Search arXiv⌕ Search

arXiv subjects

Yan Xie

Publications and source records attributed to Yan Xie.

At least 19 recordsLinked to original sources
arXiv2026

Massively parallel Schwarz methods for the high-frequency Helmholtz equation with O(k) convergence

We develop a one-level restricted additive Schwarz solver with perfectly matched layer transmission conditions (RAS--PML) for high-frequency Helmholtz systems. For problems with ${O}(k^d)$ unknowns, $d=2,3$, the solver uses Cartesian decompositions and ${O}(k^d)$ concurrent local solves for a single right-hand side, where $k$ is the wavenumber. Starting from the convergence theory for fixed decompositions established in~\texttt{arXiv:2404.02156}, we address the growing cost {as $k$ increases} of local solves through a nested RAS--PML construction. Under suitable stability and contraction assumptions, we prove that sufficiently accurate recursive local solves preserve convergence of the outer iteration. We also prove that a single inner iteration at each non-terminal level yields a correction algebraically equivalent to one-level RAS--PML, provided that the hierarchy-induced finest local problems and composite restriction and weighted extension operators are retained. This equivalence provides a hierarchical interpretation and permits a direct implementation without recursive transfers. We assess the one-level solver using PML and overlap widths of order ${O}(k^{-1}\log k)$. Constant-coefficient experiments cover $300\leq k\leq19200$ in two dimensions and $60\leq k\leq780$ in three dimensions, reaching $1.47\times10^9$ and $4.75\times10^8$ complex unknowns, respectively. Richardson iteration counts grow approximately linearly with $k$ over these ranges, while total parallel runtime, including setup and solution, exhibits near-linear growth at the larger tested wavenumbers. Further experiments assess the effects of mesh refinement and heterogeneous media.

math.NA↗
arXiv2026

LRanker: Scaling LLM Ranking to Millions of Candidates with Test-Time Scaling

Large language models (LLMs) offer strong semantic representations for ranking, but processing candidate texts within limited contexts and repeatedly invoking an LLM for candidate-level comparisons can be costly when candidate pools contain millions of items. We propose LRanker, a framework for scaling LLM ranking to millions of candidates with test-time scaling. The framework combines two complementary components. A candidate aggregation encoder summarizes offline candidate embeddings using K-means clustering and conditions the LLM on compact global candidate information; ranking then uses inner-product scores with cached candidate embeddings. A graph-based test-time scaling mechanism allocates additional inference computation to partition-conditioned query embeddings and ensembles their ranking scores. This separates the ability to score large candidate pools from the use of additional test-time computation to improve ranking quality. We evaluate LRanker on seven tasks across three scenarios in RBench, including a recommendation task with more than 6.8M candidates. Against the strongest baseline reported for each task, the relative MRR improvements in RBench-Large are 27.5%, 3.9%, 0.9%, and 8.9% on Rec-Movie, Rec-Toy, MS MARCO, and ESCI, respectively. On RBench-Small, the reported task scores improve by 26.7% on Rec-Music and 6.1% on Routing-Balance; on the 6.8M-candidate Rec-Clothing task, the improvement over Tiger is 27.0%. Ablations support the complementary contributions of candidate aggregation and test-time ensembling. These results demonstrate a practical approach to million-scale LLM ranking, with test-time computation providing an additional means of improving ranking effectiveness.

cs.IR↗
arXiv2026

Cartender: Verifiable Language-Conditioned Driving by Learning the Drives Not Taken

Every driving scene is logged once, but driving is one-to-many: the scene determines which behaviors are feasible, while an instruction selects among them. A log records only the action taken, leaving no direct supervision for alternative feasible actions or instructions the scene cannot support. Consequently, a policy that ignores language and one that follows it without regard to scene constraints can fit the same data. We present Cartender, which learns from the drives not taken. Counterfactual Branching constructs matched and mismatched instruction-action pairs from real recordings without a simulator: a vision-language model proposes alternative futures and their selecting instructions, while unsupported instructions provide negative labels. A learned scene-language compatibility score regulates language conditioning in trajectory generation, and a reward-trained language residual re-ranks generated candidates over a scene-based score. The branches are used for training; instruction following is evaluated by swapping instructions under identical recorded inputs and measuring behavior rather than agreement with generated targets. On WOD-E2E, the best of four proposals achieves an RFS of 8.642 across 3,603 feasible instruction conditions. Across 8,974 admitted proposals, mean RFS is 8.203 versus 7.906 for matched logged trajectories, and 67% score higher than their logged counterpart. Compared with matched-only imitation using the same backbone, Cartender improves same-scene paired instruction success from 23.67% to 57.00% and RFS from 6.32 to 7.10; its gate reduces infeasible-instruction execution from 53.36% to 14.18%.

cs.RO↗
arXiv2026

Co-Evolving Acting and Forecasting for Language Agents

Training language agents is bottlenecked by the high cost of long-horizon rollouts, yet standard agentic reinforcement learning (RL) learns only from a terminal scalar reward, leaving the supervision in intermediate steps largely unused. Prior work exploits this supervision through value targets that estimate per-step success probabilities or observation targets that fit environment response. Both are hard to construct well: (1) value targets come from the same single scalar signal for each step in the trajectory, and (2) observation targets, such as web pages and terminal logs, are long and noisy and reach only one step ahead. We propose CoPE, which adds a third kind of multi-step action targets. On successful on-policy trajectories, CoPE trains the policy backbone to generate the action sequences that follows each history. Each action is also supervised when forecast from the preceding histories, forming a temporal ensemble that the shared backbone absorbs during training, and this enables acting and forecasting to co-evolve. The policy still acts one step at a time at inference, with no overhead. Across five benchmarks (ALFWorld, ScienceWorld, WebShop, $τ^2$-bench, and AppWorld), CoPE (1) achieves stronger aggregate performance than GRPO and RL baselines with predictive auxiliary targets across simulated environments, while improving overall performance on both realistic applications; (2) delivers up to $1.9\times$ and $2.0\times$ higher sample efficiency than ECHO and GRPO, respectively, on ScienceWorld; and (3) achieves these gains with a single policy backbone, without additional models, separate pretraining, or inference overhead. The codebase is available at https://github.com/ulab-uiuc/CoPE.

cs.AI↗
arXiv2026

GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models

Current Vision-Language-Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment. We introduce GeoAlign, a state-guided spatial alignment architecture for VLA policy learning. Offline robot-domain RGB-D supervision post-trains an RGB geometry branch to produce Geometry-Enhanced Post-Trained (GEP) features; the depth head is then discarded, so policy training and rollout use RGB, language, and proprioceptive state. State-generated queries attend to the GEP grid to produce eight compact geometry tokens for action prediction. GeoAlign achieves 99.0% on LIBERO, 85.3% across three SimplerEnv-Fractal task families, and 78.8% on eight real-world ALOHA tasks, with ablations supporting the combined recipe of geometry post-training and state-guided querying on Isaac-GR00T N1.6-3B. Project website: https://chenyizhi123.github.io/geoalign-project/.

cs.RO↗
arXiv2026

ExpHarness: Model-Agnostic Experience Learning through a Trainable Harness

Large language model (LLM) agents increasingly operate within a harness, the scaffolding that determines what enters the executor's context, yet the experience they accumulate across tasks rarely flows back into this harness. Existing approaches include executor fine-tuning and external memory retrieval, but combining task-adaptive retrieval with experience reuse across frozen executors remains challenging. To this end, we introduce ExpHarness, a learnable experience harness that improves frozen and replaceable LLM executors without modifying their parameters. Specifically, ExpHarness distills trajectories into reusable skills and failure lessons within a self-evolving experience graph, and trains a lightweight retrieval copilot that decides, per task, how broadly to explore the graph and how strongly to favor historically useful experiences over merely similar ones. The copilot is optimized with reinforcement learning from a utility-grounded reward combining the with/without-experience score difference and an absolute-performance term; the same reward updates the graph during training. Extensive experiments on ExpSuite, spanning 10 static benchmarks and 2 agentic environments, show that ExpHarness improves over the strongest baseline by 12.1% and 4.5% on static tasks and by 21.4% and 12.7% on agentic tasks with the smaller and larger executors, respectively, while reducing interaction steps by up to 21.6%. Transfer experiments further examine reuse of the learned harness across executors of different scales and reasoning capabilities, with joint graph and copilot transfer performing closest to target-specific training among the evaluated transfer variants.

cs.CL↗
arXiv2026

Learning the Latent Structure: A Feature-Centric Approach to Graph Data Augmentation

Graph-structured data plays a pivotal role in modeling complex relationships. However, real-world graphs are often incomplete due to data collection and observational constraints, severely limiting the effectiveness of modern graph learning pipelines. While existing Graph Data Augmentation (GDA) methods attempt to refine graph structures for improved downstream performance, they are typically label-dependent, computationally expensive, and inherently transductive, limiting their applicability in practical scenarios. In this work, we present a novel feature-centric graph data augmentation framework that bypasses explicit structure modeling by operating directly in the embedding space. Through a self-supervised inverse masking process, our method captures latent ties between observed and complete graphs, enabling recovery of unobserved structural signals through refined node representations. To enhance robustness under noisy and sparse supervision, we introduce a message regularizer and a bootstrap strategy for effective training and generalization. Evaluated on ten graph datasets spanning multiple domains, our approach, SelfAug, consistently outperforms state-of-the-art methods in both accuracy and efficiency across inductive and cold-start settings, highlighting its potential as a scalable and generalizable solution for real-world graph learning scenarios.

cs.LG↗
arXiv2026

ME-Brain-1.0: Memory, Cognition and Action for Evolving Embodied Intelligence

Current embodied systems largely rely on pretrained capabilities that remain fixed after deployment, limiting their ability to learn from physical interaction. We introduce MachEmbodied-Brain (ME-Brain), a self-evolving embodied system organized around a closed loop of action execution, experience acquisition, experience evolution, and improved execution. Evolvable Memory consolidates multimodal trajectories into hierarchical, reusable experience; Cognitive Core transforms physical experience into transferable skills; and the Action Model combines event-driven keyframes, EventCell local-world prediction, and action-conditioned memory modulation to focus computation on decision-critical moments, regions, and historical evidence. Together, these modules shift embodied intelligence from train-and-freeze to deploy-and-evolve without model retraining. Cognitive Core outperforms the strongest comparison models by 8.2 and 9.6 points on embodied and agent benchmarks. The Action Model achieves 47.88% mean success on RoboMME, a 3.26-point improvement over the strongest baseline. On RoboDojo, it reaches a 21.51 mean Score and 16.03% success rate, exceeding $π_{0.5}$ by 10.10 and 9.12 points. On the six-task ME-RealBench, ME-Brain achieves a 69.5 mean Score and 66.7% success rate, outperforming DM0.5 by 12.8 and 11.7 points, respectively.

cs.RO↗
arXiv2026

What Makes an Efficient VLA? Navigating Action-Head Design, Scaling, and Latency

Vision-Language-Action (VLA) models combine a pretrained vision encoder, a language backbone, and an action head, but their relative contribution has not been established under controlled, latency-paired conditions. We fix the backbone families (SigLIP2 and Qwen2.5) and the training pipeline, sweep action-head design and module scale, and pair each configuration with measured on-device latency. The study yields three findings. First, action-head performance is governed primarily by initialization rather than decoder architecture, loss, or inference budget: copying the last transformer layers of the language backbone into the head is the single largest lever, at no latency cost, and the only axis that helps at every module scale. Alignment also explains the other axes: flow matching and a heavier decoder pay off only while the head is misaligned and reverse once it is aligned, and extra inference passes give no measurable benefit; expressiveness appears to substitute for missing alignment. We read this as representation transfer: the aligned head keeps attending to the instruction's object nouns and stays close to the backbone in weight space rather than relearning to act from scratch. Because we reach alignment only through initialization, we offer this as the account that best organizes the measurements, not a demonstrated cause, and name the control that would settle it. Second, capacity pays only after alignment: the aligned action head is the highest-return module to scale. Third, those returns diminish sharply near the size today's $π$-series VLAs already use, so further growth buys little in-domain accuracy for its latency. These specify EffVLA, a compact model matching the strongest open-source VLAs on standard LIBERO, leading on most LIBERO-Plus perturbation axes at lower latency, and transferring to a real SO-ARM101 arm with the recipe unchanged.

cs.RO↗
arXiv2026

MachEmbodied-U0: Unified Understanding and Generation Model for Embodied Intelligence

General-purpose robot control requires models to understand task intent, identify where to interact, capture how the scene evolves, and generate precise actions. Vision-language-action models provide strong semantic priors but typically do not explicitly model scene dynamics, while world-action models couple visual prediction with control without necessarily exposing the task-relevant semantic and spatial structure needed for fine-grained manipulation. We present MachEmbodied-U0 (ME-U0), a unified embodied foundation model connecting understanding and generation experts through a Mixture-of-Transformers architecture. Subtask prediction and affordance grounding guide joint visual-dynamics and action generation via flow matching. Visual dynamics encompass future RGB, depth, surface normals, and optical flow, providing complementary supervision for appearance, geometry, and motion. Multi-rate Rotary Position Encoding (MRPE) aligns visual dynamics with fine-grained control. We pretrain ME-U0 on approximately 4,200 hours of curated demonstrations from robotic datasets and egocentric datasets. Using only the supervision natively available in each downstream benchmark, ME-U0 achieves an average score of 17.66 on the RoboDojo simulation benchmark and average success rates of 99.0\% and 82.5\% on LIBERO and LIBERO-Plus, respectively. We additionally validate ME-U0 on real-world robotic manipulation tasks, demonstrating its effectiveness beyond simulation. Without corresponding downstream supervision, ME-U0 further demonstrates zero-shot subtask prediction, affordance grounding, and visual dynamics on simulated and real-world observations. Overall, ME-U0 combines competitive downstream control performance with transferable task-grounding and visual-dynamics capabilities across simulation and the real world.

cs.RO↗
arXiv2026

An Event-Driven Framework for Fly-Inspired Visual Motion Detection

Fast and reliable motion detection is essential for machine vision and autonomous systems operating in dynamic environments. This work integrates emerging event-based sensing with biologically structured neural computation to establish an efficient computational paradigm for visual motion detection. The proposed framework is built upon a recently developed fly-inspired neural network that emulates motion-processing circuits in the optic lobe. Owing to its feed-forward and training-free architecture, the neural model requires only a small number of interpretable parameters and is well suited for real-time implementation. Event cameras provide low-latency, low-power, and high-dynamic-range visual sensing by asynchronously transmitting brightness-change events. However, their performance can be degraded by event noise, including temporal noise and junction-leakage-induced activity, particularly under low-light conditions. Moreover, effective integration between event-based visual representations and biologically inspired neural processing remains under-explored. To address these challenges, we propose an event-driven computational framework that combines time-surface encoding for front-end event representation with a fly optic-lobe-inspired neural network for foreground motion-direction estimation. A bottom-up attention mechanism is further incorporated to suppress background motion and enhance the saliency of foreground targets. The proposed method is evaluated via real-world datasets of ground-vehicle detection and compared with a baseline frame-based model and an optimization-based approach. Experimental results demonstrate that the framework effectively combines the temporal advantages of event-driven vision with the efficiency and interpretability of bio-inspired neural processing.

cs.CV↗
arXiv2026

Uniform Inf-Sup Norm Equivalence and Robust Operator Preconditioning for Stokes Flow in tight domains with Periodic Pillars

Many microfluidic and porous-media computations reduce to the same core task: solving a Stokes saddle-point system on a domain perforated by a dense periodic array of pillars, as in deterministic lateral displacement (DLD) particle sorters. After rescaling the device to unit size, the geometry is controlled by a single dimensionless parameter $m$---the number of pillars across the device, equal to the inverse period. In realistic devices $m$ reaches the hundreds or thousands, and as it grows the Stokes inf-sup constant decays like $m^{-1}$, the pressure Schur complement becomes severely ill-conditioned, and standard block solvers slow down in proportion to the pillar density. We remove this bottleneck by identifying the pressure norm that the divergence operator induces on such geometries. For periodic pillar arrays in the proportional-hole regime, we prove that this inf-sup norm is uniformly equivalent to the $L^2+σ_εH^1$ $K$-functional norm at the pore scale $σ_ε\asympε$, with constants independent of the period, the pillar count $m$, and the mesh size $h$. The equivalence identifies the perforated Stokes problem with a Brinkman problem at a homogenized permeability, and its Riesz map reduces to a pressure-mass inverse plus a scaled stiffness inverse. Combined with operator preconditioning, this yields a block preconditioner built from standard algebraic-multigrid solves whose iteration count is essentially independent of both mesh size and pillar density. Two-dimensional Taylor--Hood experiments confirm the predicted robustness in mesh refinement, pillar density, geometric scale, close packing, and time step.

math.NA↗
arXiv2026

CoFiRec: Coarse-to-Fine Tokenization for Generative Recommendation

In web environments, user preferences are often refined progressively as users move from browsing broad categories to exploring specific items. However, existing generative recommenders overlook this natural refinement process. Generative recommendation formulates next-item prediction as autoregressive generation over tokenized user histories, where each item is represented as a sequence of discrete tokens. Prior models typically fuse heterogeneous attributes such as ID, category, title, and description into a single embedding before quantization, which flattens the inherent semantic hierarchy of items and fails to capture the gradual evolution of user intent during web interactions. To address this limitation, we propose CoFiRec, a novel generative recommendation framework that explicitly incorporates the Coarse-to-Fine nature of item semantics into the tokenization process. Instead of compressing all attributes into a single latent space, CoFiRec decomposes item information into multiple semantic levels, ranging from high-level categories to detailed descriptions and collaborative filtering signals. Based on this design, we introduce the CoFiRec Tokenizer, which tokenizes each level independently while preserving structural order. During autoregressive decoding, the language model is instructed to generate item tokens from coarse to fine, progressively modeling user intent from general interests to specific item-level interests. Experiments across multiple public benchmarks and backbones demonstrate that CoFiRec outperforms existing methods, offering a new perspective for generative recommendation. Theoretically, we prove that structured tokenization leads to lower dissimilarity between generated and ground truth items, supporting its effectiveness in generative recommendation. Our code is available at https://github.com/YennNing/CoFiRec.

cs.IR↗
arXiv2026

Emergent trans-moiré orbitals and topology in rhombohedral graphene

The fractional quantum anomalous Hall effect (FQAHE) exhibited in fractional Chern insulators has recently been demonstrated in twisted MoTe2 and rhombohedral graphene/hBN moiré superlattices, promising new routes toward topological quantum computation. Central to realizing this promise is the understanding of the underlying microscopic mechanism. This, however, remains elusive in the case of rhombohedral graphene, with the crux being its two seemingly paradoxical conditions: a pronounced small-twist-angle (θ) moiré interface, yet only when electrons are kept distant from it. Here, by scanning tunnelling microscopic imaging with both conditions fulfilled, we capture dramatic electronic structure reshaping in rhombohedral hexalayer graphene by unforeseen 'trans-moiré orbitals', which emerge on the other, distant side of the moiré interface but nevertheless enforce the moiré periodicity at all measured fillings. We visualize a hierarchy of spatially and energetically distinct trans-moiré orbitals which doped electrons must sequentially occupy--the lowest-energy orbital, expectedly responsible for the FQAHE at small fillings, carries a hollow-cage-like shape. Remarkably, these trans-moiré orbitals vanish at θ {\gtrsim} 1°, and so do QAHE plateaus in similar devices. Simulations reveal an interaction-driven charge-redistribution mechanism which shapes the trans-moiré orbitals and corresponding Chern minibands. With our findings providing the missing microscopic link, the paradoxical conditions find a natural explanation: electrons are not simply kept distant from a small-θ moiré interface; they are forced into topological trans-moiré orbitals, forged precisely under such conditions. Our microscopic diagnostics unlocks a wide range of possible 'synthetic' FQAHE platforms.

cond-mat.mes-hall↗
arXiv2026

Transport-defined photodetection through electrically selectable nonequilibrium carrier transport

Broadband optical fields can change in both intensity and spectral distribution, but a fixed-response detector maps this evolving information onto a single electrical signal. Here we demonstrate transport-defined photodetection, in which electrical bias selects how photoexcited carriers are redistributed, escape and are collected, creating complementary response functions within one shared active region. In a GaAs/AlGaAs semiconductor ratchet, light-driven ratchet transport defines the response at 0 V, whereas the spectral evolution at -2 V is consistent with field-assisted hot-carrier transport. The overlapping states span a measured spectral range of 0.4-94.5 μm at 5 K, provide state-dependent calculated detection floors and support joint infrared operation at 30 K. Direct optical beat notes at 7.432 GHz in the mid-infrared and 17.103 GHz in the terahertz demonstrate optical-to-electrical conversion. Their common-path outputs recover an imposed spatial temperature gradient and the transient field-of-view-integrated effective radiation temperature of laser-excited graphite. These results establish post-photoexcitation transport as a function-defining design variable for semiconductor photodetectors, complementing structure-defined, field-tuned and optically encoded approaches to reconfigurable photodetection.

physics.optics↗
arXiv2026

VLAFlow: A Unified Training Framework for Vision-Language-Action Models via Co-training and Future Latent Alignment

Vision-language-action models (VLAs) have recently advanced robotic manipulation, yet the effects of different robot-data pre-training paradigms remain difficult to compare because existing models often differ in architecture, data, action space, and evaluation protocol. We present VLAFlow (Vision-Language-Action Flow), a unified flow-matching framework for controlled comparison of VLA training objectives. Using a heterogeneous robot corpus, OXEMix, containing approximately 5,000 hours of data from DROID, OpenX-Embodiment, OpenX-Augmented, and RoboCOIN, we evaluate four paradigms under the same pi0-style architecture, shared VLM backbone, action expert, and 14-dimensional action space: action-only modeling (MindPI), language-supervised co-training (MindLPI), future latent alignment (MindWPI), and their combination (MindLWPI). Experiments on LIBERO, LIBERO-Plus, and SimplerEnv show that action-only pre-training is sensitive to heterogeneous data. In contrast, language supervision helps preserve vision-language generalization, while future latent alignment improves state-transition and action-outcome modeling. By combining both signals, MindLWPI achieves the most stable overall transfer performance across benchmarks. These results suggest a meta-action space view: language and future latent representations provide complementary intermediate constraints that make heterogeneous action supervision smoother and more transferable.

cs.CV↗
arXiv2026

Breaking the Exploration Bottleneck: Rubric-Scaffolded Reinforcement Learning for General LLM Reasoning

Recent advances in Large Language Models (LLMs) have underscored the potential of Reinforcement Learning (RL) to facilitate the emergence of reasoning capabilities. Despite the encouraging results, a fundamental dilemma persists as RL improvement relies on learning from high-quality samples, yet the exploration for such samples remains bounded by the inherent limitations of LLMs. This, in effect, creates an undesirable cycle in which what cannot be explored cannot be learned. In this work, we propose Rubric-Scaffolded Reinforcement Learning (RuscaRL), a novel instructional scaffolding framework designed to break the exploration bottleneck for open-ended reasoning. Specifically, RuscaRL introduces checklist-style rubrics as (1) explicit scaffolding for exploration during rollout generation, where different rubrics are provided as external guidance within task instructions to steer diverse high-quality responses. This guidance is gradually decayed over time, encouraging the model to internalize the underlying reasoning patterns; (2) verifiable rewards for exploitation during model training, where we can obtain robust LLM-as-a-Judge scores using rubrics as references, enabling effective RL on open-ended reasoning tasks. Extensive experiments demonstrate the superiority of the proposed RuscaRL across various benchmarks, effectively expanding reasoning boundaries under the Best-of-N evaluation. Our code is available at https://github.com/IANNXANG/RuscaRL.

cs.LG↗
arXiv2026

Probabilistic Residual Learning for Online Recommendations

Modern recommender systems are typically based on deep learning (DL) models, where a dense encoder learns representations of users and items. As a result, these systems often suffer from the black-box nature and computational complexity of the underlying models, making it difficult to systematically enhance their recommendation capabilities. To address this problem, we propose Probabilistic Residual Learning (PRL), a causal Bayesian recommendation model that models the residual between ground-truth and base predictions, enabling targeted refinement of existing systems. Specifically, PRL (1) probabilistically groups users for localized residual modeling, (2) models domain-level confounders that influence user and item representations, and (3) aggregates cluster-specific residual predictions over the confounders using do-calculus. Experiments demonstrate that our plug-and-play PRL is compatible with various base deep learning recommender systems, improving their performance while automatically discovering meaningful user clusters.

cs.IR↗