arXiv subjects

Yichen Niu

Publications and source records attributed to Yichen Niu.

3 recordsLinked to original sources

arXiv2026

EgoAERO: Learning Dexterous Manipulation from a Single Egocentric Video without Object Assets

Egocentric RGB-D videos offer a natural source of human dexterous manipulation demonstrations, but existing data is difficult to use for robot learning because object pose, geometry, and contact information are often missing or require pre-scanned object assets. We present EgoAERO, the first framework that learns dexterous manipulation from a single egocentric RGB-D human demonstration without object assets. EgoAERO reconstructs contact-consistent hand-object trajectories through asset-free object tracking and reconstruction, ego motion compensation, and adaptive contact optimization, then converts them into robot policies using two-stage residual learning. We further introduce an online quality assessment mechanism and construct EgoDex-R, a large-scale egocentric dataset with 4.3M RGB-D frames for dexterous policy learning. Simulation and real-world experiments show that EgoAERO enables single-demonstration dexterous manipulation and achieves downstream performance close to CAD-based reconstructions on HOI4D.

cs.RO↗

arXiv2025

T-GRAG: A Dynamic GraphRAG Framework for Resolving Temporal Conflicts and Redundancy in Knowledge Retrieval

Large language models (LLMs) have demonstrated strong performance in natural language generation but remain limited in knowle- dge-intensive tasks due to outdated or incomplete internal knowledge. Retrieval-Augmented Generation (RAG) addresses this by incorporating external retrieval, with GraphRAG further enhancing performance through structured knowledge graphs and multi-hop reasoning. However, existing GraphRAG methods largely ignore the temporal dynamics of knowledge, leading to issues such as temporal ambiguity, time-insensitive retrieval, and semantic redundancy. To overcome these limitations, we propose Temporal GraphRAG (T-GRAG), a dynamic, temporally-aware RAG framework that models the evolution of knowledge over time. T-GRAG consists of five key components: (1) a Temporal Knowledge Graph Generator that creates time-stamped, evolving graph structures; (2) a Temporal Query Decomposition mechanism that breaks complex temporal queries into manageable sub-queries; (3) a Three-layer Interactive Retriever that progressively filters and refines retrieval across temporal subgraphs; (4) a Source Text Extractor to mitigate noise; and (5) a LLM-based Generator that synthesizes contextually and temporally accurate responses. We also introduce Time-LongQA, a novel benchmark dataset based on real-world corporate annual reports, designed to test temporal reasoning across evolving knowledge. Extensive experiments show that T-GRAG significantly outperforms prior RAG and GraphRAG baselines in both retrieval accuracy and response relevance under temporal constraints, highlighting the necessity of modeling knowledge evolution for robust long-text question answering. Our code is publicly available on the T-GRAG

cs.AI↗

arXiv2025

Graph Counselor: Adaptive Graph Exploration via Multi-Agent Synergy to Enhance LLM Reasoning

Graph Retrieval Augmented Generation (GraphRAG) effectively enhances external knowledge integration capabilities by explicitly modeling knowledge relationships, thereby improving the factual accuracy and generation quality of Large Language Models (LLMs) in specialized domains. However, existing methods suffer from two inherent limitations: 1) Inefficient Information Aggregation: They rely on a single agent and fixed iterative patterns, making it difficult to adaptively capture multi-level textual, structural, and degree information within graph data. 2) Rigid Reasoning Mechanism: They employ preset reasoning schemes, which cannot dynamically adjust reasoning depth nor achieve precise semantic correction. To overcome these limitations, we propose Graph Counselor, an GraphRAG method based on multi-agent collaboration. This method uses the Adaptive Graph Information Extraction Module (AGIEM), where Planning, Thought, and Execution Agents work together to precisely model complex graph structures and dynamically adjust information extraction strategies, addressing the challenges of multi-level dependency modeling and adaptive reasoning depth. Additionally, the Self-Reflection with Multiple Perspectives (SR) module improves the accuracy and semantic consistency of reasoning results through self-reflection and backward reasoning mechanisms. Experiments demonstrate that Graph Counselor outperforms existing methods in multiple graph reasoning tasks, exhibiting higher reasoning accuracy and generalization ability. Our code is available at https://github.com/gjq100/Graph-Counselor.git.

cs.AI↗