arXiv subjects

Shuo Yang

Publications and source records attributed to Shuo Yang.

At least 199 records · Page 11Linked to original sources

arXiv2025

Multi-IMU Sensor Fusion for Legged Robots

This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to leverage multiple inertial measurement units on different links of the robot to correct a major error source in standard proprioceptive odometry. We fuse the inertial sensor information and joint encoder measurements in an extended Kalman filter, then combine the velocity estimate from this filter with camera data in a factor-graph-based sliding-window estimator to form a visual-inertial-leg odometry method. We validate our state estimator through comprehensive theoretical analysis and hardware experiments performed using real-world robot data collected during a variety of challenging locomotion tasks. Our algorithm consistently achieves minimal position deviation, even in scenarios involving substantial ground impact, foot slippage, and sudden body rotations. A C++ implementation, along with a large-scale dataset, is available at https://github.com/ShuoYangRobotics/Cerberus2.0.

cs.RO↗

arXiv2025

Learning to Focus: Context Extraction for Efficient Code Vulnerability Detection with Language Models

Language models (LMs) show promise for vulnerability detection but struggle with long, real-world code due to sparse and uncertain vulnerability locations. These issues, exacerbated by token limits, often cause models to miss vulnerability-related signals, thereby impairing effective learning. A key intuition is to enhance LMs with concise, information-rich context. Commit-based annotations offer precise, CWE-agnostic supervision, but are unavailable during inference, as they depend on historical code changes. Moreover, their extreme sparsity, often covering only a few lines, makes it difficult for LMs to process directly. In this paper, we propose FocusVul, a model-agnostic framework that improves LM-based vulnerability detection by learning to select sensitive context. FocusVul learns commit-based annotation patterns through hierarchical semantic modeling and generalizes them to identify line-level vulnerability-relevant regions during inference. It then extracts LM-oriented context via both dependency and execution flows surrounding selected regions, yielding semantically rich inputs for effective vulnerability detection. Experiments on real-world benchmarks show that FocusVul consistently outperforms heuristic-based and full-function fine-tuning approaches, improving classification performance by 164.04% and reducing FLOPs by 19.12% on average.

cs.SE↗

arXiv2025

LLM-enhanced Action-aware Multi-modal Prompt Tuning for Image-Text Matching

Driven by large-scale contrastive vision-language pre-trained models such as CLIP, recent advancements in the image-text matching task have achieved remarkable success in representation learning. Due to image-level visual-language alignment, CLIP falls short in understanding fine-grained details such as object attributes and spatial relationships between objects. Recent efforts have attempted to compel CLIP to acquire structured visual representations by introducing prompt learning to achieve object-level alignment. While achieving promising results, they still lack the capability to perceive actions, which are crucial for describing the states or relationships between objects. Therefore, we propose to endow CLIP with fine-grained action-level understanding by introducing an LLM-enhanced action-aware multi-modal prompt-tuning method, incorporating the action-related external knowledge generated by large language models (LLMs). Specifically, we design an action triplet prompt and an action state prompt to exploit compositional semantic knowledge and state-related causal knowledge implicitly stored in LLMs. Subsequently, we propose an adaptive interaction module to aggregate attentive visual features conditioned on action-aware prompted knowledge for establishing discriminative and action-aware visual representations, which further improves the performance. Comprehensive experimental results on two benchmark datasets demonstrate the effectiveness of our method.

cs.CV↗

arXiv2025

RAMA: Retrieval-Augmented Multi-Agent Framework for Misinformation Detection in Multimodal Fact-Checking

The rapid proliferation of multimodal misinformation presents significant challenges for automated fact-checking systems, especially when claims are ambiguous or lack sufficient context. We introduce RAMA, a novel retrieval-augmented multi-agent framework designed for verifying multimedia misinformation. RAMA incorporates three core innovations: (1) strategic query formulation that transforms multimodal claims into precise web search queries; (2) cross-verification evidence aggregation from diverse, authoritative sources; and (3) a multi-agent ensemble architecture that leverages the complementary strengths of multiple multimodal large language models and prompt variants. Extensive experiments demonstrate that RAMA achieves superior performance on benchmark datasets, particularly excelling in resolving ambiguous or improbable claims by grounding verification in retrieved factual evidence. Our findings underscore the necessity of integrating web-based evidence and multi-agent reasoning for trustworthy multimedia verification, paving the way for more reliable and scalable fact-checking solutions. RAMA will be publicly available at https://github.com/kalendsyang/RAMA.git.

cs.CL↗

arXiv2025

NLGCL: Naturally Existing Neighbor Layers Graph Contrastive Learning for Recommendation

Graph Neural Networks (GNNs) are widely used in collaborative filtering to capture high-order user-item relationships. To address the data sparsity problem in recommendation systems, Graph Contrastive Learning (GCL) has emerged as a promising paradigm that maximizes mutual information between contrastive views. However, existing GCL methods rely on augmentation techniques that introduce semantically irrelevant noise and incur significant computational and storage costs, limiting effectiveness and efficiency. To overcome these challenges, we propose NLGCL, a novel contrastive learning framework that leverages naturally contrastive views between neighbor layers within GNNs. By treating each node and its neighbors in the next layer as positive pairs, and other nodes as negatives, NLGCL avoids augmentation-based noise while preserving semantic relevance. This paradigm eliminates costly view construction and storage, making it computationally efficient and practical for real-world scenarios. Extensive experiments on four public datasets demonstrate that NLGCL outperforms state-of-the-art baselines in effectiveness and efficiency.

cs.IR↗

arXiv2025

Large Language Models for Network Intrusion Detection Systems: Foundations, Implementations, and Future Directions

Large Language Models (LLMs) have revolutionized various fields with their exceptional capabilities in understanding, processing, and generating human-like text. This paper investigates the potential of LLMs in advancing Network Intrusion Detection Systems (NIDS), analyzing current challenges, methodologies, and future opportunities. It begins by establishing a foundational understanding of NIDS and LLMs, exploring the enabling technologies that bridge the gap between intelligent and cognitive systems in AI-driven NIDS. While Intelligent NIDS leverage machine learning and deep learning to detect threats based on learned patterns, they often lack contextual awareness and explainability. In contrast, Cognitive NIDS integrate LLMs to process both structured and unstructured security data, enabling deeper contextual reasoning, explainable decision-making, and automated response for intrusion behaviors. Practical implementations are then detailed, highlighting LLMs as processors, detectors, and explainers within a comprehensive AI-driven NIDS pipeline. Furthermore, the concept of an LLM-centered Controller is proposed, emphasizing its potential to coordinate intrusion detection workflows, optimizing tool collaboration and system performance. Finally, this paper identifies critical challenges and opportunities, aiming to foster innovation in developing reliable, adaptive, and explainable NIDS. By presenting the transformative potential of LLMs, this paper seeks to inspire advancement in next-generation network security systems.

cs.CR↗

arXiv2025

CoT-lized Diffusion: Let's Reinforce T2I Generation Step-by-step

Current text-to-image (T2I) generation models struggle to align spatial composition with the input text, especially in complex scenes. Even layout-based approaches yield suboptimal spatial control, as their generation process is decoupled from layout planning, making it difficult to refine the layout during synthesis. We present CoT-Diff, a framework that brings step-by-step CoT-style reasoning into T2I generation by tightly integrating Multimodal Large Language Model (MLLM)-driven 3D layout planning with the diffusion process. CoT-Diff enables layout-aware reasoning inline within a single diffusion round: at each denoising step, the MLLM evaluates intermediate predictions, dynamically updates the 3D scene layout, and continuously guides the generation process. The updated layout is converted into semantic conditions and depth maps, which are fused into the diffusion model via a condition-aware attention mechanism, enabling precise spatial control and semantic injection. Experiments on 3D Scene benchmarks show that CoT-Diff significantly improves spatial alignment and compositional fidelity, and outperforms the state-of-the-art method by 34.7% in complex scene spatial accuracy, thereby validating the effectiveness of this entangled generation paradigm.

cs.CV↗

arXiv2025

Look-Back: Implicit Visual Re-focusing in MLLM Reasoning

Multimodal Large Language Models (MLLMs) have achieved remarkable progress in multimodal reasoning. However, they often excessively rely on textual information during the later stages of inference, neglecting the crucial integration of visual input. Current methods typically address this by explicitly injecting visual information to guide the reasoning process. In this work, through an analysis of MLLM attention patterns, we made an intriguing observation: with appropriate guidance, MLLMs can spontaneously re-focus their attention on visual inputs during the later stages of reasoning, even without explicit visual information injection. This spontaneous shift in focus suggests that MLLMs are intrinsically capable of performing visual fusion reasoning. Building on this insight, we introduce Look-Back, an implicit approach designed to guide MLLMs to ``look back" at visual information in a self-directed manner during reasoning. Look-Back empowers the model to autonomously determine when, where, and how to re-focus on visual inputs, eliminating the need for explicit model-structure constraints or additional input. We demonstrate that Look-Back significantly enhances the model's reasoning and perception capabilities, as evidenced by extensive empirical evaluations on multiple multimodal benchmarks.

cs.CV↗

arXiv2025

Isogeometric contact analysis in subsea umbilical and power cables

Subsea umbilical and power cables contain a large number of contact interfaces between different geometries and materials. These complex interactions rise significant challenges for accurately considering contact surface properties by using traditional analytical solutions or finite element methods. These properties have been identified as the most sensitive parameters when performing the numerical simulation for stress analysis. Therefore, it is essential to apply a novel approach for contact analysis which improves the accuracy and efficiency for predicting contact properties. This paper presents an isogeometric analysis (IGA) approach addressing contact problems in dynamic umbilicals and power cables. Firstly, this isogeometric contact algorithm is formulated in MATLAB as a tool including the geometry description, contact detection and penalty function. Secondly, the contact interface between a steel tube and an outer sheath in an dynamic umbilical is established by this IGA contact algorithm and validated against that in ABAQUS for proving the accuracy and efficiency of IGA. Finally, the effects of element refinement, geometrical description, penalty factor on the accuracy, efficiency and stability of IGA are discussed.

math.NA↗

arXiv2025

Generative AI for Vulnerability Detection in 6G Wireless Networks: Advances, Case Study, and Future Directions

The rapid advancement of 6G wireless networks, IoT, and edge computing has significantly expanded the cyberattack surface, necessitating more intelligent and adaptive vulnerability detection mechanisms. Traditional security methods, while foundational, struggle with zero-day exploits, adversarial threats, and context-dependent vulnerabilities in highly dynamic network environments. Generative AI (GAI) emerges as a transformative solution, leveraging synthetic data generation, multimodal reasoning, and adaptive learning to enhance security frameworks. This paper explores the integration of GAI-powered vulnerability detection in 6G wireless networks, focusing on code auditing, protocol security, cloud-edge defenses, and hardware protection. We introduce a three-layer framework comprising the Technology Layer, Capability Layer, and Application Layer to systematically analyze the role of VAEs, GANs, LLMs, and GDMs in securing next-generation wireless ecosystems. To demonstrate practical implementation, we present a case study on LLM-driven code vulnerability detection, highlighting its effectiveness, performance, and challenges. Finally, we outline future research directions, including lightweight models, high-authenticity data generation, external knowledge integration, and privacy-preserving technologies. By synthesizing current advancements and open challenges, this work provides a roadmap for researchers and practitioners to harness GAI for building resilient and adaptive security solutions in 6G networks.

cs.CR↗

arXiv2025

SCISSOR: Mitigating Semantic Bias through Cluster-Aware Siamese Networks for Robust Classification

Shortcut learning undermines model generalization to out-of-distribution data. While the literature attributes shortcuts to biases in superficial features, we show that imbalances in the semantic distribution of sample embeddings induce spurious semantic correlations, compromising model robustness. To address this issue, we propose SCISSOR (Semantic Cluster Intervention for Suppressing ShORtcut), a Siamese network-based debiasing approach that remaps the semantic space by discouraging latent clusters exploited as shortcuts. Unlike prior data-debiasing approaches, SCISSOR eliminates the need for data augmentation and rewriting. We evaluate SCISSOR on 6 models across 4 benchmarks: Chest-XRay and Not-MNIST in computer vision, and GYAFC and Yelp in NLP tasks. Compared to several baselines, SCISSOR reports +5.3 absolute points in F1 score on GYAFC, +7.3 on Yelp, +7.7 on Chest-XRay, and +1 on Not-MNIST. SCISSOR is also highly advantageous for lightweight models with ~9.5% improvement on F1 for ViT on computer vision datasets and ~11.9% for BERT on NLP. Our study redefines the landscape of model generalization by addressing overlooked semantic biases, establishing SCISSOR as a foundational framework for mitigating shortcut learning and fostering more robust, bias-resistant AI systems.

cs.LG↗

arXiv2025

Accelerated gradient flows for large bending deformations of nonlinear plates

In this paper, we propose novel algorithms integrated projection-free techniques with accelerated gradient flows to minimize bending energies for nonlinear plates with non-convex metric constraints. We discuss the stability and constraint consistency in a semi-discrete setting for both bilayer and prestrained plates. The proposed algorithms exhibit substantial improvements in efficiency and accuracy compared to the current state-of-the-art methods based on gradient flows.

math.NA↗

arXiv2025

HRGS: Hierarchical Gaussian Splatting for Memory-Efficient High-Resolution 3D Reconstruction

3D Gaussian Splatting (3DGS) has made significant strides in real-time 3D scene reconstruction, but faces memory scalability issues in high-resolution scenarios. To address this, we propose Hierarchical Gaussian Splatting (HRGS), a memory-efficient framework with hierarchical block-level optimization. First, we generate a global, coarse Gaussian representation from low-resolution data. Then, we partition the scene into multiple blocks, refining each block with high-resolution data. The partitioning involves two steps: Gaussian partitioning, where irregular scenes are normalized into a bounded cubic space with a uniform grid for task distribution, and training data partitioning, where only relevant observations are retained for each block. By guiding block refinement with the coarse Gaussian prior, we ensure seamless Gaussian fusion across adjacent blocks. To reduce computational demands, we introduce Importance-Driven Gaussian Pruning (IDGP), which computes importance scores for each Gaussian and removes those with minimal contribution, speeding up convergence and reducing memory usage. Additionally, we incorporate normal priors from a pretrained model to enhance surface reconstruction quality. Our method enables high-quality, high-resolution 3D scene reconstruction even under memory constraints. Extensive experiments on three benchmarks show that HRGS achieves state-of-the-art performance in high-resolution novel view synthesis (NVS) and surface reconstruction tasks.

cs.CV↗

arXiv2025

RealFactBench: A Benchmark for Evaluating Large Language Models in Real-World Fact-Checking

Large Language Models (LLMs) hold significant potential for advancing fact-checking by leveraging their capabilities in reasoning, evidence retrieval, and explanation generation. However, existing benchmarks fail to comprehensively evaluate LLMs and Multimodal Large Language Models (MLLMs) in realistic misinformation scenarios. To bridge this gap, we introduce RealFactBench, a comprehensive benchmark designed to assess the fact-checking capabilities of LLMs and MLLMs across diverse real-world tasks, including Knowledge Validation, Rumor Detection, and Event Verification. RealFactBench consists of 6K high-quality claims drawn from authoritative sources, encompassing multimodal content and diverse domains. Our evaluation framework further introduces the Unknown Rate (UnR) metric, enabling a more nuanced assessment of models' ability to handle uncertainty and balance between over-conservatism and over-confidence. Extensive experiments on 7 representative LLMs and 4 MLLMs reveal their limitations in real-world fact-checking and offer valuable insights for further research. RealFactBench is publicly available at https://github.com/kalendsyang/RealFactBench.git.

cs.CL↗

arXiv2025

Bridging the Gap between Discrete Agent Strategies in Game Theory and Continuous Motion Planning in Dynamic Environments

Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent of other agents is crucial to deploying autonomous systems in adversarial multi-agent environments. Existing approaches either discretize agent action by grouping similar control inputs, sacrificing performance in motion planning, or plan in uninterpretable latent spaces, producing hard-to-understand agent behaviors. This paper proposes an agent strategy representation via Policy Characteristic Space that maps the agent policies to a pre-specified low-dimensional space. Policy Characteristic Space enables the discretization of agent policy switchings while preserving continuity in control. Also, it provides intepretability of agent policies and clear intentions of policy switchings. Then, regret-based game-theoretic approaches can be applied in the Policy Characteristic Space to obtain high performance in adversarial environments. Our proposed method is assessed by conducting experiments in an autonomous racing scenario using scaled vehicles. Statistical evidence shows that our method significantly improves the win rate of ego agent and the method also generalizes well to unseen environments.

cs.RO↗

arXiv2025

BDF schemes for accelerated gradient flows in projection-free approximation of nonconvex constrained variational minimization

We propose novel algorithms combining accelerated gradient flows with linearized projection-free treatments of non-convex constraints and BDF pseudo-temporal discretization for quadratic energy minimization. A general framework is developed to analyze constraint violations in such projection-free techniques for quadratic constraints. This analysis proves to be universal to all projection-free iterative methods, and constraint error bounds depend solely on iterate regularity. For BDF-k(k=1,2,3,4), we derive both unconditional and conditional high-order constraint violation estimates for accelerated gradient flows using our framework. We further discover a new family of BDF-k accelerated gradient methods achieving modified energy stability for arbitrary positive integer k. Numerical experiments validate our theoretical results and demonstrate superior efficiency and accuracy compared to existing gradient flow approaches.

math.NA↗

arXiv2025

Efficient Quantum Circuit Compilation for Near-Term Quantum Advantage

Quantum noise in real-world devices poses a significant challenge in achieving practical quantum advantage, since accurately compiled and executed circuits are typically deep and highly susceptible to decoherence. To facilitate the implementation of complex quantum algorithms on noisy hardware, we propose an approximate method for compiling target quantum circuits into brick-wall layouts. This new circuit design consists of two-qubit CNOT gates that can be directly implemented on real quantum computers, in conjunction with optimized one-qubit gates, to approximate the essential dynamics of the original circuit while significantly reducing its depth. Our approach is evaluated through numerical simulations of time-evolution circuits for the critical Ising model, quantum Fourier transformation, and Haar-random quantum circuits, as well as experiments on IBM quantum platforms. By accounting for compilation error and circuit noise, we demonstrate that time evolution and quantum Fourier transformation circuits achieve high compression rates, while random quantum circuits are less compressible. The degree of compression is related to the rate of entanglement accumulation in the target circuit. In particular, experiments on IBM platforms achieve a compression rate of $12.5$ for $N=12$, significantly extending the application of current quantum devices. Furthermore, large-scale numerical simulations for system sizes up to $N=30$ reveal that the optimal depth $d_{\rm max}$ to achieve maximal overall fidelity is independent of system size $N$, suggesting the scalability of our method for large quantum devices in terms of quantum resources.

quant-ph↗

arXiv2025

MAGIC-VQA: Multimodal And Grounded Inference with Commonsense Knowledge for Visual Question Answering

Visual Question Answering (VQA) requires reasoning across visual and textual modalities, yet Large Vision-Language Models (LVLMs) often lack integrated commonsense knowledge, limiting their robustness in real-world scenarios. To address this, we introduce MAGIC-VQA, a novel framework that enhances VQA by systematically integrating commonsense knowledge with LVLMs. MAGIC-VQA employs a three-stage process: (1) Explicit Knowledge Integration from external sources, (2) By-Type Post-Processing for contextual refinement, and (3) Implicit Knowledge Augmentation using a Graph Neural Network (GNN) for structured reasoning. While GNNs bring greater depth to structured inference, they enable superior relational inference beyond LVLMs. MAGIC-VQA bridges a key gap by unifying commonsensse knowledge with LVLM-driven reasoning, eliminating the need for extensive pre-training or complex prompt tuning. Our framework achieves state-of-the-art performance on benchmark datasets, significantly improving commonsense reasoning in VQA.

cs.CL↗