arXiv subjects

Ruiyu Wang

Publications and source records attributed to Ruiyu Wang.

At least 19 recordsLinked to original sources

arXiv2026

Localized Visual Feature Aggregation via Focus Pooling for Visuomotor Policies

Focusing on spatially localized, control-relevant visual cues has been shown to improve data efficiency in visuomotor policies by reducing the need to model task-irrelevant visual variation. Existing methods often impose this focus through input preprocessing, such as cropping control- or object-centric regions in RGB images or point-clouds. However, it remains underexplored whether such localized features can be exposed directly from commonly used convolutional neural network (CNN) encoded features. In this paper, we show that intermediate CNN features preserve localized visual context for control, but existing pooling methods fail to aggregate it effectively. We introduce FocusPool, an attention pooling module that selectively aggregates intermediate visual features according to their relevance to the robot's current proprioceptive context. The resulting pooled representation captures task-progressive, control-relevant local information and is used directly for policy learning. Across simulation and real-world experiments, FocusPool improves policy success rates over pooling and explicit local focus methods by 36.2% and 41.2%, with training only 5.8% of encoder parameters.

cs.RO↗

arXiv2026

Attention from Action, for Action: Emergent Visual Bottlenecks for Policy Learning

Visual bottlenecks that focus policy inputs on regions of interest (ROIs) can improve data-efficient visuomotor learning by separating where to look from how to act. Many ROI interfaces rely on external spatial labels, such as gaze, object classes, or affordance annotations. Label-free alternatives often derive crops from trajectories by detecting gripper or motion events and centering a fixed crop at the projected end-effector. Such action-derived crops are useful spatial priors that require no additional labels, but they encode fixed choices about event timing, proxy points, and crop scale. When the visual evidence needed for control lies away from the end-effector or changes continuously with task progress, these crops can become misaligned. We propose Seeker, a task- and state-conditioned readout that learns attention from action. Starting from frozen DINOv3 features, Seeker iteratively updates a query with gathered visual evidence, producing progression-aware ROIs solely from action supervision. The learned ROI serves as a spatial interface for RGB cropping, mask-guided background augmentation, and point-cloud filtering. In simulation and the real world, Seeker improves data efficiency and robustness over no-crop, augmentation, and action-derived crop baselines. On real robots, Seeker raises average in-domain success from the best baseline's 48.3% to 76.7% and success under lighting/background shifts from 20.0% to 60.0%.

cs.RO↗

arXiv2026

Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation

In vision-based behavior cloning (BC), conventional image augmentations such as Random Crop and Color Jitter often fall short under substantial visual domain shifts, including changes in shadows, distractors, and backgrounds. Superimposition-based augmentations, which blend in-domain and out-of-domain images, have shown promise for improving generalization in computer vision, but their suitability for BC remains uncertain because task-critical semantics, spatiotemporal relationships, and agent-target interactions must be preserved. To address this, we introduce RoboSaGA, a Saliency-Guided Augmentation method within the superimposition family tailored for vision-based BC. RoboSaGA dynamically adjusts augmentation intensity at the pixel level using policy-driven saliency, enabling aggressive augmentation in task-irrelevant regions while preserving task-critical information. It integrates seamlessly into existing architectures without requiring structural modifications or additional learning objectives. Experiments in both simulated and real-world settings show that RoboSaGA preserves in-domain performance while substantially improving robustness to visual domain shifts, including distractor and background changes, as well as lighting and shadow variations. Code is available at https://github.com/Zheyu-Zhuang/RoboSaGA.

cs.RO↗

arXiv2026

BioMedJImpact: A Comprehensive Dataset and LLM Pipeline for AI Engagement and Scientific Impact Analysis of Biomedical Journals

Assessing journal impact is central to scholarly communication, yet existing resources rarely capture how collaboration and artificial intelligence (AI) research jointly shape venue prestige in biomedicine. We present BioMedJImpact, a large-scale, biomedical-oriented dataset built from 1.74 million PubMed Central articles across 2,744 journals. BioMedJImpact integrates bibliometric indicators, collaboration features, and an LLM-derived AI engagement rate, defined as the proportion of AI-related articles within each journal-year. Specifically, AI engagement rate is extracted through a reproducible three-stage LLM pipeline. We analyze how collaboration intensity and AI engagement rate jointly influence scientific impact across two temporal subsets (2016-2019, 2020-2023). Two main patterns emerge: journals with larger author teams tend to have higher citation impact, while AI engagement rate is positively associated with Impact Factor only in the 2019 subset. To validate the LLM pipeline for deriving the AI engagement rate, we conduct human evaluation, confirming substantial agreement in AI relevance detection and consistent subfield classification. Together, BioMedJImpact provides both a comprehensive dataset at the interface of biomedicine and AI and a validated framework for scalable, content-aware scientometric analysis. Code and dataset are available at https://github.com/JonathanWry/BioMedJImpact.

cs.IR↗

arXiv2026

MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs

Image-based behaviour cloning leverages demonstrations captured from ubiquitous RGB cameras. However, it remains constrained by the cost of collecting diverse demos, especially for generalizing across workspace variations. We propose MirrorDuo, a reflection-based formulation that operates on image, proprioception, and full 6-DoF end-effector action tuples, generating a mirrored counterpart for each original demonstration, effectively achieving "collect one, get one for free". It can be applied as a data augmentation strategy for existing learning pipelines, such as standard behaviour cloning or diffusion policy, or as a structural prior for reflection-equivariant policy networks. By leveraging the overlap between the original and mirrored domains, MirrorDuo achieves significantly improved performance under the same data budget when demonstrations are evenly distributed across both sides of the workspace. When demonstrations are confined to one side, MirrorDuo enables efficient skill transfer to the mirrored workspace with as few as zero or five demos in the target arrangement.

cs.RO↗

arXiv2026

A Multimodal Pre-trained Network for Integrated EEG-Video Seizure Detection

Reliable seizure detection in mouse models is essential for preclinical epilepsy research, yet manual review of synchronized video-EEG recordings is labor-intensive and single-modality systems fail for complementary reasons: video-based methods are easily confounded by benign behaviors, whereas EEG-based methods are vulnerable to ictal motion artifacts. We present EEGVFusion, a multimodal framework that combines self-supervised EEG representation learning, spatio-temporal video encoding, optimal-transport alignment, and bidirectional cross-attention to integrate neural and behavioral evidence. We also curate an expert-annotated dataset of synchronized EEG and video recordings comprising 93 sessions from 15 mice for training and evaluation. In the random-session split, EEGVFusion achieved a Balanced Accuracy of 0.9957 with perfect event sensitivity and an Event FAR of 0.6250 FP/h, indicating strong seizure detection performance with a low false-alarm burden. In a single held-out-subject evaluation with Subject 110 reserved for testing, EEGVFusion achieved a Balanced Accuracy of 0.9718 and reduced Event FAR from 2.7250 FP/h for the EEG-only counterpart to 0.4833 FP/h while preserving perfect event sensitivity. Targeted ablations further showed that EEG pre-training and OT alignment help reduce false alarms while preserving event sensitivity.

cs.CV↗

arXiv2026

Enhanced Atrial Fibrillation Prediction in ESUS Patients with Hypergraph-based Pre-training

Atrial fibrillation (AF) is a major complication following embolic stroke of undetermined source (ESUS), elevating the risk of recurrent stroke and mortality. Early identification is clinically important, yet existing tools face limitations in accuracy, scalability, and cost. Machine learning (ML) offers promise but is hindered by small ESUS cohorts and high-dimensional medical features. To address these challenges, we introduce supervised and unsupervised hypergraph-based pre-training strategies to improve AF prediction in ESUS patients. We first pre-train hypergraph-based patient embedding models on a large stroke cohort (7,780 patients) to capture salient features and higher-order interactions. The resulting embeddings are transferred to a smaller ESUS cohort (510 patients), reducing feature dimensionality while preserving clinically meaningful information, enabling effective prediction with lightweight models. Experiments show that both pre-training approaches outperform traditional models trained on raw data, improving accuracy and robustness. This framework offers a scalable and efficient solution for AF risk prediction after stroke.

cs.LG↗

arXiv2026

PALM: Enhanced Generalizability for Local Visuomotor Policies via Perception Alignment

Generalizing beyond the training domain in image-based behavior cloning remains challenging. Existing methods address individual axes of generalization, workspace shifts, viewpoint changes, and cross-embodiment transfer, yet they are typically developed in isolation and often rely on complex pipelines. We introduce PALM (Perception Alignment for Local Manipulation), which leverages the invariance of local action distributions between out-of-distribution (OOD) and demonstrated domains to address these OOD shifts concurrently, without additional input modalities, model changes, or data collection. PALM modularizes the manipulation policy into coarse global components and a local policy for fine-grained actions. We reduce the discrepancy between in-domain and OOD inputs at the local policy level by enforcing local visual focus and consistent proprioceptive representation, allowing the policy to retrieve invariant local actions under OOD conditions. Experiments show that PALM limits OOD performance drops to 8% in simulation and 24% in the real world, compared to 45% and 77% for baselines.

cs.RO↗

arXiv2026

Thinking with Blueprints: Assisting Vision-Language Models in Spatial Reasoning via Structured Object Representation

Spatial reasoning -- the ability to perceive and reason about relationships in space -- advances vision-language models (VLMs) from visual perception toward spatial semantic understanding. Existing approaches either revisit local image patches, improving fine-grained perception but weakening global spatial awareness, or mark isolated coordinates, which capture object locations but overlook their overall organization. In this work, we integrate the cognitive concept of an object-centric blueprint into VLMs to enhance spatial reasoning. Given an image and a question, the model first constructs a JSON-style blueprint that records the positions, sizes, and attributes of relevant objects, and then reasons over this structured representation to produce the final answer. To achieve this, we introduce three key techniques: (1) blueprint-embedded reasoning traces for supervised fine-tuning to elicit basic reasoning skills; (2) blueprint-aware rewards in reinforcement learning to encourage the blueprint to include an appropriate number of objects and to align final answers with this causal reasoning; and (3) anti-shortcut data augmentation that applies targeted perturbations to images and questions, discouraging reliance on superficial visual or linguistic cues. Experiments show that our method consistently outperforms existing VLMs and specialized spatial reasoning models.

cs.CV↗

arXiv2025

CADMorph: Geometry-Driven Parametric CAD Editing via a Plan-Generate-Verify Loop

A Computer-Aided Design (CAD) model encodes an object in two coupled forms: a parametric construction sequence and its resulting visible geometric shape. During iterative design, adjustments to the geometric shape inevitably require synchronized edits to the underlying parametric sequence, called geometry-driven parametric CAD editing. The task calls for 1) preserving the original sequence's structure, 2) ensuring each edit's semantic validity, and 3) maintaining high shape fidelity to the target shape, all under scarce editing data triplets. We present CADMorph, an iterative plan-generate-verify framework that orchestrates pretrained domain-specific foundation models during inference: a parameter-to-shape (P2S) latent diffusion model and a masked-parameter-prediction (MPP) model. In the planning stage, cross-attention maps from the P2S model pinpoint the segments that need modification and offer editing masks. The MPP model then infills these masks with semantically valid edits in the generation stage. During verification, the P2S model embeds each candidate sequence in shape-latent space, measures its distance to the target shape, and selects the closest one. The three stages leverage the inherent geometric consciousness and design knowledge in pretrained priors, and thus tackle structure preservation, semantic validity, and shape fidelity respectively. Besides, both P2S and MPP models are trained without triplet data, bypassing the data-scarcity bottleneck. CADMorph surpasses GPT-4o and specialized CAD baselines, and supports downstream applications such as iterative editing and reverse-engineering enhancement.

cs.CV↗

arXiv2025

Knowledge Graph Augmented Large Language Models for Disease Prediction

Electronic health records (EHRs) enable strong clinical prediction, but explanations are often coarse and hard to use for patient-level decisions. We propose a knowledge graph (KG)-guided chain-of-thought (CoT) framework for visit-level disease prediction on MIMIC-III. We map ICD-9 codes to PrimeKG, mine disease-relevant nodes and paths, and use these paths to scaffold temporally consistent CoT rationales, retaining only samples whose conclusions match observed outcomes. We fine-tune lightweight instruction-tuned LLMs (LLaMA-3.1-Instruct-8B and Gemma-7B) on two small cohorts (400 and 1,000 index visits) across ten PrimeKG-mapped diseases. Our models outperform strong classical baselines, reaching AUROC 0.66-0.70 and macro-AUPR 0.40-0.47. Without additional training, the models transfer zero-shot to the CRADLE cohort, improving accuracy from 0.40-0.51 to 0.72-0.77. In a blinded clinician study, KG-guided CoT rationales are consistently preferred for clarity, relevance, and correctness. Code is available at: https://github.com/JonathanWry/KG-guided-LLM-pipeline

cs.AI↗

arXiv2025

BioMedJImpact: A Comprehensive Dataset and LLM Pipeline for AI Engagement and Scientific Impact Analysis of Biomedical Journals

Assessing journal impact is central to scholarly communication, yet existing open resources rarely capture how collaboration structures and artificial intelligence (AI) research jointly shape venue prestige in biomedicine. We present BioMedJImpact, a large-scale, biomedical-oriented dataset designed to advance journal-level analysis of scientific impact and AI engagement. Built from 1.74 million PubMed Central articles across 2,744 journals, BioMedJImpact integrates bibliometric indicators, collaboration features, and LLM-derived semantic indicators for AI engagement. Specifically, the AI engagement feature is extracted through a reproducible three-stage LLM pipeline that we propose. Using this dataset, we analyze how collaboration intensity and AI engagement jointly influence scientific impact across pre- and post-pandemic periods (2016-2019, 2020-2023). Two consistent trends emerge: journals with higher collaboration intensity, particularly those with larger and more diverse author teams, tend to achieve greater citation impact, and AI engagement has become an increasingly strong correlate of journal prestige, especially in quartile rankings. To further validate the three-stage LLM pipeline we proposed for deriving the AI engagement feature, we conduct human evaluation, confirming substantial agreement in AI relevance detection and consistent subfield classification. Together, these contributions demonstrate that BioMedJImpact serves as both a comprehensive dataset capturing the intersection of biomedicine and AI, and a validated methodological framework enabling scalable, content-aware scientometric analysis of scientific impact and innovation dynamics. Code is available at https://github.com/JonathanWry/BioMedJImpact.

cs.CL↗

arXiv2025

CAD-Tokenizer: Towards Text-based CAD Prototyping via Modality-Specific Tokenization

Computer-Aided Design (CAD) is a foundational component of industrial prototyping, where models are defined not by raw coordinates but by construction sequences such as sketches and extrusions. This sequential structure enables both efficient prototype initialization and subsequent editing. Text-guided CAD prototyping, which unifies Text-to-CAD generation and CAD editing, has the potential to streamline the entire design pipeline. However, prior work has not explored this setting, largely because standard large language model (LLM) tokenizers decompose CAD sequences into natural-language word pieces, failing to capture primitive-level CAD semantics and hindering attention modules from modeling geometric structure. We conjecture that a multimodal tokenization strategy, aligned with CAD's primitive and structural nature, can provide more effective representations. To this end, we propose CAD-Tokenizer, a framework that represents CAD data with modality-specific tokens using a sequence-based VQ-VAE with primitive-level pooling and constrained decoding. This design produces compact, primitive-aware representations that align with CAD's structural nature. Applied to unified text-guided CAD prototyping, CAD-Tokenizer significantly improves instruction following and generation quality, achieving better quantitative and qualitative performance over both general-purpose LLMs and task-specific baselines.

cs.LG↗

arXiv2025

FinMaster: A Holistic Benchmark for Mastering Full-Pipeline Financial Workflows with LLMs

Financial tasks are pivotal to global economic stability; however, their execution faces challenges including labor intensive processes, low error tolerance, data fragmentation, and tool limitations. Although large language models (LLMs) have succeeded in various natural language processing tasks and have shown potential in automating workflows through reasoning and contextual understanding, current benchmarks for evaluating LLMs in finance lack sufficient domain-specific data, have simplistic task design, and incomplete evaluation frameworks. To address these gaps, this article presents FinMaster, a comprehensive financial benchmark designed to systematically assess the capabilities of LLM in financial literacy, accounting, auditing, and consulting. Specifically, FinMaster comprises three main modules: i) FinSim, which builds simulators that generate synthetic, privacy-compliant financial data for companies to replicate market dynamics; ii) FinSuite, which provides tasks in core financial domains, spanning 183 tasks of various types and difficulty levels; and iii) FinEval, which develops a unified interface for evaluation. Extensive experiments over state-of-the-art LLMs reveal critical capability gaps in financial reasoning, with accuracy dropping from over 90% on basic tasks to merely 40% on complex scenarios requiring multi-step reasoning. This degradation exhibits the propagation of computational errors, where single-metric calculations initially demonstrating 58% accuracy decreased to 37% in multimetric scenarios. To the best of our knowledge, FinMaster is the first benchmark that covers full-pipeline financial workflows with challenging tasks. We hope that FinMaster can bridge the gap between research and industry practitioners, driving the adoption of LLMs in real-world financial practices to enhance efficiency and accuracy.

cs.AI↗

arXiv2025

Event-aware analysis of cross-city visitor flows using large language models and social media data

Public events, such as music concerts and fireworks displays, can cause irregular surges in cross-city travel demand, leading to potential overcrowding, travel delays, and public safety concerns. To better anticipate and accommodate such demand surges, it is essential to estimate cross-city visitor flows with awareness of public events. Although prior studies typically focused on the effects of a single mega event or disruptions around a single venue, this study introduces a generalizable framework to analyze visitor flows under diverse and concurrent events. We propose to leverage large language models (LLMs) to extract event features from multi-source online information and massive user-generated content on social media platforms. Specifically, social media popularity metrics are designed to capture the effects of online promotion and word-of-mouth in attracting visitors. An event-aware machine learning model is then adopted to uncover the specific impacts of different event features and ultimately predict visitor flows for upcoming events. Using Hong Kong as a case study, the framework is applied to predict daily flows of mainland Chinese visitors arriving at the city, achieving a testing R-squared of over 85%. We further investigate the heterogeneous event impacts on visitor numbers across different event types and major travel modes. Both promotional popularity and word-of-mouth popularity are found to be associated with increased visitor flows, but the specific effects vary by the event type. This association is more pronounced among visitors arriving by metro and high-speed rail, while it has less effect on air travelers. The findings can facilitate coordinated measures across government agencies and guide specialized transport policies, such as shuttle transit services to event venues, and comprehensive on-site traffic management strategies.

cs.SI↗

arXiv2025

Nondeterministic Polynomial-time Problem Challenge: An Ever-Scaling Reasoning Benchmark for LLMs

Reasoning is the fundamental capability of large language models (LLMs). Due to the rapid progress of LLMs, there are two main issues of current benchmarks: i) these benchmarks can be crushed in a short time (less than 1 year), and ii) these benchmarks may be easily hacked. To handle these issues, we propose the ever-scalingness for building the benchmarks which are scaling over complexity against crushing, instance against hacking and exploitation, oversight for easy verification, and coverage for real-world relevance. This paper presents Nondeterministic Polynomial-time Problem Challenge (NPPC), an ever-scaling reasoning benchmark for LLMs. Specifically, the NPPC has three main modules: i) npgym, which provides a unified interface of 25 well-known NP-complete problems and can generate any number of instances with any levels of complexities, ii) npsolver, which provides a unified interface to evaluate the problem instances with both online and offline models via APIs and local deployments, respectively, and iii) npeval, which provides the comprehensive and ready-to-use tools to analyze the performances of LLMs over different problems, the number of tokens, the reasoning errors and the solution errors. Extensive experiments over widely-used LLMs demonstrate: i) NPPC can successfully decrease the performances of advanced LLMs to below 10%, demonstrating that NPPC is not crushed by current models, ii) DeepSeek-R1, Claude-3.7-Sonnet, and o1/o3-mini are the most powerful LLMs, and iii) the numbers of tokens in the advanced LLMs, e.g., Claude-3.7-Sonnet and DeepSeek-R1, are observed first to increase and then decrease when the problem instances become more and more difficult. Through continuously scaling analysis, NPPC can provide critical insights into the limits of LLMs' reasoning capabilities, exposing fundamental limitations and suggesting future directions for further improvements.

cs.AI↗

arXiv2025

R900: Understanding the Cost-Effectiveness of Random Exploration from 900 Hours of Robotic Data Collection

Data scarcity presents a key bottleneck for imitation learning in robotic manipulation. In this paper, we focus on random exploration data-actions and video sequences produced autonomously via motions to randomly sampled positions in the workspace-to investigate their potential as a cost-effective data source. Our investigation follows two paradigms: (a) random actions, where we assess their feasibility for autonomously bootstrapping data collection policies, and (b) random exploration video frames, where we evaluate their effectiveness in pre-training parameter-dense networks with self-supervised learning objectives. To minimize human supervision, we first develop a fully automated pipeline that handles episode labeling, termination, and resetting using cloud-based microservices for real-time monitoring. Building on this, we present a large-scale study on the cost-effectiveness of real-world random exploration in a non-trivial two-layer stacking task, drawing on statistical results from 807 hours of random actions, 71 hours of random exploration video (1.28M frames), and 1,260 times of policy evaluation. The dataset will be made publicly available and access to the robot environment with the automated pipeline is to be made accessible via cloud service for future research.

cs.RO↗

arXiv2025

Exponentially Tilted Thermodynamic Maps (expTM): Predicting Phase Transitions Across Temperature, Pressure, and Chemical Potential

Predicting and characterizing phase transitions is crucial for understanding generic physical phenomena such as crystallization, protein folding and others. However, directly observing phase transitions is not always easy, and often one has limited observations far from the phase boundary and measured under some specific thermodynamic conditions. In this study, we propose a statistical physics and Generative AI driven framework that can take such limited information to generate samples of different phases under arbitrary thermodynamic conditions, which we name Exponentially Tilted Thermodynamic Maps (expTM). The central idea is to map collected data into a tractable simple prior expressed as an exponentially tilted Gaussian. We demonstrate how the variance and mean of the prior can be correlated with pairs of thermodynamic control variables, including temperature, pressure, and chemical potential. This gives us the ability to generate thermodynamically correct samples under any values of the control variables. To demonstrate the practical applicability of this approach, we use expTM to sample the lattice gas models with the Grand Canonical ensemble, capturing phase transitions under varying chemical potentials and temperatures. We further demonstrate how expTM can model the isothermal-isobaric ensemble, with which we predict different phases of CO2 under varying pressure conditions. Both examples are trained on very limited data far from the phase boundary. These results establish expTM as a robust tool for understanding phase transitions across diverse thermodynamic conditions requiring only a small number of observations.

cond-mat.stat-mech↗