arXiv subjects

Yang Li

Publications and source records attributed to Yang Li.

12 recordsLinked to original sources

arXiv2026

FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-level actions from visual and linguistic observations, but cannot interpret the physical interactions induced by those actions. While the whole-body control (WBC) policy can stabilize the robot, it cannot distinguish task-relevant interaction forces from forces induced by external disturbances during manipulation. Although force/torque sensors provide direct measurements of physical interactions, retrofitting them entails additional hardware costs and substantial integration effort, particularly for platforms not designed with sensor integration in mind. To address this problem, we propose FWBC-VLA, a force-aware framework that bridges task-level VLA action generation and low-level whole-body compensation control for wheeled-legged robots. First, we introduce HSR-Force, a sensorless residual-torque estimator for inferring contact strength and its temporal variation. These contact estimates are then encoded as tokens and injected into the VLA action expert during action decoding, enabling the policy to perceive contact onset, sustained loading, and release. For loco-manipulation tasks, all parameters of the pretrained VLA backbone are fine-tuned on our WL\&Arm Dataset, which comprises more than 5,000 episodes. Moreover, the robot's proprioceptive state, the Jacobian-derived body-frame force estimate, and the estimated contact state are jointly fed into a compensation generator to produce corrective actions. The manipulation-centric actions are subsequently combined with the corrective actions and passed to the WBC policy for execution. Real-world experiments on whiteboard wiping and door opening with a door closer demonstrate the effectiveness of our FWBC-VLA in contact-rich loco-manipulation.

cs.RO↗

arXiv2026

Has MIMO decoding been proved hard from lattice problems?

Multiple-input multiple-output (MIMO) technology is fundamental to modern wireless communication. Physical layer security seeks to protect transmitted information by exploiting properties of the noisy communication channel. Dean and Goldsmith proposed a polynomial time reduction from lattice problems to MIMO decoding by adapting Regev's reduction for learning with errors (LWE). If valid, this reduction would give physical layer security a strong computational foundation based on the hardness of established lattice problems. Subsequent works presented attacks and counterexamples against the resulting construction, casting doubt on its security but leaving the precise validity and limitations of the underlying reduction incompletely understood. We provide a theoretical examination of the revised reduction and identify the structural features of the LWE reduction that fail to carry over to the non-modular MIMO setting, hence showing that its published proof does not establish the claimed hardness of MIMO decoding. Our results distinguish flaws in the hardness proof from direct attacks on particular parameter choices and clarify what would be required of any attempted repair. We do not rule out physical layer security for MIMO systems in general, but show that the claimed lattice hardness guarantee does not follow from the existing reduction.

cs.CR↗

arXiv2026

RISE: Recursive Improvement via Self-Extrapolating Policy Distillation

On-policy distillation (OPD) provides dense, per-token supervision for language model post-training, but its effectiveness is bottlenecked by teacher quality: external teachers suffer from distribution mismatch, while self-distillation with privileged conditioning is limited by in-context learning capacity. We propose \textbf{RISE} (\textbf{R}ecursive \textbf{I}mprovement via \textbf{S}elf-\textbf{E}xtrapolating Policy Distillation), which constructs a synthetic teacher directly from the model's own RLVR training trajectory. By extrapolating the displacement between the current checkpoint and a trailing anchor---in parameter space or output logit space---RISE converts a sparse outcome-induced parameter update into a dense token-level target, without any external model or privileged conditioning. RISE combines RLVR and OPD in a complementary loop: outcome rewards ground the extrapolation toward correct reasoning, while the extrapolated teacher refines token-level decisions. Moreover, since the teacher is refreshed every iteration as the student improves, distillation becomes a recursive improvement mechanism rather than a one-shot compression step. Experiments spanning mathematical reasoning, multi-domain STEM, code generation, and multi-turn agentic tasks show that RISE outperforms RLVR-only training and on-policy self-distillation across all settings.

cs.AI↗

arXiv2026

CauseCollab: Causal Unified and Modality-Agnostic Network for Heterogeneous Collaborative Perception

Collaborative perception enhances environment understanding through multi-agent information sharing, but its performance in real-world scenarios is constrained by heterogeneous sensor modalities and model architectures. Recent protocol-based two-stage methods alleviate this problem by mapping heterogeneous features into a shared protocol space; however, independently trained modality-specific converters often generate modality-specific pseudo-protocol distributions, leading to semantic inconsistency and error accumulation, which is particularly pronounced in scenarios with large modality discrepancies. To address this issue, we propose CauseCollab, a causal unified and modality-agnostic network. CauseCollab formulates representation learning in the protocol space from a causal perspective, explicitly disentangling semantic factors from modality-specific statistical confounders via causal metric learning. Meanwhile, CauseCollab adopts context-guided Unified Converter for heterogeneous modalities to ensure cross-modal semantic consistency. In addition, integrating new modalities only requires training adapters with minimal parameters. Extensive experiments on the OPV2V and DAIR-V2X datasets demonstrate that CauseCollab achieves state-of-the-art performance, with more significant gains in scenarios involving large modality gaps.

cs.AI↗

arXiv2026

Guided Prompt Evolution for Vision-Language Models Adaptation

The adaptation of large-scale vision-language models (VLMs) to downstream tasks with limited labeled data remains a significant challenge. While parameter-efficient prompt learning methods offer a promising path, they often suffer from catastrophic forgetting of pre-trained knowledge. Toward addressing this limitation, our work is grounded in the insight that governing the evolutionary path of prompts is essential for forgetting-free adaptation. To this end, we propose EvoPrompt, a novel framework designed to explicitly steer the prompt trajectory for knowledge-preserving fine-tuning. Specifically, our approach employs a Modality-Shared Prompt Projector (MPP) to generate hierarchical prompts from a unified embedding space. Critically, an evolutionary training strategy decouples low-rank updates into directional and magnitude components, preserving early-learned semantic directions while only adapting their magnitude, thus enabling prompts to evolve without discarding foundational knowledge. Extensive experiments demonstrate that EvoPrompt achieves state-of-the-art performance in few-shot learning while robustly preserving the original zero-shot capabilities of pre-trained VLMs.

cs.CV↗

arXiv2026

DReSG: Diffusion Residuals for Stylized Gaussian Splatting

Reference-guided stylization of scenes represented by 3D Gaussian Splatting (3DGS) is important for efficient and controllable 3D content creation. Existing VGG-feature-based 3D stylization methods provide stable rendered-view optimization, but often under-represent expressive reference style cues; diffusion models offer stronger image priors, yet direct per-view or score-based diffusion guidance can lead to view drift, local artifacts, and hard-to-control appearance updates. We present DReSG, a 3D-grounded residual-feedback framework for stylized Gaussian splatting. DReSG represents attention-guided diffusion proposals as residual targets relative to the current render, and progressively absorbs these residuals into a shared Gaussian scene through multi-view Gaussian feedback. To make this feedback stable and controllable, DReSG modulates residual strength during target construction and combines coverage-aware view selection with conflict-filtered color updates during multi-view fitting. Extensive experiments demonstrate that DReSG achieves competitive reference-guided stylization while better preserving scene structure and cross-view stability. Our project page is available at https://vpx-ecnu.github.io/DReSG-website/.

cs.CV↗

arXiv2026

TopoCompress: Long Context Compression via Graph-Wired Semantic Trajectories

Long-context compression is essential for reducing the cost and latency of large language model inference. However, existing methods can fragment important evidence, require additional training or alignment, and often depend on the target model for effective compression. We introduce TopoCompress, a training-free and model-agnostic framework that compresses long contexts by selecting coherent semantic spans. TopoCompress first scores each span using dense and lexical query relevance together with semantic acceleration. It then constructs a hybrid graph that connects spans based on semantic similarity and sequential adjacency, and propagates the query-guided relevance scores over the graph. Across five long-context tasks-HotpotQA, 2WikiMQA, MuSiQue, Qasper, and MultiFieldQA-en-TopoCompress consistently outperforms strong compression baselines. Notably, TopoCompress achieves performance comparable to the strongest baseline while using a 4x smaller compression budget, and provides a 1.41x smaller compression time over the fastest baseline.

cs.CL↗

arXiv2026

The Safety Relay in Roleplay Jailbreaks: A Component-Resolved Causal Analysis of Harm Recognition and Refusal

Large language models are trained to follow instructions while refusing harmful requests. Jailbreaks exploit this balance to elicit content a model would ordinarily reject. Roleplay jailbreaks are especially concerning: the harmful request can remain visible inside a roleplay wrapper made of a persona, scenario, and task, yet the model may comply. We use mechanistic interpretability to determine how this context reverses refusal and which elements contribute to the reversal. Across two benchmarks, three model families, and four authored wrappers, we compare matched harmful and benign requests with and without this wrapper. We trace hidden-state contrasts from the request to the final prompt state, isolate wrapper operations through controlled counterfactuals, intervene on their activation directions in held-out evaluation requests, and decompose effective directions geometrically. Our analysis yields three findings. (1) Successful attacks retain the measured harmful-versus-benign distinction at the request, while its refusal-associated expression weakens where the answer begins, a pattern we call safety-relay attenuation. (2) Constructing the complete roleplay around the request and framing it within the scenario contribute causally: removing the associated activation changes restores refusal. (3) These effects largely share internal structure, and most repair is reproduced by components aligned with the model's ordinary refusal of harmful requests without roleplay; scenario framing retains a smaller, model-dependent component. Together, these findings explain how roleplay can produce compliance despite retained evidence of harm and identify a concrete target for future safeguards: maintaining the connection from harm recognition to refusal.

cs.LG↗

arXiv2026

Parameter Estimation of Power Electronic Converters with Differentiable Physics Simulation

This article proposes a differentiable physics simulation (DP simulation)-based parameter estimation method for the condition monitoring of power electronic converters. In the proposed method, the time-domain simulation of converter dynamics is embedded into a differentiable computational graph, directly linking device parameters to observed voltage and current trajectories. By formulating differentiable time-stepping operators, the nonlinear dynamics of the converter across different circuit topologies are simulated in a unified, differentiable manner. A dc-dc buck converter is used as a representative case study. Using sparse transient samples from existing sensing channels, the method enables noninvasive parameter estimation without additional sensing hardware. Comprehensive simulation studies are conducted to evaluate the impacts of time-stepping schemes, regularization constraints, and various uncertainty sources on estimation accuracy and robustness. Subsequently, 30 distinct hardware configurations are experimentally tested for validation. The results show that the proposed method can effectively track the relative variations of health-related parameters across the critical components. This DP simulation framework provides a novel perspective for physics-informed machine learning in power electronic applications.

eess.SY↗

arXiv2026

DIP: Dynamic In-Context Planner For Diffusion Language Models

Diffusion language models (DLMs) have shown strong potential for general natural language tasks with in-context examples. Existing In-Context Learning (ICL) approaches largely inherit the practice of autoregressive language models (ARLMs), incorporating all examples into a fixed prompt. However, applying this rigid, static-prompt paradigm to DLMs incurs substantial computational overhead, as the model must evaluate the maximum context length at every step. We address this inefficiency with a key discovery: the block-wise KV-cache mechanism inherent to DLM inference enables the \textit{low-cost dynamic adjustment of the context}. Following this intuition, our core idea is to start generation with a minimal prompt and progressively insert additional examples on the fly only when the generated tokens are of low confidence. Through rigorous empirical evaluations, we observe that average verified token confidence correlates strongly with generation accuracy, making it a reliable and computationally efficient signal of token quality. Formally, we propose \textbf{D}ynamic \textbf{I}n-Context \textbf{P}lanner (DIP), a context-optimization algorithm based on average verified confidence that dynamically ranks and inserts in-context examples during generation, rather than providing all examples up front. Experimental results on math and coding benchmarks with LLaDA-1.5 and LLaDA-8B-Instruct show that DIP achieves up to $1.59\times$ and $1.36\times$ speedups, respectively, while largely preserving the generation quality of the fixed-prompt baseline. Code: https://github.com/wmd3i/DIP

cs.CL↗

arXiv2026

Agentic AI uncovers conserved cross-tissue protein co-abundance programs inaccessible to single-dataset analysis

Protein co-abundance clusters preserved across tissues can reveal shared disease mechanisms and candidate therapeutic targets, particularly when proteins implicated in organ-confined diseases converge in peripheral or accessible tissues. However, previous cross-tissue studies have focused on biologically pre-selected tissue pairs, leaving most possible combinations and non-obvious relationships unexplored. We present an LLM-agent framework for large-scale, evidence-grounded comparison of tissue-specific protein co-abundance networks. The framework constructs tissue networks, derives pairwise consensus clusters, and integrates evidence from expression atlases, protein interaction and complex databases, pathway annotations, disease catalogues, and literature. Applied to all 820 pairwise combinations of 41 human tissues and fluids, it identified 1,833 conserved co-abundance clusters across 406 tissue pairs. Colon, synovial fluid, blood, cerebrospinal fluid, and bone marrow were the most broadly connected tissues, while the most cluster-rich pairs were dominated by bone marrow. The analysis also highlighted non-obvious relationships: skin-bone marrow exceeded the anatomically adjacent bone-bone marrow pair, while colon-breast contained cancer-relevant clusters involving extracellular-matrix remodeling, lipid metabolism, and immune modulation. Cluster-level analyses generated further mechanistic hypotheses, including a brain-gut extracellular-vesicle/redox/serotonin-cofactor axis and a liver-bone marrow stress-response axis involving genes linked to white matter disease. These results provide a global, comparable landscape of conserved protein co-abundance and a hypothesis-generating resource for mechanistic and therapeutic exploration. Code and data are available at https://github.com/Gry1005/AgenticAI-conserved-cross-tissue-protein-co-abundance.

cs.AI↗

arXiv2026

EvoLen: Evolution-Guided Tokenization for DNA Language Model

Tokens serve as the basic units of representation in DNA language models (DNALMs), yet their design remains underexplored. Unlike natural language, DNA lacks inherent token boundaries or predefined compositional rules, making tokenization a fundamental modeling decision rather than a naturally specified one. While existing approaches like byte-pair encoding (BPE) excel at capturing token structures that reflect human-generated linguistic regularities, DNA is organized by biological function and evolutionary constraint rather than linguistic convention. We argue that DNA tokenization should prioritize functional sequence patterns like regulatory motifs-short, recurring segments under evolutionary constraint and typically preserved across species. We incorporate evolutionary information directly into the tokenization process through EvoLen, a tokenizer that combines evolutionary stratification with length-aware decoding to better preserve motif-scale functional sequence units. EvoLen uses cross-species evolutionary signals to group DNA sequences, trains separate BPE tokenizers on each group, merges the resulting vocabularies via a rule prioritizing preserved patterns, and applies length-aware decoding with dynamic programming. Through controlled experiments, EvoLen improves the preservation of functional sequence patterns, differentiation across genomic contexts, and alignment with evolutionary constraint, while matching or outperforming standard BPE across diverse DNALM benchmarks. These results demonstrate that tokenization introduces a critical inductive bias and that incorporating evolutionary information yields more biologically meaningful and interpretable sequence representations. Code, pretrained and fine-tuned checkpoints, and tokenizer files are available at https://github.com/HN020719/EvoLen and https://huggingface.co/EvoLenTokenizer.

cs.LG↗