered the effect of novae on gravitational wave observations and parameter estimations. We fill in this gap by analyzing the detectability of novae in these systems and the biases in physical parameters when these bursts are not considered. We model a nova burst as a rapid loss of mass from the accretor that suddenly shifts the gravitational wave frequency. We analytically predict the signal-to-noise ratios for direct detection of the nova and where bias from mismodeling becomes greater than the statistical uncertainty. We also consider comparison of two halves of future LISA data to detect bursts in a model agnostic way. Our work has implications for identifying and classifying individual nova events as well as constraining the galactic nova rate throughout the entire galaxy, a challenging task for optical surveys.

astro-ph.HE↗
arXiv2026

N-GRPO: Embedding-Level Neighbor Mixing for Enhanced Policy Optimization

The success of Large Language Models in mathematical reasoning relies heavily on the generation of diverse and valid solution paths during the rollout phase. However, current rollout techniques face a fundamental trade-off: token-level sampling often yields redundant trajectories that differ only in rephrasing, while embedding-level methods utilizing random noise frequently disrupt semantic consistency. To resolve this, we introduce N-GRPO, a novel exploration strategy integrated into the Group Relative Policy Optimization (GRPO) framework. Rather than relying on token-level sampling or native embedding-level noise, our approach leverages Semantic Neighbor Mixing. This mechanism dynamically constructs input representations by mixing the embeddings of an anchor token and its nearest semantic neighbors, thereby injecting diversity while strictly adhering to the local semantic manifold. Experimental evaluations on the DeepSeek-R1-Distill-Qwen models across different sizes show that N-GRPO not only achieves consistent improvements over strong baselines on math reasoning benchmarks but also exhibits robust generalization capabilities on out-of-distribution tasks.

cs.LG↗
arXiv2026

C2GA: A Class-Controllable Generative Augmentation Framework for Respiratory Sound Classification

Background: Respiratory sound classification plays a critical role in the clinical identification of pulmonary pathologies. However, its performance is often hindered by the limited size, severe noise, and class imbalance of real-world auscultation datasets. Although conventional audio augmentation techniques are easy to implement, they may inadvertently distort subtle pathological characteristics. Meanwhile, existing Variational Autoencoder (VAE)- or Generative Adversarial Network (GAN)-based generative approaches often suffer from limited sample fidelity and insufficient controllability over class semantics, particularly under conditions of scarce supervision. Methods: To overcome these limitations, we propose C2GA, a class-controllable generative augmentation framework. C2GA first constructs a semantically rich discrete latent space using a conditional Vector-Quantized Variational Autoencoder (VQ-VAE), in which local acoustic tokens are explicitly decoupled from global class prototypes. Subsequently, a Transformer-based autoregressive prior is trained to generate label-consistent token sequences. These generated tokens are then fused with the corresponding class prototypes and decoded into high-fidelity Mel-spectrograms for data augmentation. Conclusion: These results indicate that C2GA provides an effective and semantically reliable augmentation strategy for respiratory sound analysis. By enabling controllable and high-quality data generation, the proposed framework offers a promising solution for improving the robustness and generalization of respiratory sound classification in realistic clinical scenarios.

cs.SD↗