arXiv subjects

Yi Yang

Publications and source records attributed to Yi Yang.

At least 127 records · Page 7Linked to original sources

arXiv2026

CubifyGS: Object-Centric 3D Gaussian Splatting for Lifelong Dynamic Scene Maintenance

Lifelong scene mapping under rigid object rearrangement remains a fundamental challenge in robotics. While 3D Gaussian Splatting (3DGS) enables high-fidelity modeling, primitive-level updates often cause persistent ghosting and slow recovery. We propose CubifyGS, an object-level mapping framework that shifts dynamic maintenance from passive re-optimization to active asset management. CubifyGS models movable instances as reusable Gaussian assets, detects object appearance and disappearance, and updates maps through asset retrieval, rigid transformation, and explicit pruning rather than reconstruction from scratch. To address geometric voids and local photometric mismatch after such edits, we further propose an event-triggered adaptive optimization strategy that focuses computation on affected regions. We validate our approach on a newly constructed high-fidelity dynamic benchmark, demonstrating that CubifyGS improves artifact suppression and maintenance efficiency over representative reproducible baselines in the evaluated object-rearrangement setting.

cs.RO↗

arXiv2026

FastCSP: Accelerated Molecular Crystal Structure Prediction with Universal Model for Atoms

Molecular crystal structure prediction (CSP) is essential for applications in pharmaceuticals and organic electronics. However, CSP remains challenging and computationally intensive due to the need to explore a large search space with sub-kJ/mol accuracy to distinguish between competing polymorphs. While dispersion-inclusive density functional theory (DFT) offers the necessary precision, its computational cost is impractical for a large number of putative structures. Here, we present FastCSP, an open-source, end-to-end CSP workflow driven entirely by a single pretrained universal machine learning interatomic potential (MLIP), the Universal Model for Atoms (UMA), without any system-specific fine-tuning or DFT calculations. FastCSP integrates conformer generation, random structure generation via Genarris 3, geometry optimization, free energy evaluation, and conformer energy corrections, all powered by UMA. Benchmarked on 28 semi-rigid and 10 flexible molecules spanning 74 experimental polymorphs, FastCSP reliably recovers all known structures, ranking them within 9 kJ/mol of the global minimum. UMA reproduces dispersion-inclusive DFT results with high fidelity across chemically diverse compounds. Conformer corrections are particularly beneficial for flexible compounds with conformational polymorphism, such as ROY. UMA's accuracy, transferability, and computational cost thus eliminate the need for classical force fields in early-stage screening and DFT-based re-ranking in CSP workflows. The open-source release of the entire FastCSP workflow lowers the barrier to accessing CSP, enabling both pharmaceutical-grade and high-throughput polymorph screening within practical computational reach.

physics.chem-ph↗

arXiv2026

Evidence for Asymmetric Ejecta and Circumstellar Material in SN 2023ixf Inferred from Extensive Nebular-phase Observations

We present extensive optical and near-infrared (NIR) observations of the nearby Type II supernova (SN II) 2023ixf in the nebular phase from +89 days to +749 days after explosion, supplemented with NIR and mid-infrared (MIR) spectroscopy from the James Webb Space Telescope. The H$α$ emission profile shows complex evolution, with the emergence of high-velocity components consistent with the outer ejecta interacting with extended, low-density circumstellar material (CSM). We find that the H$α$ profile at an intermediate epoch (around +375 d) can be reconstructed by scaling an earlier decay-powered component and a later-phase shock-powered component, which revealed an additional intermediate-width component. This is consistent with the ejecta crashing into the initially aspherical dense CSM that has been swept-up by the forward shock. In the NIR, we find double-peaked emission from Mg I $1.504\ {\rm μm}$, Na I $2.206\ {\rm μm}$, and [Ni I] $3.12\ {\rm μm}$ between +200 d and +374 d, consistent with an asymmetric distribution of Ni-rich material that heats the ejecta inhomogeneously. We posit a disk-like CSM geometry and an ejecta geometry in which at least two large Ni-rich plumes lead to the observed line-profile diversity.

astro-ph.HE↗

arXiv2026

EAGLE-360: Embodied Active Global-to-Local Exploration in 360$^\circ$

While Multimodal Large Language Models (MLLMs) have demonstrated exceptional capabilities in standard visual understanding, adapting them for active visual search in 360$^\circ$ panoramic environments exposes fundamental limitations. Specifically, standard MLLMs struggle to effectively model inherent panoramic properties, such as severe polar distortion and continuous cylindrical topologies, which significantly degrades target detection accuracy. Consequently, existing panoramic search methods attempt to compensate by relying heavily on fragmented local viewpoints. Burdened by rigid initialization and a lack of global panoramic priors, these approaches suffer from myopic, inefficient exploration and struggle with robust error recovery when targets are out of view. To overcome these challenges, we propose EAGLE-360, a novel Embodied Active Global-to-Local Exploration framework. Rather than performing exhaustive local searches, EAGLE-360 leverages global priors to establish an initial holistic perspective, iteratively reasoning and progressively narrowing the search space. Architecturally, we adapt RoPE Rolling, a coordinate-shifting positional encoding mechanism, to seamlessly model the continuous topologies of panoramas. To facilitate this paradigm, we construct the large-scale EAGLE-360 dataset, comprising 14,000+ 4K panoramas and 70,000+ rounds of high-quality VQA dialogues. By employing a training pipeline that integrates Supervised Fine-Tuning (SFT) with Group Relative Policy Optimization (GRPO), we effectively elicit complex spatial reasoning and tool-calling capabilities. Extensive experiments demonstrate that EAGLE-360 establishes a new state-of-the-art for 360$^\circ$ visual search, achieving nearly an 8-fold increase in accuracy over the base model while significantly enhancing exploration efficiency.

cs.CV↗

arXiv2026

Alignment Is All You Need For X-to-4D Generation

Generative diffusion models excel at synthesizing high-quality images, videos, and 3D content under multimodal control. However, arbitrary user-defined modality-to-4D (X-to-4D) generation remains challenging due to the high cost of constructing diverse datasets and the limited scalability of existing methods. This paper presents Align4D, a flexible framework that translates any-modal input into coherent video-3D pairs, using video to guide 4D motion and 3D data to shape 4D geometry. Align4D introduces three key techniques: (1) Object Distance Alignment, which searches Video-Aligned and Multiview-Aligned Object Distances (VAOD/MAOD), respectively, to reconcile 4D renderings with video and the priors of multiview diffusion models; (2) Motion-Geometry Joint Alignment, which constrains known and unknown views through synchronized video and 3D inputs, ensuring consistent 4D generation; and (3) Asynchronous Optimization, which decouples Gaussian attribute and deformation network training to enhance motion and geometry fidelity. We further propose the X4D dataset, which integrates prompt, image, video, and 3D data for benchmarking. Experiments on X4D and Consistent4D demonstrate that Align4D achieves state-of-the-art quality and consistency in X-to-4D generation. Project page: https://miaoqiaowei.github.io/Align4D/.

cs.CV↗

arXiv2026

Optimization Algorithm for Determining the Source Surface Radius Based on Parker Solar Probe in situ Measurements from Encounters 1 to 19

The Potential Field Source Surface (PFSS) extrapolation is a method for estimating the large scale coronal magnetic field from photospheric magnetograms. The source surface serves as the outer boundary of its solution domain, and is typically a spherical surface. An appropriate source surface radius ($R_{ss}$) enables more accurate identification of the coronal magnetic field topology and estimation of the open flux, thereby potentially enhancing the accuracy of space weather modeling. We prove the well-posedness of the PFSS forward problem and establish the existence and uniqueness of the optimal source surface by combining compactness of the admissible set with continuity of the objective functional. The objective functional is the mean squared error (MSE) between PFSS extrapolation and Parker Solar Probe (PSP) radial magnetic field measurements after Parker spiral backmapping and radial scaling for Encounters 1-19. The optimization algorithm is validated with an analytical solution, and Advanced Composition Explorer (ACE) in situ measurements are used as an independent cross-validation dataset. Additional evaluation metrics and Pareto analysis are used to identify the dominant metrics between open flux and polarity prediction accuracy. Our results show that the optimal $R_{ss}$ derived from the algorithm generally increase from solar minimum into the ascending phase of solar cycle 25. The optimized solution improves open flux agreement while preserving or improving polarity prediction accuracy relative to $2.5R_{s}$. The Pareto frontiers show a transition for dominant metrics from open flux during solar minimum to polarity prediction accuracy during the ascending phase.

astro-ph.SR↗

arXiv2026

Restore3D: Breathing Life into Broken Objects with Shape and Texture Restoration

Restoring incomplete or damaged 3D objects is crucial for cultural heritage preservation, occluded object reconstruction, and artistic design. Existing methods primarily focus on geometric completion, often neglecting texture restoration and struggling with relatively complex and diverse objects. We introduce Restore3D, a novel framework that simultaneously restores both the shape and texture of broken objects using multi-view images. To address limited training data, we develop an automated data generation pipeline that synthesizes paired incomplete-complete samples from large-scale 3D datasets. Central to Restore3D is a multi-view model, enhanced by a carefully designed Mask Self-Perceiver module with a Depth-Aware Mask Rectifier. The rectified masks learned by the self-perceiver guide an image integration and enhancement phase, helping retain observed shape and texture patterns while refining the generated regions and mitigating the low-resolution limitations of the base model, yielding high-resolution, semantically coherent, and view-consistent multi-view images. A coarse-to-fine reconstruction strategy is then employed to recover detailed textured 3D meshes from refined multi-view images. Experiments on synthetic and real broken-object benchmarks show that Restore3D improves multi-view restoration quality and textured-mesh reconstruction over representative inpainting, completion, and reconstruction baselines in the evaluated settings. Project Page: restore3dx.github.io

cs.CV↗

arXiv2026

JWST Observations of Calcium-Strong Transients: I. Complex Nebular He Emission in SN 2024uj

We present the first JWST observations of a Calcium-Strong Transient (CaST), SN 2024uj, a rare class of supernovae (SNe) with observable properties that are consistent with both thermonuclear explosions of white dwarfs (WDs) and the core collapse of massive stars. SN 2024uj is offset by $\sim6.6$ kpc from its host and exhibits a double-peaked light curve consistent with shock cooling of nearby circumstellar material. At early times, its optical spectra resemble those of normal SNe Ib, but strong [Ca II] $λλ$7291, 7324 emission emerges between $+$2 and $+$17 days after maximum light. Radiative-transfer models of a massive stripped He star cannot reproduce this early forbidden Ca emission, even with artificially enhanced surface Ca, whereas it arises naturally in thermonuclear scenarios. The $+$150 d JWST/NIRSpec spectrum reveals highly asymmetric, multicomponent He I at both 1.083 and 2.058 $μ$m. The He extends to $\gtrsim+$5000 km/s, with a strong, narrow peak at $+$1500 km/s, indicating that He is distributed throughout the ejecta with a concentration offset from center. This He distribution overlaps central [Ca II] and [O I], implying a degree of mixing difficult to produce in a massive star explosion. The He peak might further trace interaction with a shocked, ejected companion in a thermonuclear system. The NIRSpec spectrum also shows molecular CO emission and a rising continuum that, together with a 10 $μ$m photometric detection, indicates dust emission extending into the mid-infrared. Given the remote environment, early forbidden Ca, mixed He/Ca/O ejecta, and possible companion signature, we favor a thermonuclear origin for SN 2024uj involving at least one low-mass, partially He-rich WD.

astro-ph.HE↗

arXiv2026

UniGeo: Unifying Geometric Guidance for Camera-Controllable Image Editing via Video Models

Camera-controllable image editing aims to synthesize novel views of a given scene under varying camera poses while strictly preserving cross-view geometric consistency. However, existing methods typically rely on fragmented geometric guidance, such as only injecting point clouds at the representation level despite models containing multiple levels, and are mainly based on image diffusion models that operate on discrete view mappings. These two limitations jointly lead to geometric drift and structural degradation under continuous camera motion. We observe that while leveraging video models provides continuous viewpoint priors for camera-controllable image editing, they still struggle to form stable geometric understanding if geometric guidance remains fragmented. To systematically address this, we inject unified geometric guidance across three levels that jointly determine the generative output: representation, architecture, and loss function. To this end, we propose UniGeo, a novel camera-controllable editing framework. Specifically, at the representation level, UniGeo incorporates a frame-decoupled geometric reference injection mechanism to provide robust cross-view geometry context. At the architecture level, it introduces geometric anchor attention to align multi-view features. At the loss function level, it proposes a trajectory-endpoint geometric supervision strategy to explicitly reinforce the structural fidelity of target views. Comprehensive experiments across multiple public benchmarks, encompassing both extensive and limited camera motion settings, demonstrate that UniGeo significantly outperforms existing methods in both visual quality and geometric consistency.

cs.CV↗

arXiv2026

Low-Agreeableness Persona Conditioning for Safe LLM Fine-Tuning

Recent work has shown that fine-tuning large language models (LLMs) for social warmth degrades factual reliability and increases sycophancy. We investigate a related but distinct failure mode: warmth fine-tuning also weakens adversarial safety, making models more susceptible to jailbreaks and harmful output generation. We examine whether this reflects an inherent consequence of empathetic adaptation or an artifact of data construction. To address this, we introduce a persona-driven rewriting pipeline that conditions user turns on low agreeableness and pairs this with warm, de-escalating assistant responses. Across three experiments on four models, our approach reduces jailbreak susceptibility and harmful output rates relative to generic warmth fine-tuning baselines, while preserving conversational warmth. Representational probing provides suggestive evidence that this conditioning reduces the geometric alignment between warmth and compliance directions in latent space. These results show that safer empathetic fine-tuning is achievable through data design alone, without safety labels, harm detectors, or changes to the training objective.

cs.CL↗

arXiv2026

Robotic Arm-Based Spectral Sensing for Strawberry Positioning and Non-Destructive Sweetness Measurement

Accurate assessment of sweetness is essential for quality control in agriculture, yet conventional methods rely on destructive sampling and are difficult to scale. This thesis presents a robotic arm-based spectral sensing system for strawberry detection, localization, approach, and non-destructive sweetness estimation. The system integrates perception, calibration, and robotic control in a closed-loop pipeline. A YOLOv11s detector is adopted for real-time strawberry detection, while RGB-ToF calibration and mask-to-depth alignment are used to obtain geometrically consistent target localization. A custom eye-in-hand hand-eye calibration workflow is developed to estimate the rigid transform between gripper_link and cam_front, enabling reliable transformation of fruit targets into the robot base frame. Based on these estimates, the robot executes a waypoint-based search and an incremental closed-loop approach strategy to position the sensor at optimal working distance for sweetness sensing. Experimental results show strong end-to-end performance (88.10% success over 42 trials), with robust detection (95.24%) and successful approach execution once a target is detected (100% conditional success). Hand-eye calibration comparisons indicate that although Andreff yields the smallest translation norm in single-run results, the Park method provides better cross-sample consistency and therefore more stable downstream robot behavior. The residual failures are concentrated in the sensing stage, especially valid-region extraction for sweetness estimation under difficult depth/reflectance conditions. Overall, this work demonstrates the feasibility of integrating RGB-ToF perception, robotic manipulation, and non-destructive sensing for practical strawberry quality assessment, and provides a scalable baseline for future integration of learning-based policies such as Vision-Language-Action models.

cs.RO↗

arXiv2026

Observation of Non-Hermitian Skin Dynamics in the Liouvillian Regime

Open quantum systems generally do not perfectly preserve phase coherence: coupling to uncontrolled environments requires a density-matrix description based on the Liouvillian framework beyond pure-state wave evolution. Realizing and probing such dynamics in a programmable platform is therefore essential for connecting coherent physics to realistic dissipative settings. Here we implement a tunable open-system quantum walk in a photonic mesh lattice, where controlled phase noise produces adjustable dephasing and non-reciprocal gain-loss imbalance provides an independently tunable non-Hermitian drive. This allows us to continuously interpolate between coherent quantum walks and incoherent classical walks, and to observe how directional transport evolves in the Liouvillian regime. Using non-Hermitian skin dynamics as a probe, we measure the center-of-mass drift over both the coherence and non-Hermiticity parameters, revealing a crossover from coherence-enhanced to decoherence-enhanced transport in quantitative agreement with quantum-channel simulations. We further program spatial and temporal interfaces to demonstrate interface accumulation and a long-time drift governed by the instantaneous channel. Our results establish a controllable photonic platform for simulating open quantum dynamics and show that decoherence can actively reshape non-Hermitian transport.

physics.optics↗

arXiv2026

Engineering Reliable Autonomous Systems: Challenges and Solutions

Engineering reliable autonomous systems is an important and growing topic in computer science. As autonomous systems become more prevalent, easy-to-use techniques for building them reliably are increasingly important. This workshop report captures and expands on the discussions at the Lorentz Center Workshop "Engineering Reliable Autonomous Systems" (ERAS), held from 10 to 14 June 2024. The workshop was co-organised by the organisers of the Workshop on Formal Methods for Autonomous Systems (FMAS) and the Workshop on Agents and Robots for reliable Engineered Autonomy (AREA). It brought together members of the FMAS and AREA communities, industry practitioners, and representatives from sectors where autonomous systems pose distinctive engineering challenges. The workshop focused on three main research topics: techniques for verification and validation of autonomous systems; engineering real-world autonomous systems; and software architectures for safe autonomous systems. Its main outcome is a catalogue of challenges in these areas and, most importantly, a pathway to solutions. Some challenges can already be tackled by techniques that are well known in academia but have not yet become regularly used in practice. Other challenges remain unresolved and require further research. This roadmap is intended to support future research and industrial collaboration.

cs.RO↗

arXiv2026

DREAM: Dense Retrieval Embeddings via Autoregressive Modeling

Dense retrieval embedding models are a fundamental component of modern retrieval-based AI systems. Most dense retrievers are trained with contrastive objectives, which require labeled positive and negative document pairs that are often costly and difficult to obtain. In this work, we investigate whether the autoregressive next-token prediction objective of a large language model (LLM) can provide supervision for dense retrieval. The intuition is simple: if a document contains information relevant to a query, conditioning on that document should make the target output easier for the LLM to predict. A key challenge is that the next-token prediction loss is computed inside the LLM, while the retriever is a separate embedding model. To address this challenge, we propose DREAM (Dense Retrieval Embeddings via Autoregressive Modeling), which injects retriever-generated query-document similarity scores into selected attention heads of a frozen LLM. During training, these scores determine how much attention each candidate document receives while the LLM predicts the target output. The resulting prediction loss provides gradients for retriever training through the attention mechanism. We evaluate DREAM on retrieval benchmarks BEIR and RTEB using embedding backbones ranging from 0.5B to 3B parameters. DREAM consistently outperforms existing baselines across different model scales. These results demonstrate that DREAM provides a promising approach for training dense retrievers through autoregressive modeling.

cs.CL↗

arXiv2026

Revealing Training Data Exposure in Vision Language Large Models via Parameter Gradients

Vision-Language Large Models (VLLMs) trained on massive crawled corpora raise pressing copyright and data-provenance concerns. These concerns are particularly acute in healthcare, where patient medical images paired with clinical reports demand rigorous privacy safeguards. However, existing training data detection methods either fail in cross-modal scenarios or rely on superficial output signals with insufficient discriminative power. We introduce GradAudit, a gradient-based auditing framework that examines internal optimization dynamics rather than treating VLLMs as black boxes. Our approach builds on a key observation: model parameters converge to regions where gradients on training samples become stable and well-aligned, whereas gradients on non-training samples remain noisy and inconsistent. By analyzing these gradient signatures, GradAudit achieves strong separability and detects genuine image-text associations learned during training, not merely individual modality membership. Empirically, across both medical and general-domain datasets, GradAudit substantially outperforms state-of-the-art baselines in both pretraining and fine-tuning VLLMs. In a case study employing copyrighted content, we show that existing training data detection methods not only underestimate the extent of unauthorized data usage, but that this underestimation becomes more pronounced as models become more recent and more advanced.

cs.CV↗

arXiv2026

Governing Execution Risk in Agentic AI Systems: A Trajectory-Guided Framework for Red Teaming

AI agents are increasingly embedded in organizational workflows, where they interact with external information sources and invoke digital tools to perform operational tasks. As organizations adopt such systems, a critical challenge is identifying and mitigating risks arising from malicious or untrusted external information that can steer agents toward unintended actions. Existing red-teaming approaches largely rely on fixed attack templates or final attack outcomes, providing limited visibility into how attacks unfold through multi-step reasoning and tool use. We argue that agent execution risk should be understood as a trajectory-level phenomenon. Building on this perspective, we propose TrajRed, a trajectory-guided red-teaming framework that uses execution trajectories to uncover vulnerabilities in agentic AI systems. We further develop TrajGuard, a runtime governance layer that uses high-risk trajectories discovered during red teaming to monitor and intervene in ongoing workflows. Experiments on AgentDojo across four organizational task suites show that TrajRed identifies substantially stronger vulnerabilities than fixed-template and automatic red-team baselines. Building on these vulnerability findings, TrajGuard reduces attack success across all evaluated attack methods to near zero while preserving benign task utility. Together, the results demonstrate that execution trajectories provide a practical foundation for both red teaming and risk control in agentic AI systems. This work highlights the importance of governing agent execution in organizational AI deployments.

cs.CY↗

arXiv2026

Towards Error-Free Long Video Generation

Recent advances in video generation have made minute-level synthesis possible; however, generating long videos remains challenging due to error accumulation, attribute drift, and the limited availability of long video data. In this paper, we introduce an infinite-length video generation framework that focusing on addressing these issues and produces high-quality, dynamic, and identity-consistent single-shot long videos. We first finetune a diffusion model as a video extension model on large-scale short video data to autoregressively generate temporally coherent clips. Inspired by the success of large language models (LLMs), we adopt causal attention computation between clips to further finetune this model on long video data. In this way, the tokens in one clip (short video) are computed by bidirectional attention while tokens among clips are computed by unidirectional attention. This design leverages the strengths of modern diffusion models while preserving long-term context information, effectively mitigating error accumulation and attribute drift. To achieve memory efficiency during inference, we adopt a key-value (KV) caching mechanism to maintain a constant KV memory. Furthermore, we introduce truncation-rectified flow (T-RFlow) technique to further suppress error accumulation. Experimental results demonstrate the effectiveness of our method. Our framework establishes a new benchmark for realistic and coherent minute-level video synthesis.

cs.CV↗

arXiv2026

DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects

Deformable linear objects (DLOs) such as wires, cables, and ropes are common in robotic manipulation tasks, yet simulating them with both visual realism and physical accuracy remains challenging. Existing visual simulation methods typically rely on procedural geometric primitives that lack physically grounded deformation behavior, while physics-based approaches with robot learning support often approximate DLOs as rigid-link chains or generic soft bodies, failing to accurately capture the bending, twisting, and shear mechanics of slender elastic structures. In this work, we introduce DeformX, a co-simulation framework that integrates a dedicated Cosserat rod physics engine with NVIDIA Isaac Sim, enabling DLO simulations that are both physically faithful and visually realistic. Our Cosserat rod engine simulates the dynamics and self-collisions of DLOs, and contact interactions with arbitrary free-form meshes. To achieve high-fidelity visualization, we employ mesh skinning to map discrete rod deformations onto imported CAD models. To the best of our knowledge, DeformX is the one of the first frameworks for DLO simulation that unifies realistic visualization, principled physics, and compatibility with robot learning pipelines. We demonstrate its versatility across synthetic data generation and policy learning for DLO manipulation, and validate visual and physical fidelity through comparisons against real-world experiments. Notably, fine-tuning Segment Anything Model 3 (SAM3) on DeformX-generated data yields a 10.2% mAP@75 improvement in real-image wire segmentation, and a rope-swinging policy trained entirely in DeformX achieves a mean target-hitting error of 6.6 cm on a UR5e manipulator in real-world trials, highlighting its strong sim-to-real transfer capability.

cs.RO↗