arXiv subjects

Jiayi Wang

Publications and source records attributed to Jiayi Wang.

At least 55 records · Page 3Linked to original sources

arXiv2026

Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach

This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both leveraging future state prediction to enable robust and dynamic dance motions in real-world environments. In the offline motion generation stage, human dance demonstrations are captured via a motion capture (MoCap) system, retargeted to the robot by solving a Quadratic Programming (QP) problem, and further refined using Trajectory Optimization (TO) to ensure dynamic feasibility. In the online motion execution stage, a centroidal dynamics-based Model Predictive Control (MPC) framework tracks the planned motions in real time and proactively adjusts swing foot placement to adapt to real world disturbances. We validate our framework on the full-size humanoid robot Kuavo 4Pro, demonstrating the dynamic dance motions both in simulation and in a four-minute live public performance with a team of four robots. Experimental results show that longer prediction horizons improve both motion expressiveness in planning and stability in execution.

cs.RO↗

arXiv2026

Resource-Adaptive Federated Text Generation with Differential Privacy

In cross-silo federated learning (FL), sensitive text datasets remain confined to local organizations due to privacy regulations, making repeated training for each downstream task both communication-intensive and privacy-demanding. A promising alternative is to generate differentially private (DP) synthetic datasets that approximate the global distribution and can be reused across tasks. However, pretrained large language models (LLMs) often fail under domain shift, and federated finetuning is hindered by computational heterogeneity: only resource-rich clients can update the model, while weaker clients are excluded, amplifying data skew and the adverse effects of DP noise. We propose a flexible participation framework that adapts to client capacities. Strong clients perform DP federated finetuning, while weak clients contribute through a lightweight DP voting mechanism that refines synthetic text. To ensure the synthetic data mirrors the global dataset, we apply control codes (e.g., labels, topics, metadata) that represent each client's data proportions and constrain voting to semantically coherent subsets. This two-phase approach requires only a single round of communication for weak clients and integrates contributions from all participants. Experiments show that our framework improves distribution alignment and downstream robustness under DP and heterogeneity.

cs.LG↗

arXiv2026

CASSR: Continuous A-Star Search through Reachability for real time footstep planning

Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) supports continuous formulations but quickly becomes intractable, especially when rotations are included. We present CASSR, a novel framework that recursively propagates convex, continuous formulations of a robot's kinematic constraints within an A* search. Combined with a new cost-to-go heuristic based on the EPA algorithm, CASSR efficiently plans contact sequences of up to 30 footsteps in under 125 ms. Experiments on biped locomotion tasks demonstrate that CASSR outperforms traditional discretised A* by up to a factor of 100, while also surpassing a commercial MIP solver. These results show that CASSR enables fast, reliable, and real-time footstep planning for biped robots.

cs.RO↗

arXiv2026

SigVLP: Sigmoid Volume-Language Pre-Training for Self-Supervised CT-Volume Adaptive Representation Learning

Large-scale, volumetric medical imaging datasets typically aggregate scans from different vendors and devices, resulting in highly variable resolution, slice thicknesses, and numbers of slices per study. Consequently, training representation models usually requires cropping or interpolating along the z-axis to obtain fixed-size blocks, which inevitably causes information loss. We propose a new training approach to overcome this limitation. Instead of absolute position embeddings, we interpret volumes as sequences of 3D chunks and adopt Rotary Position Embeddings, allowing us to treat the z-axis as an unconstrained temporal dimensions. Building on this idea, we introduce a new vision-language model: SigVLP. In SigVLP, we implement Rotary Position Embedding as the positional encoding method, which is applied directly within the attention operation, generating input-conditioned sine and cosine weights on the fly. This design ensures consistent alignment between query and key projections and adapts to any input sizes. To allow for variable input size during training, we sample Computed Tomography volumes in chunks and pair them with localized organ-wise textual observations. Compared to using entire reports for conditioning, chunkwise alignment provides finer-grained supervision, enabling the model to establish stronger correlations between the text and volume representations, thereby improving the precision of text-to-volume alignment. Our models are trained with the Muon optimizer and evaluated on a diverse set of downstream tasks, including zero-shot abnormality and organ classification, segmentation, and retrieval tasks.

cs.CV↗

arXiv2026

Physical principles of building protein megacomplexes in a crowded milieu

Multiple phenotypic protein expressions arising from one genome represent variations in the protein relative abundance and their stoichiometry. A lack of definite compositional parts challenges the modeling of protein megacomplexes and cellular architectures. Despite the advances in protein structural predictions with AI, the mechanism of protein interactions and the emergence of megacomplexes they assemble remains unclear. Here, we present a statistical physics framework of grand canonical ensemble to explore the protein interactions that drive the emergent assembly of a megacomplex using the observational mass spectrometry datasets including protein relative abundance and the cross linked connections. Using chromatin remodeler megacomplex, INO80, as an example, we discovered a class of divergent protein that plays a critical role in orchestrating the assembly beyond nearest neighbors, dependent on the excluded volumes exerted by others. With the constraints of the excluded volumes by varying crowding contents, these divergent subunits orchestrate and form clusters with selective components growing into configurationally distinct architectures. We propose a machinery view for the INO80 chromatin remodeler complex where each loosely associated subunits can be occasionally recruited for parts as attachment into a core assembly driven by excluded volumes. Our computational framework provides a mechanistic insight into taking the macromolecular crowding as necessary physicochemical variables representing cell states to remodel the configurations of protein megacomplexes with structurally loose modules.

q-bio.BM↗

arXiv2026

ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking

Achieving stable and energy-efficient locomotion is essential for humanoid robots to operate continuously in real-world applications. Existing MPC and RL approaches often rely on energy-related metrics embedded within a multi-objective optimization framework, which require extensive hyperparameter tuning and often result in suboptimal policies. To address these challenges, we propose ECO (Energy-Constrained Optimization), a constrained RL framework that separates energy-related metrics from rewards, reformulating them as explicit inequality constraints. This method provides a clear and interpretable physical representation of energy costs, enabling more efficient and intuitive hyperparameter tuning for improved energy efficiency. ECO introduces dedicated constraints for energy consumption and reference motion, enforced by the Lagrangian method, to achieve stable, symmetric, and energy-efficient walking for humanoid robots. We evaluated ECO against MPC, standard RL with reward shaping, and four state-of-the-art constrained RL methods. Experiments, including sim-to-sim and sim-to-real transfers on the kid-sized humanoid robot BRUCE, demonstrate that ECO significantly reduces energy consumption compared to baselines while maintaining robust walking performance. These results highlight a substantial advancement in energy-efficient humanoid locomotion. All experimental demonstrations can be found on the project website: https://sites.google.com/view/eco-humanoid.

cs.RO↗

arXiv2026

Are Pose Estimators Ready for the Open World? STAGE: A GenAI Toolkit for Auditing 3D Human Pose Estimators

For safety-critical applications, it is crucial to audit 3D human pose estimators before deployment. Will the system break down if the weather or the clothing changes? Is it robust regarding gender and age? To answer these questions and more, we need controlled studies with images that differ in a single attribute, but real benchmarks cannot provide such pairs. We thus present STAGE, a GenAI data toolkit for auditing 3D human pose estimators. For STAGE, we develop the first GenAI image creator with accurate 3D pose control and propose a novel evaluation strategy to isolate and quantify the effects of single factors such as gender, ethnicity, age, clothing, location, and weather. Enabled by STAGE, we generate a series of benchmarks to audit, for the first time, the sensitivity of popular pose estimators towards such factors. Our results show that natural variations can severely degrade pose estimator performance, raising doubts about their readiness for open-world deployment. We aim to highlight these robustness issues and establish STAGE as a benchmark to quantify them.

cs.CV↗

arXiv2026

Does DINOv3 Set a New Medical Vision Standard? Benchmarking 2D and 3D Classification, Segmentation, and Registration

The advent of large-scale vision foundation models, pre-trained on diverse natural images, has marked a paradigm shift in computer vision. However, how the frontier vision foundation models' efficacies transfer to specialised domains such as medical imaging remains an open question. This report investigates whether DINOv3, a state-of-the-art self-supervised vision transformer (ViT) pre-trained on natural images, can directly serve as a powerful, unified encoder for medical vision tasks without domain-specific fine-tuning. To answer this, we benchmark DINOv3 across common medical vision tasks, including 2D and 3D classification, segmentation, and registration on a wide range of medical imaging modalities. We systematically analyse its scalability by varying model sizes and input image resolutions. Our findings reveal that DINOv3 shows impressive performance and establishes a formidable new baseline. Remarkably, it can even outperform medical-specific foundation models like BiomedCLIP and CT-Net on several tasks, despite being trained solely on natural images. However, we identify clear limitations: The model's features degrade in scenarios requiring deep domain specialisation, such as in whole-slide images (WSIs), electron microscopy (EM), and positron emission tomography (PET). Furthermore, we observe that DINOv3 does not consistently follow the scaling law in the medical domain. Its performance does not reliably increase with larger models or finer feature resolutions, showing diverse scaling behaviours across tasks. Overall, our work establishes DINOv3 as a strong baseline, whose powerful visual features can serve as a robust prior for multiple medical tasks. This opens promising future directions, such as leveraging its features to enforce multiview consistency in 3D reconstruction.

cs.CV↗

arXiv2026

Electronic procrystalline state in moire structures

Solid state materials can display varieties of atomic structural orders ranging from crystalline to amorphous, underlying their properties and diverse functionalities. Procrystal has emerged as a new category of solids, featuring a long-range ordered lattice framework tiled with disordered atomic or molecular structures on the lattice sites, arousing great interest due to its novel structural and physical properties. However, the electronic analogue of a procrystal, dubbed as an electronic procrystalline (EPC) state, has never been experimentally observed. Here, we report the observation of an EPC state in a moire superstructure formed between a monolayer metallic NiTe2 and a superconductor NbSe2 with incommensurate lattice wavevectors. The observed EPC state exhibits a long-range periodic charge modulation at the moire scale inlaid with short-range irregular orders within each moire cell. Strikingly, the short-range charge orders inside the moire unit cells have proximately root3*root3 quasi-period, which is absent in pristine NiTe2. Intriguingly, the EPC order is also observed in the superconducting state of the moire superstructure. Furthermore, the emergent EPC state and short-range charge order, coexisting with the proximity induced superconductivity, can be precisely modulated with the thickness of NiTe2. Our findings uncover the potential of moire platform for understanding and tuning novel correlated quantum phases with this exotic procrystalline order.

cond-mat.mtrl-sci↗

arXiv2026

Conditional Cauchy-Schwarz Divergence for Time Series Analysis: Kernelized Estimation and Applications in Clustering and Fraud Detection

We study the conditional Cauchy-Schwarz divergence (C-CSD) as a symmetric and density-free measure for time series analysis. We derive a practical kernel based estimator using radial basis function kernels on both the condition and output spaces, together with numerical stabilizations including a symmetric logarithmic form with an epsilon ridge and a robust bandwidth selection rule based on the interquartile range. Median heuristic bandwidths are applied to window vectors, and effective rank filtering is used to avoid degenerate kernels. We demonstrate the framework in two applications. In time series clustering, conditioning on the time index and comparing scalar series values yields a pairwise C-CSD dissimilarity. Bandwidths are selected on the training split, after which precomputed distance k-medoids clustering is performed on the test split and evaluated using normalized mutual information. In fraud detection, conditioning on sliding transaction windows and comparing the magnitude of value changes with categorical and merchant change indicators, each query window is scored by contrasting a global normal reference mixture against a same account local history mixture with recency decay and change flag weighting. Account level decisions are obtained by aggregating window scores using the maximum value. Experiments on benchmark time series datasets and a transactional fraud detection dataset demonstrate stable estimation and effective performance under a strictly leak free evaluation protocol.

stat.ME↗

arXiv2025

LogosQ: A High-Performance and Type-Safe Quantum Computing Library in Rust

Developing robust and high performance quantum software is challenging due to the dynamic nature of existing Python-based frameworks, which often suffer from runtime errors and scalability bottlenecks. In this work, we present LogosQ, a high performance backend agnostic quantum computing library implemented in Rust that enforces correctness through compile time type safety. Unlike existing tools, LogosQ leverages Rust static analysis to eliminate entire classes of runtime errors, particularly in parameter-shift rule gradient computations for variational algorithms. We introduce novel optimization techniques, including direct state-vector manipulation, adaptive parallel processing, and an FFT optimized Quantum Fourier Transform, which collectively deliver speedups of up to 900 times for state preparation (QFT) and 2 to 5 times for variational workloads over Python frameworks (PennyLane, Qiskit), 6 to 22 times over Julia implementations (Yao), and competitive performance with Q sharp. Beyond performance, we validate numerical stability through variational quantum eigensolver (VQE) experiments on molecular hydrogen and XYZ Heisenberg models, achieving chemical accuracy even in edge cases where other libraries fail. By combining the safety of systems programming with advanced circuit optimization, LogosQ establishes a new standard for reliable and efficient quantum simulation.

quant-ph↗

arXiv2025

Scaling Clinician-Grade Feature Generation from Clinical Notes with Multi-Agent Language Models

Developing accurate clinical prediction models is often bottlenecked by the difficulty of deriving meaningful structured features from unstructured EHR notes, a process that traditionally requires manual, unscalable clinical abstraction. In this study, we first established a rigorous patient-level Clinician Feature Generation (CFG) protocol, in which domain experts manually reviewed notes to define and extract nuanced features for a cohort of 147 patients with prostate cancer. As a high-fidelity ground truth, this labor-intensive process provided the blueprint for SNOW (Scalable Note-to-Outcome Workflow), a transparent multi-agent large language model (LLM) system designed to autonomously mimic the iterative reasoning and validation workflow of clinical experts. On 5-year cancer recurrence prediction, SNOW (AUC-ROC 0.767) achieved performance comparable to manual CFG (0.762) and outperformed structured baselines, clinician-guided LLM extraction, and six representational feature generation (RFG) approaches. Once configured, SNOW produced the full patient-level feature table in 12 hours with 5 hours of clinician oversight, reducing human expert effort by approximately 48-fold versus manual CFG. To test scalability where manual CFG is infeasible, we deployed SNOW on an external heart failure with preserved ejection fraction (HFpEF) cohort from MIMIC-IV (n=2,084); without task-specific tuning, SNOW generated prognostic features that outperformed baseline and RFG methods for 30-day (SNOW: 0.851) and 1-year (SNOW: 0.763) mortality prediction. These results demonstrate that a modular LLM agent-based system can scale expert-level feature generation from clinical notes, while enabling interpretable use of unstructured EHR text in outcome prediction and preserving generalizability across a variety of settings and conditions.

cs.AI↗

arXiv2025

Data-Centric Visual Development for Self-Driving Labs

Self-driving laboratories offer a promising path toward reducing the labor-intensive, time-consuming, and often irreproducible workflows in the biological sciences. Yet their stringent precision requirements demand highly robust models whose training relies on large amounts of annotated data. However, this kind of data is difficult to obtain in routine practice, especially negative samples. In this work, we focus on pipetting, the most critical and precision sensitive action in SDLs. To overcome the scarcity of training data, we build a hybrid pipeline that fuses real and virtual data generation. The real track adopts a human-in-the-loop scheme that couples automated acquisition with selective human verification to maximize accuracy with minimal effort. The virtual track augments the real data using reference-conditioned, prompt-guided image generation, which is further screened and validated for reliability. Together, these two tracks yield a class-balanced dataset that enables robust bubble detection training. On a held-out real test set, a model trained entirely on automatically acquired real images reaches 99.6% accuracy, and mixing real and generated data during training sustains 99.4% accuracy while reducing collection and review load. Our approach offers a scalable and cost-effective strategy for supplying visual feedback data to SDL workflows and provides a practical solution to data scarcity in rare event detection and broader vision tasks.

cs.CV↗

arXiv2025

Continual Alignment for SAM: Rethinking Foundation Models for Medical Image Segmentation in Continual Learning

In medical image segmentation, heterogeneous privacy policies across institutions often make joint training on pooled datasets infeasible, motivating continual image segmentation-learning from data streams without catastrophic forgetting. While the Segment Anything Model (SAM) offers strong zero-shot priors and has been widely fine-tuned across downstream tasks, its large parameter count and computational overhead challenge practical deployment. This paper demonstrates that the SAM paradigm is highly promising once its computational efficiency and performance can be balanced. To this end, we introduce the Alignment Layer, a lightweight, plug-and-play module which aligns encoder-decoder feature distributions to efficiently adapt SAM to specific medical images, improving accuracy while reducing computation. Building on SAM and the Alignment Layer, we then propose Continual Alignment for SAM (CA-SAM), a continual learning strategy that automatically adapts the appropriate Alignment Layer to mitigate catastrophic forgetting, while leveraging SAM's zero-shot priors to preserve strong performance on unseen medical datasets. Experimented across nine medical segmentation datasets under continual-learning scenario, CA-SAM achieves state-of-the-art performance. Our code, models and datasets will be released on \mbox{https://github.com/azzzzyo/Continual-Alignment-for-SAM.}

cs.CV↗

arXiv2025

A Principled Path to Fitted Distributional Evaluation

In reinforcement learning, distributional off-policy evaluation (OPE) focuses on estimating the return distribution of a target policy using offline data collected under a different policy. This work focuses on extending the widely used fitted Q-evaluation -- developed for expectation-based reinforcement learning -- to the distributional OPE setting. We refer to this extension as fitted distributional evaluation (FDE). While only a few related approaches exist, there remains no unified framework for designing FDE methods. To fill this gap, we present a set of guiding principles for constructing theoretically grounded FDE methods. Building on these principles, we develop several new FDE methods with convergence analysis and provide theoretical justification for existing methods, even in non-tabular environments. Extensive experiments, including simulations on linear quadratic regulators and Atari games, demonstrate the superior performance of the FDE methods.

stat.ML↗

arXiv2025

Foresighted Online Policy Optimization with Interference

Contextual bandits, which leverage the baseline features of sequentially arriving individuals to optimize cumulative rewards while balancing exploration and exploitation, are critical for online decision-making. Existing approaches typically assume no interference, where each individual's action affects only their own reward. Yet, such an assumption can be violated in many practical scenarios, and the oversight of interference can lead to short-sighted policies that focus solely on maximizing the immediate outcomes for individuals, which further results in suboptimal decisions and potentially increased regret over time. To address this significant gap, we introduce the foresighted online policy with interference (FRONT) that innovatively considers the long-term impact of the current decision on subsequent decisions and rewards. The proposed FRONT method employs a sequence of exploratory and exploitative strategies to manage the intricacies of interference, ensuring robust parameter inference and regret minimization. Theoretically, we establish a tail bound for the online estimator and derive the asymptotic distribution of the parameters of interest under suitable conditions on the interference network. We further show that FRONT attains sublinear regret under two distinct definitions, capturing both the immediate and consequential impacts of decisions, and we establish these results with and without statistical inference. The effectiveness of FRONT is further demonstrated through extensive simulations and a real-world application to urban hotel profits.

stat.ML↗

arXiv2025

Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots

This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and integrated \ac{mpc} to achieve high speed and precision. A hierarchical planning strategy, leveraging \ac{ik} and \ac{mip}, reduces computational complexity by decoupling the high-dimensional planning problem. A novel MIP formulation optimizes standing position selection and trajectory length, minimizing task completion time. Furthermore, an MPC system with simplified kinematics and single-step position correction ensures millimeter-level end-effector tracking accuracy. Validated through simulations and experiments on the Kuavo 4Pro humanoid platform, the framework demonstrates low time cost and a high success rate in multi-location tasks, enabling efficient and precise execution of complex industrial operations.

cs.RO↗

arXiv2025

UniRGB-IR: A Unified Framework for Visible-Infrared Semantic Tasks via Adapter Tuning

Semantic analysis on visible (RGB) and infrared (IR) images has gained significant attention due to their enhanced accuracy and robustness under challenging conditions including low-illumination and adverse weather. However, due to the lack of pre-trained foundation models on the large-scale infrared image datasets, existing methods prefer to design task-specific frameworks and directly fine-tune them with pre-trained foundation models on their RGB-IR semantic relevance datasets, which results in poor scalability and limited generalization. To address these limitations, we propose UniRGB-IR, a scalable and efficient framework for RGB-IR semantic tasks that introduces a novel adapter mechanism to effectively incorporate rich multi-modal features into pre-trained RGB-based foundation models. Our framework comprises three key components: a vision transformer (ViT) foundation model, a Multi-modal Feature Pool (MFP) module, and a Supplementary Feature Injector (SFI) module. The MFP and SFI modules cooperate with each other as an adpater to effectively complement the ViT features with the contextual multi-scale features. During training process, we freeze the entire foundation model to inherit prior knowledge and only optimize the MFP and SFI modules. Furthermore, to verify the effectiveness of our framework, we utilize the ViT-Base as the pre-trained foundation model to perform extensive experiments. Experimental results on various RGB-IR semantic tasks demonstrate that our method can achieve state-of-the-art performance.

cs.CV↗