arXiv subjects

Xingyu Liu

Publications and source records attributed to Xingyu Liu.

4 recordsLinked to original sources

arXiv2026

3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints

Intermediate representations are key to bridging the modality gap between generalizable manipulation policies and large-scale pretrained vision-language models (VLMs). Among these, trajectory-based representations compactly represent motion-relevant cues, yet most existing approaches predict trajectories in 2D image space, resulting in intrinsic 3D ambiguity. Moreover, using 2D trajectories with depth still leaves the free-space waypoints ambiguous, limiting reliable 3D reasoning. To address this, we propose predicting 3D consistent waypoints (3DWay) from multi-view images. By reformulating 3D waypoints prediction as generating multi-view consistent 2D waypoints followed by geometric triangulation, we enable explicit 3D motion specification while preserving the strong priors of pretrained VLMs. The predicted waypoints can guide existing VLA models for better generalization or be directly executed on simple tasks. Extensive experiments show that 3DWay substantially improves 3D spatial grounding and vision-language reasoning, demonstrating strong potential for generalizable robot manipulation. Codes will be released at https://github.com/ziqin-h/3DWay.

cs.RO↗

arXiv2026

Connectome-to-Function: Conditional Generative Latent Representations for Reservoir Computing

Connectomes, graph-level maps of neurons and their synaptic connections, provide a structural basis for understanding how brain circuits support function and computation. However, mapping connectome structure to computation remains difficult because these graphs are high-dimensional, sparse, and sensitive to local structural variation. Existing approaches often depend on hand-crafted structural descriptors or task-specific predictors, which limits their ability to represent connectomes in a form that is both generative and functionally meaningful. We propose a conditional generative latent framework that encodes connectome graphs into a compact structural space while using available node-level conditions to guide reconstruction and generation. From this space, the model can reconstruct observed connectivity with a mean edge-reconstruction AUC up to 0.910 and generate new candidate connectomes, enabling a unified analysis of graph structure and computational behavior. Using connectome-derived graphs as recurrent computational substrates, we found that the learned latent space captures functional variation across reservoir-computing experiments, with cross-validated $R^2$ values up to approximately 0.87. Interpretability analysis further revealed task-specific structural mechanisms: in our examples, memory performance is associated with reciprocal recurrent connectivity, whereas prediction and classification are more strongly associated with spectral properties of the recurrent network. These findings suggest an AI-for-science approach to linking neural connectivity to computation and provide a generative and interpretable basis for studying how distinct structural mechanisms shape computational capacity.

cs.LG↗

arXiv2026

ProLombard: Structured Multi-Scale Modeling for Normal-to-Lombard Speech Conversion

Normal-to-Lombard (N2L) speech conversion aims to improve speech intelligibility in noisy environments by transforming normal speech into Lombard-style speech while preserving linguistic content, speaker identity, and speech quality. Despite recent progress, existing methods typically model the Lombard effect at the utterance level or the frame level, overlooking its hierarchical nature and its entanglement with both speaker identity and phoneme-level content. This limitation leads to Lombard leakage in speaker representations and incomplete separation between Lombard characteristics and linguistic content. In this work, we propose ProLombard, a structured multi-scale N2L framework that explicitly models the Lombard effect across utterance-, phoneme-, and frame-level representations. To address Lombard-speaker entanglement, we introduce an aligned speaker encoder (ASE) that suppresses Lombard leakage by aligning Lombard-speech speaker embeddings with their normal-speech counterparts. To achieve more complete Lombard-content disentanglement, we develop a phoneme-aware disentanglement and injection mechanism that extends conventional frame-level modeling to the phoneme level. Furthermore, we design a vector quantization (VQ)-median module that provides robust phoneme-level representations through VQ-based segmentation and median-frame-based aggregation. Extensive experiments on Mandarin and English Lombard datasets demonstrate that the proposed approach consistently improves speech intelligibility, Lombard similarity, and perceptual quality over baselines while maintaining speaker identity. These results highlight the importance of structured multi-scale modeling for effective N2L speech conversion.

cs.SD↗

arXiv2026

APEX-RBD: Mixed-Precision Exploration Framework for Hardware-Efficient Robot Dynamics Accelerator Design

Rigid Body Dynamics (RBD) forms the computational core of real-time robotic control, but its immense computational complexity creates a performance bottleneck that necessitates dedicated hardware accelerators. However, the substantial hardware resource and power costs of these accelerators make their deployment on resource-constrained edge platforms highly challenging. While quantization offers a promising path to optimize RBD hardware for edge computing, existing uniform-precision approaches remain inefficient by ignoring the diverse quantization sensitivities of different variables. Although mixed-precision offers a superior alternative, its exploration is intractable due to a vast search space and the prohibitive cost of closed-loop simulation for motion accuracy evaluation. To address these challenges, we introduce APEX-RBD, an automated framework that makes mixed-precision exploration computationally tractable while effectively identifying hardware-efficient configurations. Specifically, it performs physics-driven search space pruning via variable grouping and sensitivity analysis, and employs a data-efficient, prior-informed surrogate model to enable rapid trajectory error prediction. This formulation guides a hybrid optimizer to identify area- and power-efficient designs under user-defined accuracy and performance constraints. Experimental results demonstrate that APEX-RBD discovers designs achieving up to 1.9$\times$ area reduction and 1.8$\times$ power savings compared to uniform-precision baselines across diverse robotic platforms.

cs.AR↗