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Siyuan Yang

Publications and source records attributed to Siyuan Yang.

At least 19 recordsLinked to original sources
arXiv2026

Visko Orbis 1.0: A Live Model for Real-Time Interactive Long Video Generation

We present Visko Orbis 1.0, a Live Model for real-time, interactive long video generation. Users can change the prompt at any moment during generation, and the update becomes visible in real time. Visko Orbis 1.0 supports long-form text-to-video, image-to-video, and video continuation, with multilingual prompts and prompt switching while generation is in progress. A bounded multi-scale memory preserves subjects, scenes, and style across chunks, sustaining hour-scale rollouts without evident quality or color drift. The generator is factorized causally in time, matching the causal structure of physical dynamics, and is aligned with a latent world-model reward for predictive consistency. Built on a distilled chunk-wise streaming generator and a streaming video upscaler, Visko Orbis 1.0 delivers 4K video generation at 24 FPS in real time, using an optimized GPU serving engine. In quantitative evaluations, Visko Orbis 1.0 achieves the best DOVER aesthetic and technical scores and the best VideoAlign visual and motion quality, and leads three physical-plausibility protocols (VideoPhy-2, Physics-IQ, and VBench-2.0 Physics); in long-form Arena comparisons, it obtains the highest overall-preference and temporal-stability ratings among all the state-of-the-art real-time interactive video generation systems.

cs.CV↗
arXiv2026

Multimodal Continuous Reasoning via Asymmetric Mutual Variational Learning

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

cs.CV↗
arXiv2026

AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation

Global navigation satellite system (GNSS) denial can prevent an unmanned surface vehicle (USV) from both finding a distant vessel and maintaining a globally referenced approach. This paper presents AUSLUN (Automatic UAV Search, Localization, and USV Navigation), a fixed-hover aerial-surface system that uses a coastal unmanned aerial vehicle (UAV), which estimates its own pose through visual-inertial odometry (VIO), as a long-range sensing and navigation anchor. The central design shifts sensing motion from UAV translation to a zoom pod and closes the loop through three coupled elements: polygon-aware annular pod scanning, modality-aware bearing-range localization, and target-relative USV guidance with visual-loss recovery. The same gated recursive estimator uses laser range for the non-cooperative target and datalink range for the cooperative USV. Search-planning simulations show that the adaptive yaw bounds reduce scan time and redundant coverage relative to a matched fixed-sector scan, and GPS-referenced field data show that the gated recursive estimator outperforms non-recursive baselines in localization accuracy. An integrated maritime mission further demonstrates the complete search-to-navigation sequence, including a deliberately triggered visual-loss recovery. These results establish the feasibility and operating boundary of fixed-hover UAV assistance for stationary-target approach in coastal GNSS-denied environments. The source code and a video demonstration are publicly available at https://github.com/xirhxq/pod_search and https://youtu.be/S-5RkJs35JI.

cs.RO↗
arXiv2026

VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Training

Universal Manipulation Interface (UMI) enables scalable real-world robot data collection without hardware-specific teleoperation, yet leveraging UMI data to train large-scale Vision-Language-Action (VLA) models remains fundamentally challenging. We identify two critical mismatches: wrist-mounted fisheye views, with severe radial distortion and local gripper-centric perspectives, are out-of-distribution for pretrained VLMs; and human-collected trajectories frequently violate kinematic limits, incur collisions, or exceed controller bandwidth, teaching VLA policies physically infeasible actions. To address the challenges, we present VISTA, a framework that bridges this dual gap through three synergistic components. (i)~UMI-VQA, the first large-scale VQA dataset tailored to wrist-mounted fisheye observations, aligns VLM representations to the distorted visual regime via auxiliary vision-language supervision. (ii)~A systematic physical-validation pipeline performs a data-completeness pre-check and scores each valid trajectory for trajectory continuity, self-collision risk, and execution fidelity before it enters training. (iii)~A two-stage co-training recipe jointly learns vision-language grounding on UMI-VQA and action prediction on validated trajectories. Our experiments empirically show that incorporating UMI-VQA consistently improves downstream policy performance, and that physical-validation scores are strongly predictive of deployment success. On diverse simulation and real-world manipulation tasks, VISTA significantly outperforms strong baselines including $\pi_{0.5}$, LingBot-VLA, and Wall-X. We release the physical-validation pipeline, UMI-VQA, validated trajectory data, and the pre-trained model for the community.

cs.RO↗
arXiv2026

CV-Arena: An Open Benchmark for Instructional Computer Vision Problem Solving with Human-AI Collaborative Preferences

Instruction-guided image editing is becoming a general interface for visual work, yet existing benchmarks still focus largely on narrow appearance edits and do not fully capture the diversity of real-image tasks in professional workflows. Here, we define instructional computer vision problem solving as a broader formulation of image editing: given a real input image and a natural-language instruction, a system must produce an edited output that realizes the requested transformation while satisfying explicit preservation, geometric, physical, and usability constraints. We introduce CV-Arena, an open benchmark designed to evaluate this capability at professional scales. CV-Arena contains 12K high-resolution real-image instruction pairs spanning 16 instruction-based visual task types, constructed using CogRetriever, a dual-track retrieval-and-curation pipeline that combines targeted web search, agentic query refinement, verification, and traceability. To evaluate models at scale while preserving human fidelity, we propose Active Elo, a human-AI collaborative preference protocol that leverages CV-Judge, a logic-gated, multi-dimensional VLM evaluator, to reject clear failures and resolve high-confidence comparisons; and to route close, high-quality comparisons to expert raters. Mixed human and AI supervision is then aggregated through reliability-weighted Elo updates. Our comprehensive evaluation of 21 systems, including proprietary, open-source, and agentic models, on CV-Arena reveals persistent gaps in instruction adherence, physical reasoning, structural control, and fine-grained detail preservation. We further develop CV-Agent, a lightweight agentic model that combines planning, editing, and verification, and demonstrate that closed-loop reasoning is a promising direction for professional-grade instruction-following visual editing.

cs.CV↗
arXiv2026

AstroMind: A High-Fidelity Benchmark for Spacecraft Behavior Reasoning Based on Large Language Models

Understanding why a spacecraft maneuvers -- rather than simply that it did -- is an increasingly important problem for space domain awareness as Earth orbits grow crowded and contested. Current analysis pipelines are built for detection: they are good at picking up that something happened, less good at reasoning about what it means. AstroMind is a physics-grounded benchmark designed to close that gap. It draws on high-fidelity astrodynamics simulations and real observational constraints, converting them into verifiable reasoning problems across three task types: intent inference, maneuver parameter estimation, and threat assessment. Each scenario includes realistic sensing noise and multi-source textual intelligence at varying reliability levels. Evaluation metrics capture both semantic correctness and quantitative consistency under physical constraints. Benchmarking a suite of open-weight models shows no single model dominates every axis: Qwen3 (32B) leads on intent inference accuracy; QwQ (32B) leads on threat assessment and achieves the lowest median relative error on parsed items; GPT-OSS (20B) produces the strongest judged reasoning quality and extracts the most scalar values for parameter estimation (136 of 241 parsed items). Training data composition and reasoning style matter as much as model size. Structured reasoning prompts help consistently across tested 8B models, with larger gains for those that can already track physical constraints. AstroMind gives the field a shared test for a problem where getting the physics right and reading the tactical situation correctly are both required -- neither is sufficient on its own.

cs.CL↗
arXiv2026

CAPS: Cascaded Adaptive Pairwise Selection for Efficient Parallel Reasoning

Parallel reasoning, where a generator samples many candidate solutions and an aggregator selects the best, is one of the most effective forms of test-time scaling in large language models, and pairwise self-verification has become its strongest aggregation primitive. Yet pairwise verification carries a heavy cost: each judgment reads two complete solutions in full, and existing methods perform tens of such judgments per problem regardless of whether the comparison is informative. We introduce CAPS (Cascaded Adaptive Pairwise Selection), an inference-only framework that allocates verifier compute non-uniformly along two orthogonal axes: an evidence axis that adapts how much of each candidate the judge sees, and a distribution axis that adapts how comparisons are spread across the pool. CAPS instantiates these into a four-stage cascade with an optional rescue subroutine, and admits a closed-form verifier-token cost in which the per-candidate marginal cost is roughly halved relative to uniform full-evidence schedules. On four self-verifying models (Qwen3-14B, GPT-OSS-20B, Qwen3-4B-Instruct/Thinking) and five reasoning benchmarks spanning code (LiveCodeBench-v5/v6, CodeContests) and math (AIME 2025, HMMT 2025), CAPS outperforms the leading pairwise verifier on 14 of 20 suites while using 25.4% of its verifier-token budget on code, and outperforms pointwise self-verification on all 20. The trade-off suites admit an interpretable diagnostic in terms of the verifier's accuracy at partial versus full evidence, providing a concrete pre-deployment check for cascade suitability.

cs.AI↗
arXiv2026

VEFX-Bench: A Holistic Benchmark for Generic Video Editing and Visual Effects

As AI-assisted video creation becomes increasingly practical, instruction-guided video editing has become essential for refining generated or captured footage to meet professional requirements. Yet the field still lacks both a large-scale human-annotated dataset with complete editing examples and a standardized evaluator for comparing editing systems. Existing resources are limited by small scale, missing edited outputs, or the absence of human quality labels, while current evaluation often relies on expensive manual inspection or generic vision-language model judges that are not specialized for editing quality. We introduce VEFX-Dataset, a human-annotated dataset containing 5,049 video editing examples across 9 major editing categories and 32 subcategories, each labeled along three decoupled dimensions: Instruction Following, Rendering Quality, and Edit Exclusivity. Building on VEFX-Dataset, we propose VEFX-Reward, a reward model designed specifically for video editing quality assessment. VEFX-Reward jointly processes the source video, the editing instruction, and the edited video, and predicts per-dimension quality scores via ordinal regression. We further release VEFX-Bench, a benchmark of 300 curated video-prompt pairs for standardized comparison of editing systems. Experiments show that VEFX-Reward aligns more strongly with human judgments than generic VLM judges and prior reward models on both standard IQA/VQA metrics and group-wise preference evaluation. Using VEFX-Reward as an evaluator, we benchmark representative commercial and open-source video editing systems, revealing a persistent gap between visual plausibility, instruction following, and edit locality in current models. Our project page is https://xiangbogaobarry.github.io/VEFX-Bench/.

cs.CV↗
arXiv2026

AdaptFuse: Training-Free Sequential Preference Learning via Externalized Bayesian Inference

Large language models struggle to accumulate evidence across multiple rounds of user interaction, failing to update their beliefs in a manner consistent with Bayesian inference. Existing solutions require fine-tuning on sensitive user interaction data, limiting their applicability in privacy-conscious settings. We propose AdaptFuse, a training-free framework that externalizes probabilistic computation entirely from the LLM: a symbolic module maintains a Bayesian posterior over a discrete hypothesis set, while a frozen LLM contributes semantic reasoning via multi-sample Dirichlet aggregation. The two signals are combined through entropy-adaptive fusion, which automatically weights each source by its predictive confidence, shifting reliance from the LLM to the symbolic posterior as evidence accumulates. We evaluate across three domains: flight recommendation, hotel recommendation, and web shopping; on Gemma 2 9B, Llama 3 8B, and Qwen 2.5 7B. AdaptFuse consistently outperforms both prompting baselines and fine-tuned Bayesian Teaching models on all tasks, with accuracy improving monotonically over interaction rounds. These results demonstrate that principled inference-time algorithms can substitute for fine-tuning in personalized recommendation, without storing or training on sensitive user data. All the code and materials will be open-sourced.

cs.CL↗
arXiv2026

Let the Abyss Stare Back Adaptive Falsification for Autonomous Scientific Discovery

Autonomous scientific discovery is entering a more dangerous regime: once the evaluator is frozen, a sufficiently strong search process can learn to win the exam without learning the mechanism the task was meant to reveal. This is the idea behind our title. To let the abyss stare back is to make evaluation actively push against the candidate through adaptive falsification, rather than passively certify it through static validation. We introduce DASES, a falsification-driven framework in which an Innovator, an Abyss Falsifier, and a Mechanistic Causal Extractor co-evolve executable scientific artifacts and scientifically admissible counterexample environments under a fixed scientific contract. In a controlled loss-discovery problem with a single editable locus, DASES rejects artifacts that static validation would have accepted, identifies the first candidate that survives the admissible falsification frontier, and discovers FNG-CE, a loss that transfers beyond the synthetic discovery environment and consistently outperforms CE and CE+L2 under controlled comparisons across standard benchmarks, including ImageNet.

cs.CV↗
arXiv2026

The Pulse of Motion: Measuring Physical Frame Rate from Visual Dynamics

While recent generative video models have achieved remarkable visual realism and are being explored as world models, true physical simulation requires mastering both space and time. Current models can produce visually smooth kinematics, yet they lack a reliable internal motion pulse to ground these motions in a consistent, real-world time scale. This temporal ambiguity stems from the common practice of indiscriminately training on videos with vastly different real-world speeds, forcing them into standardized frame rates. This leads to what we term chronometric hallucination: generated sequences exhibit ambiguous, unstable, and uncontrollable physical motion speeds. To address this, we propose Visual Chronometer, a predictor that recovers the Physical Frames Per Second (PhyFPS) directly from the visual dynamics of an input video. Trained via controlled temporal resampling, our method estimates the true temporal scale implied by the motion itself, bypassing unreliable metadata. To systematically quantify this issue, we establish two benchmarks, PhyFPS-Bench-Real and PhyFPS-Bench-Gen. Our evaluations reveal a harsh reality: state-of-the-art video generators suffer from severe PhyFPS misalignment and temporal instability. Finally, we demonstrate that applying PhyFPS corrections significantly improves the human-perceived naturalness of AI-generated videos. Our project page is https://xiangbogaobarry.github.io/Visual_Chronometer/.

cs.CV↗
arXiv2026

Skeleton-to-Image Encoding: Enabling Skeleton Representation Learning via Vision-Pretrained Models

Recent advances in large-scale pretrained vision models have demonstrated impressive capabilities across a wide range of downstream tasks, including cross-modal and multi-modal scenarios. However, their direct application to 3D human skeleton data remains challenging due to fundamental differences in data format. Moreover, the scarcity of large-scale skeleton datasets and the need to incorporate skeleton data into multi-modal action recognition without introducing additional model branches present significant research opportunities. To address these challenges, we introduce Skeleton-to-Image Encoding (S2I), a novel representation that transforms skeleton sequences into image-like data by partitioning and arranging joints based on body-part semantics and resizing to standardized image dimensions. This encoding enables, for the first time, the use of powerful vision-pretrained models for self-supervised skeleton representation learning, effectively transferring rich visual-domain knowledge to skeleton analysis. While existing skeleton methods often design models tailored to specific, homogeneous skeleton formats, they overlook the structural heterogeneity that naturally arises from diverse data sources. In contrast, our S2I representation offers a unified image-like format that naturally accommodates heterogeneous skeleton data. Extensive experiments on NTU-60, NTU-120, and PKU-MMD demonstrate the effectiveness and generalizability of our method for self-supervised skeleton representation learning, including under challenging cross-format evaluation settings.

cs.CV↗
arXiv2026

Acceleration-Based Control of Fixed-Wing UAVs for Guidance Applications

Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging because accelerations are not directly actuated and must be realized through attitude and thrust under flight-envelope constraints. This paper presents an acceleration-level outer-loop control framework that converts commanded tangential and normal accelerations into executable body-rate and normalized thrust commands compatible with mainstream autopilots (e.g., PX4/APM). For the normal channel, we derive an engineering mapping from the desired normal acceleration to roll- and pitch-rate commands that regulate the direction and magnitude of the lift vector under small-angle assumptions. For the tangential channel, we introduce an energy-based formulation inspired by total energy control and identify an empirical thrust-energy acceleration relationship directly from flight data, avoiding explicit propulsion modeling or thrust bench calibration. We further discuss priority handling between normal and tangential accelerations under saturation and non-level maneuvers. Extensive real-flight experiments on a VTOL fixed-wing platform demonstrate accurate acceleration tracking and enable practical implementation of proportional navigation using only body-rate and normalized thrust interfaces.

cs.RO↗
arXiv2026

OpAgent: Operator Agent for Web Navigation

To fulfill user instructions, autonomous web agents must contend with the inherent complexity and volatile nature of real-world websites. Conventional paradigms predominantly rely on Supervised Fine-Tuning (SFT) or Offline Reinforcement Learning (RL) using static datasets. However, these methods suffer from severe distributional shifts, as offline trajectories fail to capture the stochastic state transitions and real-time feedback of unconstrained wide web environments. In this paper, we propose a robust Online Reinforcement Learning WebAgent, designed to optimize its policy through direct, iterative interactions with unconstrained wide websites. Our approach comprises three core innovations: 1) Hierarchical Multi-Task Fine-tuning: We curate a comprehensive mixture of datasets categorized by functional primitives -- Planning, Acting, and Grounding -- establishing a Vision-Language Model (VLM) with strong instruction-following capabilities for Web GUI tasks. 2) Online Agentic RL in the Wild: We develop an online interaction environment and fine-tune the VLM using a specialized RL pipeline. We introduce a Hybrid Reward Mechanism that combines a ground-truth-agnostic WebJudge for holistic outcome assessment with a Rule-based Decision Tree (RDT) for progress reward. This system effectively mitigates the credit assignment challenge in long-horizon navigation. Notably, our RL-enhanced model achieves a 38.1\% success rate (pass@5) on WebArena, outperforming all existing monolithic baselines. 3) Operator Agent: We introduce a modular agentic framework, namely \textbf{OpAgent}, orchestrating a Planner, Grounder, Reflector, and Summarizer. This synergy enables robust error recovery and self-correction, elevating the agent's performance to a new State-of-the-Art (SOTA) success rate of \textbf{71.6\%}.

cs.AI↗
arXiv2026

Agent Banana: High-Fidelity Image Editing with Agentic Thinking and Tooling

We study instruction-based image editing under professional workflows and identify three persistent challenges: (i) editors often over-edit, modifying content beyond the user's intent; (ii) existing models are largely single-turn, while multi-turn edits can alter object faithfulness; and (iii) evaluation at around 1K resolution is misaligned with real workflows that often operate on ultra high-definition images (e.g., 4K). We propose Agent Banana, a hierarchical agentic planner-executor framework for high-fidelity, object-aware, deliberative editing. Agent Banana introduces two key mechanisms: (1) Context Folding, which compresses long interaction histories into structured memory for stable long-horizon control; and (2) Image Layer Decomposition, which performs localized layer-based edits to preserve non-target regions while enabling native-resolution outputs. To support rigorous evaluation, we build HDD-Bench, a high-definition, dialogue-based benchmark featuring verifiable stepwise targets and native 4K images (11.8M pixels) for diagnosing long-horizon failures. On HDD-Bench, Agent Banana achieves the best multi-turn consistency and background fidelity (e.g., IC 0.871, SSIM-OM 0.84, LPIPS-OM 0.12) while remaining competitive on instruction following, and also attains strong performance on standard single-turn editing benchmarks. We hope this work advances reliable, professional-grade agentic image editing and its integration into real workflows.

cs.CV↗
arXiv2026

RegGuard: AI-Powered Retrieval-Enhanced Assistant for Pharmaceutical Regulatory Compliance

The increasing frequency and complexity of regulatory updates present a significant burden for multinational pharmaceutical companies. Compliance teams must interpret evolving rules across jurisdictions, formats, and agencies, often manually, at high cost and risk of error. We introduce RegGuard, an industrial-scale AI assistant designed to automate the interpretation of heterogeneous regulatory texts and align them with internal corporate policies. The system ingests heterogeneous document sources through a secure pipeline and enhances retrieval and generation quality with two novel components: HiSACC (Hierarchical Semantic Aggregation for Contextual Chunking) semantically segments long documents into coherent units while maintaining consistency across non-contiguous sections. ReLACE (Regulatory Listwise Adaptive Cross-Encoder for Reranking), a domain-adapted cross-encoder built on an open-source model, jointly models user queries and retrieved candidates to improve ranking relevance. Evaluations in enterprise settings demonstrate that RegGuard improves answer quality specifically in terms of relevance, groundedness, and contextual focus, while significantly mitigating hallucination risk. The system architecture is built for auditability and traceability, featuring provenance tracking, access control, and incremental indexing, making it highly responsive to evolving document sources and relevant for any domain with stringent compliance demands.

cs.AI↗
arXiv2026

BibAgent: An Agentic Framework for Traceable Miscitation Detection in Scientific Literature

Citations are the bedrock of scientific authority, yet their integrity is compromised by widespread miscitations: ranging from nuanced distortions to fabricated references. Systematic citation verification is currently unfeasible; manual review cannot scale to modern publishing volumes, while existing automated tools are restricted by abstract-only analysis or small-scale, domain-specific datasets in part due to the "paywall barrier" of full-text access. We introduce BibAgent, a scalable, end-to-end agentic framework for automated citation verification. BibAgent integrates retrieval, reasoning, and adaptive evidence aggregation, applying distinct strategies for accessible and paywalled sources. For paywalled references, it leverages a novel Evidence Committee mechanism that infers citation validity via downstream citation consensus. To support systematic evaluation, we contribute a 5-category Miscitation Taxonomy and MisciteBench, a massive cross-disciplinary benchmark comprising 6,350 miscitation samples spanning 254 fields. Our results demonstrate that BibAgent outperforms state-of-the-art Large Language Model (LLM) baselines in citation verification accuracy and interpretability, providing scalable, transparent detection of citation misalignments across the scientific literature.

cs.DL↗
arXiv2025

Steering Vision-Language-Action Models as Anti-Exploration: A Test-Time Scaling Approach

Vision-Language-Action (VLA) models, trained via flow-matching or diffusion objectives, excel at learning complex behaviors from large-scale, multi-modal datasets (e.g., human teleoperation, scripted policies). However, since VLAs incorporate diverse data modes in the pre-training stage, and the finetuning dataset often contains demonstration data collected in a kinematically suboptimal or undesirable way, it exists redundant action modes that are irrelevant to the success action modes of the downstream task. Specifically, we observe a critical inference-time fragility among various sampled noises after supervised finetuning of pre-trained VLAs. In this paper, we attribute this instability to the distribution shift between the VLA policy and the policy induced by stable success modes of the downstream task dataset. Thus, we propose \textbf{TACO}, a test-time-scaling (TTS) framework that applies a lightweight pseudo-count estimator as a high-fidelity verifier of action chunks. The VLA models integrated with TACO can execute the actions with maximum pseudo-count from all sampled action chunks, thereby preventing distribution shifts while preserving the generalization ability of VLAs since the constraint is applied only during inference. Our method resembles the classical anti-exploration principle in offline reinforcement learning (RL), and being gradient-free, it incurs significant computational benefits compared to RL update, especially for flow or diffusion-based VLAs which are difficult to perform RL update due to denoising process. Extensive experiments across four simulation benchmarks (RoboTwin2.0, Robotwin, LIBERO, SimplerEnv) and a dual-arm platform demonstrate that our method significantly improves the inference stability and success rates in downstream-task adaptations.

cs.RO↗