Search arXiv⌕ Search

arXiv subjects

Yu Gu

Publications and source records attributed to Yu Gu.

At least 37 records · Page 2Linked to original sources
arXiv2026

OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments

Open datasets describing human behavior in environments shared with mobile robots remain limited, particularly for retail activities that combine locomotion, reaching, object handling, and robot guided movement. This paper introduces OHRID Retail, an open, human centered multimodal dataset collected from 16 healthy adults performing a simulated shelf picking task under three within participant conditions: no robot, low speed robot guidance, and high speed robot guidance. Each participant completed two trials per condition. Whole body kinematics were recorded using 17 Xsens Awinda inertial sensors and muscle activity was measured at 10 locations using Delsys Trigno surface electromyography sensors. Descriptive analyses demonstrate variation in whole body movement intensity and muscle activation across robot interaction conditions and body locations. OHRID Retail provides openly available raw recordings, processed measures, documentation, and reproducible analysis resources. The dataset can support research in human activity recognition, multimodal sensor fusion, occupational biomechanics, ergonomics, human aware robot navigation, and human robot interaction in retail and related shared environments.

cs.RO↗
arXiv2026

Spatial decorrelation of KPZ from narrow wedge

We study the spatial decorrelation of the solution to the KPZ equation with narrow wedge initial data. For fixed $t>0$, we determine the decay rate of the spatial covariance function, showing that ${\rm Cov}[h(t,x),h(t,0)]\sim \frac{t}{x}$ as $x\to\infty$. In addition, we prove that the finite-dimensional distributions of the properly rescaled spatial average of the height function converge to those of a Brownian motion.

math.PR↗
arXiv2026

Skill-as-API: Confidential Multi-Agent Coordination for Agentic Software Engineering

AI coding agents are evolving from solitary tools into collaborative teammates that discover and invoke one another's specialized skills. But the coordination channel itself can leak a skill's intellectual property. Protocols such as MCP and A2A run implementations server-side, yet they still publish each skill's description and typed schemas to every peer, offer no way to hide a skill's existence, and cannot guarantee that a wrapped system prompt stays off the wire. Application-layer privacy filters help, but act only after the model has decided to emit sensitive text. We take a complementary, protocol-layer route: Skill-as-API, a coordination protocol whose public view of a skill is limited to its name, description, typed input/output schemas, and trust tier. The skill body is closure-captured in the owner's process and never crosses the wire. Four layers add access control and narrow the prompt-injection surface structurally rather than by filtering content. We provide an open-source Python implementation over XMTP with 1.8-2.9 s cross-continent hot-reconnect latency, and a software-engineering case study in which three agents coordinate a pull-request review while each retains ownership of its proprietary analysis prompts.

cs.CR↗
arXiv2026

SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling

This work introduces Semantically-Guided Exploration (SGE), a modular exploration framework for ground vehicles that integrates pixel-level semantic segmentation into sampling-based waypoint selection and receding-horizon route optimization. Unlike conventional geometric exploration methods, SGE evaluates candidate exploration goals directly in the image space using a semantic-aware utility function that accounts for terrain traversability, obstacle proximity, objects of interest, and depth-based exploration reward. Sampled waypoints are projected into 3D and ordered through a real-time Traveling Salesman Problem (TSP) formulation, enabling receding-horizon goal selection. To address real-world navigation uncertainty, the framework introduces mechanisms, including temporary taboo regions to handle navigation failures and a graph-based relocation strategy for efficient backtracking across explored areas. We evaluate SGE in standardized simulation benchmarks against state-of-the-art exploration planners and demonstrate competitive performance in volumetric coverage, while enabling semantic task biasing that cannot be achieved by purely geometric methods. The framework is further validated through real-world experiments using multiple robotic platforms in indoor campus buildings and in limestone and coal mines. Results show consistent performance and adaptability across platforms and domains.

cs.RO↗
arXiv2026

MemoryCard: Topic-Aware Multi-Modal Clue Compression for Long-Video Question Answering

Long-video question answering remains challenging for Vision-Language Models (VLMs), as answer-relevant evidence is often sparse, transient, and temporally dispersed across lengthy video contexts. Existing frame-centric approaches improve efficiency through uniform sampling, query-aware frame selection, visual-token compression, and adaptive resolution strategies. However, they still rely on isolated and fragmented frames as the fundamental evidence units, limiting VLMs' ability to effectively capture coherent event-level semantics. To address this limitation, we propose MemoryCard, a video-memory-based augmentation framework that organizes long videos into self-contained Memory Cards. Specifically, MemoryCard first performs a self-reading process over videos and aligned utterances to segment the video into semantically coherent units, each corresponding to a distinct topic or event. For each unit, it generates an event-level video gist and selects representative visual moments, which are then rendered into unified Memory Cards for retrieval and question answering. Experimental results demonstrate that MemoryCard consistently improves long-video QA performance under comparable visual-token budgets, achieving up to a 21.8% relative improvement in accuracy. All code is available at https://github.com/NEUIR/MemoryCard.

cs.CV↗
arXiv2026

Prediction-Oriented Transfer Learning for Survival Analysis

Transfer learning is beneficial for survival analysis, especially when the target study has a limited number of events. However, existing transfer learning methods rely on the restrictive assumption that the target and source studies share similar parameters under Cox models, and most require access to individual-level source data. In this article, we propose a novel transfer learning framework that enhances model-based survival prediction by transferring predictive rather than distributional knowledge from source studies. Our approach employs flexible semiparametric transformation models for the target data while eliminating the need to model or share the source data. The ingeniously designed penalty enables simple and stable computation via an EM algorithm. We rigorously establish the asymptotic properties of the proposed estimator and show that it achieves a faster convergence rate than the target-only estimator when source knowledge is sufficiently accurate. We demonstrate the advantages of our methods through extensive simulation studies and an application to two major breast cancer studies, with the objective of improving survival prediction in a target cohort using predictive information from an external study.

stat.ME↗
arXiv2026

ConceptFormer: Learning Adaptive Latent Concepts for Query-Document Alignment in Visual Document Retrieval

Visual document retrieval is a critical component of multimodal retrieval-augmented generation, aiming to identify query-relevant pages from document collections where evidence is distributed across text, layout, charts, and visual structures. Recent efforts toward finer-grained supervision primarily rely on textual descriptions or localized visual regions as evidence proxies. However, such supervision signals may either overlook complex visual structures or provide incomplete and inaccurate representations of the underlying evidence. To address these limitations, we propose ConceptFormer, a latent concept representation learning framework for visual document retrieval. ConceptFormer models query-relevant evidence as continuous, query-conditioned latent concepts that explicitly bridge localized visual evidence and semantic relevance, without requiring either textual intermediate representations or direct reliance on raw visual annotations. During training, ConceptFormer employs a strong vision-language model to dynamically determine the number of latent concept tokens and uses these concepts as an intermediate representation to bridge the semantic gap between queries and documents, thereby guiding the learning of the embedding space. Experiments on diverse visual document retrieval benchmarks demonstrate that ConceptFormer achieves 16.7\% and 22.1\% relative improvements in average NDCG@10 over the strongest visual retrieval baseline and the strongest OCR-based text retrieval baseline, respectively. Further analysis reveals that latent concepts effectively connect localized visual evidence with semantic relevance, enabling the retriever to capture both fine-grained textual cues and complex document-level visual structures while preserving strong retrieval alignment. Codes and data are available at https://github.com/Neuir/ConceptFormer.

cs.CV↗
arXiv2026

Volumetric Radiology AI in the Era of Multimodal Large Language Models

Advances in multimodal large language models (MLLMs) are extending radiological artificial intelligence (AI) beyond task-specific image analysis toward multimodal understanding and reasoning. Volumetric radiology, however, presents a fundamental representational mismatch: clinical interpretation often requires full-volume spatial context and acquisition-dependent quantitative information, whereas current MLLMs are commonly conditioned on selected two-dimensional (2D) images, compressed visual representations, or report-derived text. Reliable volumetric radiology AI therefore requires representations that preserve task-relevant three-dimensional (3D) information and systems that can access, verify, and integrate this information across clinical workflows. In this Review, we examine more than 200 publications through July 2026. We organize the literature around volumetric representation and multimodal understanding at the model level, agentic orchestration at the system level, and their links to clinical applications and evaluation. We review volumetric foundation models, language alignment and compression strategies, and agentic systems that extend MLLMs through planning, tools, memory, and workflow interaction. We distinguish settings in which selected 2D views or report-mediated reasoning may suffice from those that warrant native volumetric modeling. We also introduce a Claim-Design-Validation framework to assess whether technical, workflow, and clinical claims are matched by appropriate design and validation. Across the literature, native volumetric modeling and agentic capabilities depend on the spatial, quantitative, contextual, and workflow requirements of the intended task. Clinical credibility requires faithful volumetric representation, traceable system behavior, claim-aligned validation, and clearly defined human oversight in realistic workflows.

cs.AI↗
arXiv2026

DepTGL: A Parallel Framework for Memory-based TGNN Training with Adaptive Temporal Data Dependency Management

Memory-based Temporal Graph Neural Networks (M-TGNNs) maintain recursively updated node states to capture fine-grained temporal interactions. However, existing distributed frameworks lack effective mechanisms for managing the temporal data dependencies inherent in these models. As a result, they must enforce strict chronological updates, incur substantial remote synchronization overhead, and experience severe load imbalance when temporal event streams are skewed. We propose DepTGL, a scalable distributed training framework that restructures temporal-dependency management for M-TGNNs from a data-centric perspective. First, DepTGL introduces a hybrid temporal-dependency management scheme that explicitly balances communication and caching overhead via temporal-event caching, supplemented by selective dependency-driven communication. Next, DepTGL incorporates a gradient-aware cache-synchronization policy that adaptively suppresses boundary updates as model optimization stabilizes, thereby reducing redundant synchronization. Finally, DepTGL integrates a load-aware temporal-pruning strategy that eliminates auxiliary replay events under skew-induced load spikes, reducing redundant data processing and mitigating straggler effects. Experiments on six real-world temporal graphs show that DepTGL achieves an average speedup of 4.99x over state-of-the-art baselines, while maintaining comparable accuracy.

cs.DC↗
arXiv2026

Semiparametric Functional Multistate Modeling of Alzheimer's Disease Progression with Imaging Biomarkers

Medical imaging provides rich information for predicting Alzheimer's disease progression, but existing imaging-based methods typically focus on a single survival endpoint and treat transition times as exactly observed or right-censored. Motivated by the Alzheimer's Disease Neuroimaging Initiative (ADNI), we develop a predictive framework that represents disease progression as an intermittently observed multistate process with interval-censored transition times and predicts future progression from any current disease state. We incorporate imaging biomarkers as functional covariates in a semiparametric proportional intensity model and combine functional principal component analysis with nonparametric maximum pseudo likelihood estimation. We further develop a profile score test for assessing the overall association between the imaging covariate and the multistate process. We establish the asymptotic properties of the proposed estimators and test statistic, and simulation studies demonstrate satisfactory finite-sample performance. In the ADNI application, baseline lateral ventricular morphology is strongly associated with Alzheimer's disease progression. The proposed functional multistate model also achieves the best overall predictive performance among the competing methods.

stat.AP↗
arXiv2026

Hyper-ES: Effective Evolution Strategies for LLM Reasoning via Descent Direction Merging

Evolution Strategy (ES) is a promising alternative to gradient-based fine-tuning for resource-constrained Large Language Model (LLM) reasoning. However, directly applying ES to billion-parameter LLMs is highly ineffective. In such high-dimensional parameter spaces, most random perturbations are nearly orthogonal to useful update directions, leading to unstable optimization. We propose Hyper-ES, a subspace-based ES framework that avoids the weakness of ES in full-parameter search while exploiting its strength in low-dimensional optimization. Instead of asking ES to discover useful directions from random perturbations in the LLM parameter space, Hyper-ES first performs a small number of inexpensive gradient-based fine-tuning runs to obtain descent directions. Although each direction may provide only a limited improvement on its own, their span forms a compact adaptation subspace that captures useful reasoning updates. Hyper-ES then applies CMA-ES to optimize layer-wise DARE-TIES merging coefficients within this subspace, allowing ES to search over combinations of meaningful descent directions rather than over arbitrary full-model perturbations. We evaluate Hyper-ES on three Qwen2.5-Instruct and DeepSeek-R1-Distill backbones across six mathematical reasoning datasets. Results show that Hyper-ES consistently outperforms GRPO-LoRA by 1% while requiring 10% fewer space-consuming gradient updates. Code at https://github.com/kuangrepi/Hyper-ES.

cs.AI↗
arXiv2026

JoyAI-Talker: Full-Duplex Speech Interactive Large Model Built for Empathetic Voice Agents

We present JoyAI-Talker, a full-duplex speech dialogue system that delivers robust foundation model capabilities while empowering empathetic interaction and voice agent intelligence. JoyAI-Talker adopts a modular Thinker-Talker architecture and further implements a unified speech-text joint training pipeline to mitigate the common "cognitive degradation" bottleneck, thereby largely preserving the model's core textual reasoning, STEM, and logical capabilities while extending them to speech-based interaction. For expressive speech synthesis, the Talker module employs a text-controllable generation paradigm that enables natural-language instructions to flexibly control vocal attributes and localized paralinguistic events, such as laughter and sighs, supporting more expressive and fine-grained speech responses. To enhance conversational empathy, we introduce the Persona-Adaptive Empathetic Response (PAER) framework. PAER employs a hierarchical cognitive pipeline to extract non-verbal speaker cues, such as gender, age, and emotional state, from raw input audio, incorporate them into the Thinker's CoT reasoning, and generate context-adaptive responses that align semantically appropriate text with fine-grained control over utterance-level expressiveness and localized paralinguistic events, including sighs, speaking rate, and volume. We further integrate Joy-Duplex, a state-driven, plug-and-play full-duplex framework that functions as an efficient gating engine for real-time turn control. Extensive evaluations show that JoyAI-Talker achieves highly competitive performance on foundational T2T and S2T benchmarks. In full-duplex evaluation, the system reaches a high response rate of 0.88 under user interruptions while maintaining an extremely low false-trigger rate under background speech, demonstrating its readiness for fluid and natural speech dialogue.

cs.SD↗
arXiv2026

Multimodal Reinforcement Learning with Adaptive Verifier for AI Agents

Agentic reasoning models trained with multimodal reinforcement learning (MMRL) have become increasingly capable, yet they are almost universally optimized using sparse, outcome-based rewards computed based on the final answers. Richer rewards computed from the reasoning tokens can improve learning significantly by providing more fine-grained guidance. However, it is challenging to compute more informative rewards in MMRL beyond those based on outcomes since different samples may require different scoring functions and teacher models may provide noisy reward signals too. In this paper, we introduce the Argos (Agentic Reward for Grounded & Objective Scoring), a principled reward agent to train multimodal reasoning models for agentic tasks. For each sample, Argos selects from a pool of teacher-model derived and rule-based scoring functions to simultaneously evaluate: (i) final response accuracy, (ii) spatiotemporal localization of referred entities and actions, and (iii) the quality of the reasoning process. We find that by leveraging our agentic verifier across both SFT data curation and RL training, our model achieves state-of-the-art results across multiple agentic tasks such as spatial reasoning, visual hallucination as well as robotics and embodied AI benchmarks. Critically, we demonstrate that just relying on SFT post-training on highly curated reasoning data is insufficient, as agents invariably collapse to ungrounded solutions during RL without our online verification. We also show that our agentic verifier can help to reduce reward-hacking in MMRL. Finally, we also provide a theoretical justification for the effectiveness of Argos through the concept of pareto-optimality.

cs.AI↗
arXiv2026

Scaling medical imaging report generation with multimodal reinforcement learning

Frontier models have demonstrated remarkable capabilities in understanding and reasoning with natural-language text, but they still exhibit major competency gaps in multimodal understanding and reasoning especially in high-value verticals such as biomedicine. Medical imaging report generation is a prominent example. Supervised fine-tuning can substantially improve performance, but they are prone to overfitting to superficial boilerplate patterns. In this paper, we introduce Universal Report Generation (UniRG) as a general framework for medical imaging report generation. By leveraging reinforcement learning as a unifying mechanism to directly optimize for evaluation metrics designed for end applications, UniRG can significantly improve upon supervised fine-tuning and attain durable generalization across diverse institutions and clinical practices. We trained UniRG-CXR on publicly available chest X-ray (CXR) data and conducted a thorough evaluation in CXR report generation with rigorous evaluation scenarios. On the authoritative ReXrank benchmark, UniRG-CXR sets new overall SOTA, outperforming prior state of the art by a wide margin. We release our model at https://huggingface.co/microsoft/UniRG-CXR.

cs.CV↗
arXiv2026

REFACT: Adaptive Fact Restatement for Compact and Faithful Chain-of-Thought Reasoning

Large Language Models (LLMs) increasingly leverage long-form reasoning to solve complex tasks, yet their reasoning processes can deviate from the provided context when evidence is incomplete, noisy, or conflicts with parametric knowledge. Existing grounding approaches either append citations after generation or encourage LLMs to retrieve evidence during reasoning, but they often fail to ensure that cited information is sufficient to support intermediate inferences and final answers. To address this limitation, we propose REFACT, an adaptive fact-restatement citation framework that enables LLMs to determine when contextual grounding is needed and selectively restate source facts at appropriate levels of detail for reliable reasoning. To facilitate adaptive citation during reasoning, REFACT first leverages a teacher LLM to construct high-quality citation-aware reasoning trajectories under diverse context conditions with varying evidence lengths, and then optimizes the student LLM through a two-stage SFT-to-RL framework. Experiments on LongBench, LV-Eval, and ConFiQA demonstrate that REFACT improves long-context question answering and counterfactual faithfulness while substantially reducing the number of reasoning tokens. Further analysis reveals that REFACT achieves higher evidence density by preserving more answer-relevant facts with fewer restatements, producing reasoning traces that are more concise yet better grounded. All code and data will be released via https://github.com/NEUIR/REFACT.

cs.CL↗
arXiv2026

SPOT-IC: Improving prediction for interval-censored data via survival probability transfer

Accurate prediction with interval-censored data is particularly challenging when censoring intervals are wide and follow-up is limited, as is common in studies of chronic diseases. Although auxiliary information from source studies may improve prediction in a target study, existing transfer learning methods typically impose restrictive assumptions on model or parameter similarity, or require access to individual-level source data. We propose a novel transfer learning method for interval-censored data that allows arbitrary source models and avoids sharing source data. Our approach transfers survival probability information from source studies through a carefully designed penalty and enables efficient computation via a simple EM algorithm. When multiple source studies are available and their informativeness is unknown, we further develop a data-adaptive aggregation procedure that is robust to negative transfer. Theoretical analysis shows that the proposed estimator attains a faster convergence rate than the target-only estimator whenever at least one source study is sufficiently informative. Extensive simulation studies and an application to data from the Alzheimer's Disease Neuroimaging Initiative demonstrate the effectiveness of our approach.

stat.ME↗
arXiv2026

Modeling Branches for Active Manipulation using Iterative Parameter Estimation

This study presents a method for modeling diverse plant branches by iteratively estimating material parameters to support delicate branch manipulation. Branch manipulation is necessary in agricultural robotics for plant repositioning, stabilizing, and clearing visual obstructions in dense foliage. The proposed method builds a tetrahedral branch model from point-cloud data and simulates its behavior using the finite element method. Using real observed deformation data, it iteratively estimates branch parameters and then computes an optimal path with a deformation-aware motion planner to move and stabilize branches within another robot's field of view. Across 30 trials on branches with varying geometries and material properties, the proposed method reduced the deformation energy by 35.69% while increasing the path length by 8.10% on average.

cs.RO↗
arXiv2026

Debiased Inference for High-Dimensional Regression Models Based on Profile M-Estimation

Debiased inference for high-dimensional regression models has received substantial recent attention to ensure regularized estimators have valid inference. Many existing methods focus on achieving Neyman orthogonality through explicitly constructing projections onto the space of nuisance parameters, which is infeasible when an explicit form of the projection is unavailable. We introduce a general debiasing framework, Debiased Profile $M$-Estimation (DPME), which applies to a broad class of models and does not require model-specific Neyman orthogonalization or projection derivations as in existing methods. Our approach begins with obtaining an initial estimator of the parameters by optimizing a penalized objective function. To correct for the bias introduced by penalization, we construct a one-step estimator using the Newton--Raphson update, applied to the gradient of a profile function defined as the optimal objective function with the parameter of interest held fixed. We use numerical differentiation without requiring explicit calculation of the gradients. The resulting DPME estimator is shown to be asymptotically linear and normally distributed. Through extensive simulations, we demonstrate that the proposed method achieves better coverage rates than existing alternatives with largely reduced computational cost. Finally, we illustrate the utility of our method by applying it to estimate a treatment rule for multiple myeloma.

stat.ME↗