arXiv subjects

Ruiyang Liu

Publications and source records attributed to Ruiyang Liu.

At least 19 recordsLinked to original sources

arXiv2026

Chart the Invisible: Interactive Perception for Hidden-Target Exploration in GUI Agents

Despite rapid progress in command-line interface (CLI) tasks, recent LLM-based agents still struggle with reliable task execution through graphical user interfaces (GUIs). A key challenge is the limited content visible within a bounded viewport, especially on mobile devices, where many task-relevant targets remain hidden and can only be revealed through swipe interactions. Therefore, although most GUI agents support swipe as an action primitive, the lack of target visibility makes it difficult for them to decide when, where, and how to swipe to reveal the hidden content. Our quantitative study further shows that GUI agents incorrectly choose a click action in 47.8% of cases that require swipe exploration. To bridge this gap, this paper proposes equipping GUI agents with scrollable-region perception to support hidden-area exploration before action selection. To this end, we trained the first multimodal model for scrollable-region perception on a manually collected dataset of 667 UI screens, called Hagasu. By correctly identifying 78.5% of scrollable regions, experiments across nine GUI agents show that integrating Hagasu improves the mean end-to-end completion rate from 64.8% to 82.7% on explore-dependent tasks. To facilitate follow-up research, we release the swipe dataset and the source code of Hagasu.

cs.SE↗

arXiv2026

HI3D 3.0 (Twinkle3D): Object-specific 3D Asset Generation with High Resolution

Image-to-3D generation has become increasingly capable of producing objects that closely resemble the input image, and an outstanding challenge is to reproduce the depicted object itself, including the specific geometry that defines it. Inscriptions, brand marks, and repeated structures are frequently distorted or lost, despite being critical to object identity. We present Hi3D 3.0, an image-to-3D generation system targeting object-specific fidelity, with Twinkle3D as its geometry model for generating watertight triangle meshes at $2048^{3}$ resolution. Twinkle3D advances high-fidelity geometry generation along four dimensions. First, while O-Voxel/FaithC offers high representational precision, it often suffers from poor surface quality and non-watertight geometry. We address both issues while retaining its $2048^{3}$-level precision. Second, we scale diffusion generation to sequences of up to 300K geometric tokens through a redesigned DiT architecture and large-scale distributed training optimizations, reducing training time per step from approximately ten minutes to ten seconds. Third, subsequent refinement cannot fully compensate for errors introduced during initial generation; we therefore strengthen both global shape and local detail in the initial generation stage, and the resulting single-stage model surpasses prior two-stage pipelines with $512^{3}$ refinement. Finally, we introduce a fine-grained image-3D cross-modal interaction mechanism that strengthens correspondence between visual evidence and geometric tokens, improving the recovery of object-specific structures. We evaluate geometric fidelity using alignment metrics derived from silhouettes and normal fields. Hi3D 3.0 outperforms four commercial systems across all reported metrics, recovering 82.1% of inscribed characters at 98.2% precision, compared with 21.7% recall for the strongest competitor.

cs.CV↗

arXiv2026

From Local Whole-Body VLA Behaviors to Scene-Scale Aerial Manipulation

Vision-language-action (VLA) models enable task-conditioned interaction, but extending them to scene-scale aerial manipulation remains challenging due to costly whole-body demonstrations, latency-induced action-state misalignment, and cross-site behavior composition. We present a unified framework for synthetic policy training and scene-scale execution on articulated uncrewed aerial manipulators (UAMs). A scene-reconfigurable pipeline synthesizes task-conditioned, kinodynamically feasible trajectories and synchronized multiview observations for VLA training without physical-platform demonstrations. Measured-progress-aligned realization (MPAR) aligns asynchronously returned action chunks with measured execution progress and realizes them as continuous, dynamically feasible trajectories. A relational Scene Graph grounds language goals to object instances and feasible interaction regions, while topology-guided transfer connects local behaviors across sites. Local VLA skills achieve 39/60 successes (65.0%) in simulation under oracle target and feasible-handoff conditions. Under 500-ms added latency, with and without a transient command-update stall, MPAR reduces median takeover phase error by 0.212 s over nominal-time alignment. The complete system completes 21/50 simulated multi-site missions (42.0%) and is further validated on a physical articulated UAM.

cs.RO↗

arXiv2026

Whole-Body Aerial Grasping and Lifting via Partial Visual Observations

Aerial grasp-and-lift tasks require whole-body coordination across approach, acquisition, and lifting under partial target observations. Early approach failures can limit exposure to later task stages during training, while changing visibility complicates alignment and closure timing during execution. We present a recurrent teacher-student framework that learns a single policy in simulation to jointly command flight, arm motion, and gripper closure without an explicit task-phase input. A privileged teacher learns through reinforcement learning with a critical-state curriculum that exposes acquisition and lifting states before connecting them to normal approach trajectories. Its behavior is distilled into a recurrent visual student that replaces privileged target states with dual-view point clouds and proprioception, integrating observation history for closed-loop control. A dedicated closure objective supervises closure timing from sustained model-defined readiness sequences. Training and primary evaluation use a simulated acquisition-and-payload model with condition-triggered latching, virtual attachment, and wrench-based payload loading for short-distance lifting. Across 8,996 completed simulation episodes under this model, the frozen student achieves full-task success rates of 99.97%, 97.14%, and 95.84% under nominal, physics/control-randomized, and additional camera-randomized conditions, respectively. The nominal latch-count-weighted mean of per-seed 90th-percentile alignment errors at acquisition is 8.12 mm.

cs.RO↗

arXiv2026

From Sketch Prior to Trajectories: A Mission-Oriented Coordinated Navigation Framework for Indoor UAV Swarm

UAV swarm for applications, such as indoor inspection, security patrol, and logistics delivery, are often mission-oriented rather than exploration-oriented. In these tasks, UAVs are required to visit task-relevant regions in a prescribed sequence, and such region-level mission information can often be obtained from pre-deployment sketch-map priors, such as floor plans, CAD layouts, or evacuation diagrams. Although these tasks are executed in three-dimensional space, UAVs usually fly within a specific altitude layer or a nearly fixed altitude range on each floor, making mission-level region transitions mainly governed by planar connectivity. Based on these observations, this paper proposes a mission-oriented coordinated navigation framework that exploits sketch-map priors for multi-UAV indoor operations. Onboard observations are used to perform topological alignment, and the aligned prior is fused with online observations to construct a mission-oriented traversability representation. A layered 2D--3D coordinated navigation framework is further developed, where 2D guided path planning generates mission-oriented guide paths and guide-driven 3D trajectory optimization produces dynamically feasible and collision-free trajectories. Simulation and real-world experiments validate the effectiveness of the proposed framework in structured multi-room indoor environments and further demonstrate its coordinated navigation capability under both communication-available and communication-loss conditions. Multi-floor simulation results show the scalability of the system to layered indoor structures.

cs.RO↗

arXiv2026

QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning

Uncrewed aerial manipulators (UAMs) integrate robotic arms with aerial platforms for three-dimensional physical interaction. However, enlarging the workspace increases arm-induced disturbances, while existing geometric representations face a trade-off between geometric fidelity and computational efficiency in close-proximity interaction. This paper presents QuadHand, a compact quadrotor aerial manipulator with a 3-DoF arm, gripper, and battery-assisted passive CoG compensation module to reduce dominant arm-induced disturbances. We further propose MRC-SDF, a Multi-articulated Robot-Centric Signed Distance Field that preserves fine geometric detail with tractable computation, and a spatiotemporal whole-body trajectory optimization framework that jointly optimizes the quadrotor and manipulator for safe and executable trajectory generation. Simulations and real-world experiments demonstrate safe and executable aerial manipulation in complex environments.

cs.RO↗

arXiv2026

DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions

Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception to physical interaction. Among various aerial interactions, push-and-pull operations are fundamental manipulation primitives that require sustained horizontal forces while maintaining stable flight. In this paper, we propose DuctAM, a compact aerial manipulation platform that enhances horizontal force capability for push-and-pull interactions using two ducted fans integrated along the quadrotor interaction axis. An attitude-force decoupled control scheme enables controllable horizontal forces without requiring large attitude changes. Extensive real-world experiments are conducted to validate the DuctAM. Figure-eight trajectory tracking experiments demonstrate stable flight and accurate motion control in both quad and duct modes. Force-measurement experiments quantify the decoupled longitudinal force capability of DuctAM. Finally, representative push-and-pull interaction tasks, including cart pushing, door closing, and drawer opening, verify the practical effectiveness of DuctAM. The results show that DuctAM achieves significantly improved horizontal interaction force capability while maintaining stable flight compared with conventional UAVs.

cs.RO↗

arXiv2026

HAT-4D: Lifting Monocular Video for 4D Multi-Object Interactions via Human-Agent Collaboration

Extracting dynamic 4D object interactions from massive, in-the-wild monocular videos offers a highly efficient data collection pathway for scaling Embodied AI and training VLAs. However, existing monocular 4D reconstruction methods primarily focus on isolated objects, often failing under the severe occlusions and complex dynamics inherent in multi-object interactions. To bridge this gap, we propose HAT-4D, the first agentic framework designed to reconstruct the 3D geometry, temporal dynamics, and physical interactions of multiple objects from a single video. By integrating VLMs with a multi-level human-in-the-loop feedback mechanism, HAT-4D efficiently resolves depth ambiguities and interaction-induced occlusions during 3D generation and 4D propagation, yielding physically plausible assets without relying on expensive multicamera rigs. As a scalable data engine, HAT-4D facilitates the creation of MVOIK-4D, an open-world benchmark for monocular 4D interaction reconstruction, accompanied by a novel multi-dimensional evaluation protocol focused on physical plausibility and temporal consistency. Extensive experiments demonstrate that HAT-4D achieves SOTA performance on most evaluation metrics, while maintaining competitive semantic alignment. Ablation studies show that introducing a small amount of human feedback improves interaction reconstruction. Moreover, the data produced by HAT-4D effectively improves baseline performance when used for fine-tuning. Our data and code are available at https://lijiaxin0111.github.io/HAT4D/

cs.CV↗

arXiv2026

TailorCoPilot: Enabling Agentic Pattern Making with Version-Controlled State Tracking

Experience-driven manufacturing, such as garment pattern making, faces a severe generational skills gap because its core expertise relies on undocumented tacit knowledge forged through day-to-day practice. To address this challenge, we present TailorCoPilot, an agentic pattern-making system built upon a specially designed version-control backend TailorTrace. TailorTrace models sewing patterns as structured, discrete states and records their transformations during the pattern-making process as explicit operation sequences defined upon the geometry primitives in the sewing pattern (panels, edges, vertices and stitches). Integrated into a conventional pattern-making GUI, TailorTrace enables seamless documentation of senior experts' tacit pattern-making knowledge without breaking their daily workflow. The documented knowledge further offers interactive, pedagogical scaffolding for novices, while providing a robust foundation to power TailorCoPilot and train future generative AI models. In a user study with novices and advanced novices, TailorCoPilot improved task completion rates, reduced time and perceived workload, and yielded higher-quality artifacts compared to skill-appropriate baselines. Ultimately, TailorCoPilot demonstrates a viable pathway to capture practice-based expertise, operationalizing it to support both generative AI advancements and human apprenticeship.

cs.HC↗

arXiv2026

Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction

Generalized robots must learn from diverse, large-scale human-object interactions (HOI) to operate robustly in the real world. Monocular internet videos offer a nearly limitless and readily available source of data, capturing an unparalleled diversity of human activities, objects, and environments. However, accurately and scalably extracting 4D interaction data from these in-the-wild videos remains a significant and unsolved challenge. To overcome the annotation bottleneck, we introduce an efficient sparse contact annotation paradigm. To scale this process, we develop InterPoint, a multi-modal predictor that drives a human-in-the-loop data engine. Building upon these efficiently acquired annotations, we introduce 4DHOISolver, a novel optimization framework that constrains the ill-posed 4D HOI reconstruction problem, maintaining high spatio-temporal coherence and physical plausibility. Leveraging this framework, we introduce Open4DHOI, a new large-scale 4D HOI dataset featuring a diverse catalog of 135 object types and 133 actions. Furthermore, we demonstrate the effectiveness of our reconstructions by enabling an RL-based agent to imitate the recovered motions. Data and code will be publicly available at https://github.com/wenboran2002/open4dhoi_code.

cs.CV↗

arXiv2025

An AI-driven Assessment of Bone Density as a Biomarker Leading to the Aging Law

As global population aging intensifies, there is growing interest in the study of biological age. Bones have long been used to evaluate biological age, and the decline in bone density with age is a well-recognized phenomenon in adults. However, the pattern of this decline remains controversial, making it difficult to serve as a reliable indicator of the aging process. Here we present a novel AI-driven statistical method to assess the bone density, and a discovery that the bone mass distribution in trabecular bone of vertebrae follows a non-Gaussian, unimodal, and skewed distribution in CT images. The statistical mode of the distribution is defined as the measure of bone mass, which is a groundbreaking assessment of bone density, named Trabecular Bone Density (TBD). The dataset of CT images are collected from 1,719 patients who underwent PET/CT scans in three hospitals, in which a subset of the dataset is used for AI model training and generalization. Based upon the cases, we demonstrate that the pattern of bone density declining with aging exhibits a consistent trend of exponential decline across sexes and age groups using TBD assessment. The developed AI-driven statistical method blazes a trail in the field of AI for reliable quantitative computation and AI for medicine. The findings suggest that human aging is a gradual process, with the rate of decline slowing progressively over time, which will provide a valuable basis for scientific prediction of life expectancy.

physics.med-ph↗

arXiv2025

GarmageNet: A Multimodal Generative Framework for Sewing Pattern Design and Generic Garment Modeling

Realistic digital garment modeling remains a labor-intensive task due to the intricate process of translating 2D sewing patterns into high-fidelity, simulation-ready 3D garments. We introduce GarmageNet, a unified generative framework that automates the creation of 2D sewing patterns, the construction of sewing relationships, and the synthesis of 3D garment initializations compatible with physics-based simulation. Central to our approach is Garmage, a novel garment representation that encodes each panel as a structured geometry image, effectively bridging the semantic and geometric gap between 2D structural patterns and 3D garment geometries. Followed by GarmageNet, a latent diffusion transformer to synthesize panel-wise geometry images and GarmageJigsaw, a neural module for predicting point-to-point sewing connections along panel contours. To support training and evaluation, we build GarmageSet, a large-scale dataset comprising 14,801 professionally designed garments with detailed structural and style annotations. Our method demonstrates versatility and efficacy across multiple application scenarios, including scalable garment generation from multi-modal design concepts (text prompts, sketches, photographs), automatic modeling from raw flat sewing patterns, pattern recovery from unstructured point clouds, and progressive garment editing using conventional instructions, laying the foundation for fully automated, production-ready pipelines in digital fashion. Project page: https://style3d.github.io/garmagenet/.

cs.GR↗

arXiv2025

Design2GarmentCode: Turning Design Concepts to Tangible Garments Through Program Synthesis

Sewing patterns, the essential blueprints for fabric cutting and tailoring, act as a crucial bridge between design concepts and producible garments. However, existing uni-modal sewing pattern generation models struggle to effectively encode complex design concepts with a multi-modal nature and correlate them with vectorized sewing patterns that possess precise geometric structures and intricate sewing relations. In this work, we propose a novel sewing pattern generation approach \textbf{Design2GarmentCode} based on Large Multimodal Models (LMMs), to generate parametric pattern-making programs from multi-modal design concepts. LMM offers an intuitive interface for interpreting diverse design inputs, while pattern-making programs could serve as well-structured and semantically meaningful representations of sewing patterns, and act as a robust bridge connecting the cross-domain pattern-making knowledge embedded in LMMs with vectorized sewing patterns. Experimental results demonstrate that our method can flexibly handle various complex design expressions such as images, textual descriptions, designer sketches, or their combinations, and convert them into size-precise sewing patterns with correct stitches. Compared to previous methods, our approach significantly enhances training efficiency, generation quality, and authoring flexibility.

cs.GR↗

arXiv2024

Analytic Convolutional Layer: A Step to Analytic Neural Network

The prevailing approach to embedding prior knowledge within convolutional layers typically includes the design of steerable kernels or their modulation using designated kernel banks. In this study, we introduce the Analytic Convolutional Layer (ACL), an innovative model-driven convolutional layer, which is a mosaic of analytical convolution kernels (ACKs) and traditional convolution kernels. ACKs are characterized by mathematical functions governed by analytic kernel parameters (AKPs) learned in training process. Learnable AKPs permit the adaptive update of incorporated knowledge to align with the features representation of data. Our extensive experiments demonstrate that the ACLs not only have a remarkable capacity for feature representation with a reduced number of parameters but also attain increased reliability through the analytical formulation of ACKs. Furthermore, ACLs offer a means for neural network interpretation, thereby paving the way for the intrinsic interpretability of neural network. The source code will be published in company with the paper.

cs.LG↗

arXiv2024

Applications of Tao General Difference in Discrete Domain

Numerical difference computation is one of the cores and indispensable in the modern digital era. Tao general difference (TGD) is a novel theory and approach to difference computation for discrete sequences and arrays in multidimensional space. Built on the solid theoretical foundation of the general difference in a finite interval, the TGD operators demonstrate exceptional signal processing capabilities in real-world applications. A novel smoothness property of a sequence is defined on the first- and second TGD. This property is used to denoise one-dimensional signals, where the noise is the non-smooth points in the sequence. Meanwhile, the center of the gradient in a finite interval can be accurately location via TGD calculation. This solves a traditional challenge in computer vision, which is the precise localization of image edges with noise robustness. Furthermore, the power of TGD operators extends to spatio-temporal edge detection in three-dimensional arrays, enabling the identification of kinetic edges in video data. These diverse applications highlight the properties of TGD in discrete domain and the significant promise of TGD for the computation across signal processing, image analysis, and video analytic.

cs.CV↗

arXiv2024

A Theory of General Difference in Continuous and Discrete Domain

Though a core element of the digital age, numerical difference algorithms struggle with noise susceptibility. This stems from a key disconnect between the infinitesimal quantities in continuous differentiation and the finite intervals in its discrete counterpart. This disconnect violates the fundamental definition of differentiation (Leibniz and Cauchy). To bridge this gap, we build a novel general difference (Tao General Difference, TGD). Departing from derivative-by-integration, TGD generalizes differentiation to finite intervals in continuous domains through three key constraints. This allows us to calculate the general difference of a sequence in discrete domain via the continuous step function constructed from the sequence. Two construction methods, the rotational construction and the orthogonal construction, are proposed to construct the operators of TGD. The construction TGD operators take same convolution mode in calculation for continuous functions, discrete sequences, and arrays across any dimension. Our analysis with example operations showcases TGD's capability in both continuous and discrete domains, paving the way for accurate and noise-resistant differentiation in the digital era.

cs.DM↗

arXiv2023

Neural Impostor: Editing Neural Radiance Fields with Explicit Shape Manipulation

Neural Radiance Fields (NeRF) have significantly advanced the generation of highly realistic and expressive 3D scenes. However, the task of editing NeRF, particularly in terms of geometry modification, poses a significant challenge. This issue has obstructed NeRF's wider adoption across various applications. To tackle the problem of efficiently editing neural implicit fields, we introduce Neural Impostor, a hybrid representation incorporating an explicit tetrahedral mesh alongside a multigrid implicit field designated for each tetrahedron within the explicit mesh. Our framework bridges the explicit shape manipulation and the geometric editing of implicit fields by utilizing multigrid barycentric coordinate encoding, thus offering a pragmatic solution to deform, composite, and generate neural implicit fields while maintaining a complex volumetric appearance. Furthermore, we propose a comprehensive pipeline for editing neural implicit fields based on a set of explicit geometric editing operations. We show the robustness and adaptability of our system through diverse examples and experiments, including the editing of both synthetic objects and real captured data. Finally, we demonstrate the authoring process of a hybrid synthetic-captured object utilizing a variety of editing operations, underlining the transformative potential of Neural Impostor in the field of 3D content creation and manipulation.

cs.GR↗

arXiv2023

Automatic Context Pattern Generation for Entity Set Expansion

Entity Set Expansion (ESE) is a valuable task that aims to find entities of the target semantic class described by given seed entities. Various Natural Language Processing (NLP) and Information Retrieval (IR) downstream applications have benefited from ESE due to its ability to discover knowledge. Although existing corpus-based ESE methods have achieved great progress, they still rely on corpora with high-quality entity information annotated, because most of them need to obtain the context patterns through the position of the entity in a sentence. Therefore, the quality of the given corpora and their entity annotation has become the bottleneck that limits the performance of such methods. To overcome this dilemma and make the ESE models free from the dependence on entity annotation, our work aims to explore a new ESE paradigm, namely corpus-independent ESE. Specifically, we devise a context pattern generation module that utilizes autoregressive language models (e.g., GPT-2) to automatically generate high-quality context patterns for entities. In addition, we propose the GAPA, a novel ESE framework that leverages the aforementioned GenerAted PAtterns to expand target entities. Extensive experiments and detailed analyses on three widely used datasets demonstrate the effectiveness of our method. All the codes of our experiments are available at https://github.com/geekjuruo/GAPA.

cs.CL↗