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Yuchen Liu

Publications and source records attributed to Yuchen Liu.

At least 19 recordsLinked to original sources

Do Value Vectors in Deep Layers Need Context from the Residual Stream?

The success of the transformer architecture is in large part due to its use of attention layers. An attention layer follows the standard neural network paradigm: it takes the residual stream as input and thereby produces context-dependent query, key, and value vectors. However, we find that model performance meaningfully improves when deeper layers learn only a context-free value vector to preserve the original token information, without drawing on any context from the residual stream. When the model has access to this context-free value vector, adding back the context-dependent component provides little additional benefit for aggregate benchmark performance. Such context-free value vectors can be stored as sparse model parameters, eliminating the need to recompute or persistently cache these values. Through systematic ablations on the key design choices for such context-free value vectors, we propose Bank of Values (BoV), a new way of computing value vectors in attention by learning a lookup table of token-specific value vectors for each of the last third of layers. Across 135M and 780M models, BoV improves validation loss over standard attention and, at 780M, the average score across 21 benchmarks, matching the previous best method that adds token information to the value vector with less compute and memory.

cs.CL↗

Late Attention Layers Alone Can Copy Entity Tokens, but Not Without Attending to Their Context

Large language models (LLMs) reliably perform entity copying, in which a model copies tokens referring to an entity, termed entity tokens, from the prompt into its output to answer a question. Although entity copying is straightforward for most LLMs, existing research does not provide a systematic account of which layers specialize in this fundamental task or how other tokens in the same sequence, termed context tokens, influence the model's ability to copy the entity tokens. To address these questions, we conduct experiments on Qwen3-8B using two novel methods: genie-in-a-bottle, which controls exactly which layers can participate in an entity-copying task, and attention lobotomy, which cuts off specific tokens' attention to entity tokens without affecting the remaining attention distribution. We find that two distinct groups of layers in the second half of the model are both necessary and sufficient for entity copying. Moreover, in addition to the decoding position's attention to entity tokens, context tokens' attention to entity tokens also proves necessary for copying the exact tokens, even though context tokens do not store entity information themselves unless they satisfy particular semantic properties. Our findings establish the critical role of late layers in entity copying under the guidance of context tokens, calling for future work on how models propagate and consume entity information.

cs.CL↗

Climate-Driven Supply-Demand Matching Reshapes Global SolarEV Decarbonization Potential

Rooftop photovoltaics (PV) can support rapid urban decarbonization, but their contribution is constrained by the imbalance between PV generation and demand, both shaped by local climate. Growing urban electric-vehicle (EV) deployment creates distributed storage near rooftop PV, shifting PV electricity across time. Here we simulate rooftop PV integrated with EVs as batteries across 5,000 grid cells globally, using hourly meteorology and climate-induced demand. We find that PV-EV systems can supply up to 84% of annual building and mobility electricity demand. Self-sufficiency is highest where daytime demand aligns with generation and seasonal variability remains limited. Using PV capacity factor alone to screen PV-EV potential undervalues 21.9% of the world's 1,000 most populous cities because generation-side metrics overlook the temporal coupling of PV generation, electricity demand and EV storage. Substantial PV-EV potential is concentrated in many low-latitude cities, offering a pathway to cleaner urban energy systems while accelerating progress towards carbon neutrality.

econ.GN↗

Physical Canvas: A Vision Tactile World Model For Robot Policy Evaluation And Learning

Evaluating and post-training robot policies through physical interaction is costly and difficult to scale, motivating action-conditioned world models as interactive simulators. However, visually plausible predictions can misrepresent contact dynamics, providing unreliable feedback for policy evaluation and learning. We introduce PhysCanvas, a state-consistent visuo-tactile world model for contact-rich robot manipulation. PhysCanvas unifies multi-view RGB, tactile images, marker displacement, task state, and actions within a unified vision space. All modalities share a video VAE and pretrained generative backbone, allowing optical touch to reuse visual and temporal priors. Motion images derived through forward kinematics and camera projection provide spatially aligned action conditioning, while an initial RGB anchor and updated reference observations guide sequential generation. Our consistency-aware post-training uses the frozen Scene Reward Model, Modality Reward Model, and State Reward Model to supervise scene preservation, visual-tactile compatibility, and agreement with real task outcomes. The resulting world model supports closed-loop policy rollouts for evaluation and provides imagined interactions and rewards for GRPO policy updates. Across four real-world manipulation tasks, when policies are rolled out in the world model, State Reward Model supervision increases the arithmetic mean of task-wise Pearson correlations between world-model and real-world success rates from 0.602 to 0.885. Policy post-training in the reward-guided world model further increases $π_{0.5}$'s mean real-world success rate from a 59.1% SFT baseline to 70.8%. These results demonstrate the value of unified multimodal modeling and consistency-aware post-training for robot policy evaluation and learning. Project page: https://zebinx.github.io/PhysCanvas_HomePage/.

cs.RO↗

FactReview: Evidence-Grounded Peer Review with Execution-Based Claim Verification

AI is accelerating scientific research, but providing timely and trustworthy feedback remains challenging. Such feedback requires evaluating specific claims against verified evidence, helping researchers and autonomous research systems determine which findings can guide subsequent work. Thorough verification is time-consuming, and reviewers under time pressure may overlook or misjudge critical issues. Existing AI reviewers have yet to fill this gap because they often assess claims without adequately verifying the supporting evidence. We introduce FactReview, a framework that verifies claims in papers to provide more trustworthy feedback. It checks claims against the literature and examines derivations, while also executing the paper's code to test empirical claims. Across 300 papers, FactReview ranks best among all evaluated systems on five of seven metrics, achieving 6.8% false support and 79.2% classification accuracy. In a study of 36 papers, reviewers using FactReview detect 9.4 issues per paper compared with 5.6 independently, while spending 74.1% less time. FactReview thus supports more reliable peer review, with the potential to accelerate research iteration. The code is public at https://github.com/DEFENSE-SEU/FactReview.

cs.AI↗

Shape-Aware Neural Time Fields for Rigid-Body Motion and Manipulation Planning

Rigid-body motion planning is fundamental to robotic transport and manipulation, where both object position and orientation determine whether a body can move through cluttered environments. This coupling makes planning chal- lenging because translation and rotation can be constrained very differently by surrounding geometry. We propose Shape- Aware Neural Time Fields, a physics-informed neural motion planning framework that learns a reusable travel-time, or cost- to-go, representation for rigid-body motion while explicitly accounting for these distinct geometric restrictions. The learned field captures local motion difficulty in translation and rotation and is paired with a sampling-based planner that balances progress toward the goal with the cost of reaching nearby poses. We evaluate the framework across 2D and 3D rigid- body planning tasks and non-prehensile manipulation through object pushing in diverse environments. Results show substantial improvements in planning success and inference efficiency over physics-informed neural planning baselines, while remaining competitive with classical sampling-based planners at significantly lower planning times. Ablation studies further validate the contributions of both the learned representation and the proposed planning strategy. Finally, closed-loop pushing experiments under execution deviations and external disturbances demonstrate that fast replanning enables reactive and adaptive task execution.

cs.RO↗

Interaction Latents as Actions for Contact-Rich Manipulation

Contact-rich manipulation requires robots to coordinate not only where to move, but also how contact and force should evolve throughout an interaction. Yet most robot policies represent actions primarily as motion trajectories, using tactile signals as inputs or auxiliary prediction targets without explicitly encoding contact dynamics in the action representation. We propose ILA (Interaction Latents as Actions), which uses decodable interaction latents that jointly capture the evolution of motion, contact, and force application as policy action units, providing a shared representation for action generation, evaluation, and offline improvement. We learn these latents through visually conditioned joint action-tactile reconstruction with a time-conditioned implicit decoder. Using them as flow-matching generation targets supports post-training of pretrained vision-language-action models (VLAs) and world action models (WAMs), as well as training flow-matching policies from scratch. A shared decoder maps generated latents to executable actions. For offline improvement, we learn a tactile-conditioned expert reference model from interaction latents encoded from expert demonstrations. The resulting expert-consistency rewards guide weighted learning from successful rollouts, while observation-compatible expert references guide correction of low-reward predictions from failed rollouts. Across three policy families, ILA improves success rates averaged over four real-world tasks by 21.0-36.5 percentage points relative to tactile-conditioned direct-action baselines. Ablations highlight the benefit of encoding contact evolution in action targets beyond tactile conditioning, while the same latent space supports expert-guided offline improvement. Project website: https://mrsecant.github.io/ILA/.

cs.RO↗

Delegating Earth science model calibration to knowledge-guided LLM agents

Applying process-based Earth science models to new sites and questions often requires expert calibration decisions. Reliable delegation to language-model agents must preserve scientific competence and reproducibility. Here we develop a general calibration harness (GCH) for end-to-end delegation from a calibration request to assessed results. Constrained by a knowledge infrastructure (KI) and a validation convention, agents define parameter domains, observation mappings and objectives, and generate model-specific code. GCH checks the formulations against the same declarations and freezes them before numerical search and assessment, which require no further agent judgement. Agent-authored workflows executed across six model families, with assessment identifying unmet criteria. In snow-model tests, five of five knowledge-guided specifications executed on the first attempt, compared with none of five given only the model name, achieving validation Nash-Sutcliffe efficiency (NSE) of 0.81-0.94 against 0.57 for defaults. Under a common objective, independent GR4J formulations yielded scores within 0.001 NSE; re-evaluating eleven saved parameter vectors reproduced their metrics. In ten paired VIC tests with matched budgets, fixed search was non-inferior to continuing agent proposals (margin, -0.02 NSE; median difference, -0.003). This separation enables end-to-end calibration delegation with inspectable scientific choices and reproducible numerical evaluation.

cs.AI↗

PTGPO: Prefix Tree Group Policy Optimization

Training language agents on long-horizon interactive tasks is challenging because sparse terminal rewards provide weak credit signals for intermediate actions. Existing group-based methods either assign a shared trajectory-level advantage or estimate step-level advantages from state groups, which may conflate the current action with subsequent decisions. We propose Prefix Tree Group Policy Optimization (PTGPO), a critic-free method that constructs prefix trees over trajectory suffixes within anchor-state groups. PTGPO assigns each tree edge a credit given by the difference between its child and parent empirical mean returns, capturing the conditional return change revealed by each additional action. These prefix-tree credits provide fine-grained learning signals without requiring a critic or additional rollouts. Experiments on interactive benchmarks ALFWorld, WebShop and Sokoban show that PTGPO consistently improves over RL baselines, demonstrating its effectiveness.

cs.LG↗

Tutorial on Closed-Loop and Application-Aware Digital Twins for Future Wireless Networks

To support emerging applications such as extended reality, autonomous systems, and large-scale cyber-physical infrastructures, next-generation wireless networks must evolve beyond traditional communication paradigms toward tightly integrated and closed-loop systems. Digital Twin Networks (DTNs) have recently emerged as a key enabler of this transformation by bridging the physical and digital worlds through real-time, bidirectional interactions and adaptive control mechanisms. In this tutorial, we provide a comprehensive overview of DTN design and optimization across multiple system dimensions. Specifically, we first introduce the fundamental design principles of DTN creation, including high-fidelity twin modeling, telemetry integration, and cyber-physical synchronization. We then present resource optimization and semantic-driven DTNs, where application-aware objectives and semantic abstractions guide efficient data processing, communication, and decision-making. Subsequently, we explore physical-layer optimization techniques for DTNs, emphasizing joint sensing, communication, and adaptive wireless resource control. Furthermore, we examine DTN-guided network management and feedback optimization, focusing on closed-loop learning, real-time control, and reinforcement-driven adaptation between digital twins and physical networks. Finally, we review ongoing standardization efforts and enabling tools that support the practical deployment of DTNs in real-world systems. This tutorial aims to provide a unified perspective on DTNs as an emerging paradigm for application-aware, AI-native, and closed-loop wireless systems, and to highlight key challenges and future research directions in this rapidly evolving field.

cs.NI↗

KineWorld: Action-Induced Transport Fields for Embodied World Modeling

Embodied world models predict the visual consequences of candidate actions before execution. However, existing action-conditioned world models often adopt uniformly weighted visual generation objectives that can be misaligned with embodied prediction needs. Even with explicit motion conditioning, these objectives can underemphasize spatially sparse changes that are critical to interaction. We propose KineWorld, a transport-aware world-modeling framework that extends robot kinematics from motion conditioning to the spatial allocation of generative supervision. Kinematic Transport Lifting (KTL) constructs renderer-derived, camera-aligned transport fields from commanded robot motion. Transport-Aware World Diffusion (TAWD) calibrates their motion support on the video-latent grid and reweights future-RGB flow matching through a normalized mixture of uniform and transport-focused distributions. We train KineWorld using ALOHA-AgileX bimanual manipulation data from RoboTwin 2.0. KineWorld achieves an EWMScore-P of 68.95 in single-view evaluation and a TWB-Score of 54.82 in multi-view evaluation. These results support a shift from appearance fitting toward action-consequence modeling for embodied decision-making.

cs.CV↗

MiMo-V2.6: Scaling Reinforcement Learning Towards Self-Improvement

Reinforcement learning (RL) is the central training paradigm for advancing large foundation models towards self-improvement. This report introduces the MiMo-V2.6 series, an omni-modal family that pushes the frontier of model intelligence by scaling RL compute. Prior to RL, we conduct mid-training on a broad multimodal corpus to provide ample exploration space, and build a solid infrastructure on the pretrained hybrid-SWA architecture to support subsequent scale-up. We scale RL compute along three dimensions: (1) larger batches and higher throughput, with an asynchronous training that consumes 1,568 samples and 2.7-3.7B tokens per step at context lengths of up to 1M; (2) more diverse and complex environments, spanning code, general, visual, and cyber domains under a mixture of agent harnesses; and (3) more grader compute, via groupwise agentic grading that yields more accurate reward signals for long-horizon tasks and steers the model towards shorter, more token-efficient solutions. To keep training stable at scale, we freeze the MoE router and establish a multi-layer defense against reward hacking. We further build infrastructure for mixed-task agentic RL, including a unified trajectory representation, high-concurrency multi-framework rollout, decoupled control and data planes, and training-inference consistency. We open-source the training dynamics, RL environments, and RL framework to facilitate reproduction and further research on scaled RL and model self-improvement.

cs.CL↗

What Should Embodied Agents Remember? Benchmarking and Evaluating Memory Modality for Embodied Agents

Memory allows large language model (LLM) agents to use past experience, often stored as textual records, when responding to requests. For embodied agents that control robots, visual and spatial observations introduce a broader choice of memory modalities, affecting both the information available for subsequent tasks and the model inference costs of constructing and using memory. We introduce MeMoREval, a benchmark for studying this problem through a controlled experience-request protocol. Agents first experience a sequence of events without knowing the subsequent tasks, and subsequently they use memory to respond to information and action requests without receiving new observations. The benchmark comprises 53 tasks across four simulated indoor environments and measures task success alongside the inference costs of memory construction and use. Our reference evaluations reveal that storing frames outperforms storing generated descriptions at lower write-time inference cost for the primary model, while storing frames with scene graphs achieves the highest aggregate task success for every tested model. Extensions to accumulated experience, selective frame retention, and visual input to memory writers demonstrate how the benchmark accommodates further memory-design investigations. Two physical-robot demonstrations establish the feasibility of applying its protocol beyond simulation.

cs.RO↗

PersonaMem-v3: Toward Omni-Platform Personal Intelligence for Holistic User Understanding, Recommendation, and Agentic Tasks

Personal intelligence is becoming a central frontier for user-facing AI agents. To be helpful in everyday life, agents must understand users across the digital contexts where their preferences, intents, habits, social relationships, and needs unfold over time. Today's systems can personalize within individual apps or tasks, but personal intelligence as a whole remains under-measured: how agents build cross-context user understanding, support steerable recommendation systems, act proactively across platforms, and avoid over-personalization. We introduce PersonaMem-v3, a real-world-grounded benchmark and evaluation harness for omni-platform personal intelligence. PersonaMem-v3 is seeded from more than one million anonymized real-world engagement histories, most of which are implicit signals, and uses them to construct time-indexed user digital worlds across social media, chatbot, calendar, and AI-companion with preference evolvement over time. The benchmark brings personalization, LLM-powered recommendation, proactiveness, agentic tool use, and geo-temporal reasoning into one framework, anchored in psychology, social-linguistics, and user-behavior theories. It evaluates whether AI agents can infer holistic user understanding from cross-platform evidence, personalize responses, rerank recommendations on social media, follow user steering through natural language, and hold back when personalization would be inappropriate, repetitive, outdated, or unnecessary. PersonaMem-v3 points toward LLM-powered personal intelligent agents that work with existing scalable recommendation infrastructure while making personalization more interactive, agentic, and aligned with how real users experience their digital lives.

cs.CY↗

COPC: Coupled Off-Policy Correction for Asynchronous LLM Reinforcement Learning

Asynchronous RL accelerates large language model post-training by decoupling rollout generation from optimization, but trains on stale trajectories. Existing methods primarily correct token-level policy mismatch through importance-ratio control in the actor objective. We show that this \emph{policy-side correction} alone is insufficient: advantage estimates also inherit mismatch from behavior-policy continuations, which we term \emph{advantage staleness}. We derive exact bias and variance decompositions for a general two-channel actor update, revealing nonseparable coupling between policy-weight and advantage-estimation errors: their interaction induces multiplicative bias terms, while squared policy weights amplify advantage uncertainty in gradient variance. This motivates the hypothesis that policy- and advantage-side correction should be coordinated. We introduce Coupled Off-Policy Correction (COPC), an actor--critic method combining token-level ratio masking with two-sided clipped-ratio weighting of TD residuals for return and advantage estimation. Joint parameter sweeps across staleness levels support this hypothesis: the effect of one correction parameter depends on, and can reverse with, the other. COPC achieves the highest reported performance on tool-integrated mathematical reasoning and search, outperforming the strongest reported asynchronous baseline in each setting. It also offers a broad high-performing parameter region and improved training stability. In search, COPC remains stable throughout training, while most evaluated asynchronous baselines collapse late in training. These gains persist at 64-step policy staleness. COPC adds minimal step-time overhead over asynchronous PPO and retains a $1.7\times$ step-time speedup over synchronous PPO.

cs.LG↗

Adaptive Semantic Communication with Residual Quantization for Resilient Vehicular Networks

Vehicular networks require timely visual information exchange to support safety-critical applications such as cooperative perception and hazard awareness, yet transmitting high-dimensional camera data over bandwidth-limited and dynamic wireless links remains challenging. In this paper, we propose an adaptive semantic communication architecture for vehicular multicast that adjusts the amount of visual information transmitted according to current channel conditions, available communication resources, and latency requirements. Specifically, the visual encoder uses residual quantization to represent each image at multiple bitrate and reconstruction-quality levels. At runtime, the system selects an appropriate level based on the communication conditions, enabling it to trade visual fidelity for lower transmission overhead when network resources are limited. Context-adaptive entropy coding further compresses the quantized representations using offline-learned statistics, without requiring retraining for different channel conditions. This design allows the visual representation to be learned offline while the communication strategy is adapted online. Experimental results demonstrate competitive rate-distortion performance at ultra-low bitrates, improved delivery reliability and deadline satisfaction across diverse vehicular scenarios, and strong downstream perception performance, achieving up to 0.88 mAP50 while dynamically adapting to changing communication conditions.

cs.NI↗

GISTBench: Evaluating LLM User Understanding via Evidence-Based Interest Verification

We introduce GISTBench, a benchmark for evaluating Large Language Models' (LLMs) ability to understand users from their interaction histories in recommendation systems. Unlike traditional RecSys benchmarks that focus on item prediction accuracy, our benchmark evaluates how well LLMs can extract and verify user interests from engagement data. We propose two novel metric families: Interest Groundedness (IG), decomposed into precision and recall components to separately penalize hallucinated interest categories and reward coverage, and Interest Specificity (IS), which assesses the distinctiveness of verified LLM-predicted user profiles. We release a synthetic dataset constructed on real user interactions on a global short-form video platform. Our dataset contains both implicit and explicit engagement signals and rich textual descriptions. We validate our dataset fidelity against user surveys, and evaluate eight open-weight LLMs spanning 7B to 235B parameters, together with three proprietary frontier models (GPT-5, Claude 4.6, and Gemini 3.5 Flash). Our findings reveal performance bottlenecks in current LLMs, particularly their limited ability to accurately count and attribute engagement signals across heterogeneous interaction types.

cs.AI↗

Early Learning Shapes Later Directions Of Representation Change In Continual Learning

Representations continually change as a network learns new tasks. We ask whether early representational changes naturally form a geometric structure that continues to shape later learning. We identify a low-dimensional subspace of early representation drift, which we call a scaffold, and test whether it is reused across subsequent tasks. Across four pretrained visual encoders and two datasets, later representational changes consistently favor this early-defined subspace over matched random alternatives. This reuse is history-dependent: when networks experience different early tasks but identical later training inputs, each network preferentially reuses the scaffold induced by its own learning history. The same preference appears in individual optimizer updates, even though the network's dominant local response directions shift away from the original scaffold. Finally, constraining motion within the scaffold slows new-task acquisition more than matched random constraints, while effects on old-task retention are less consistent. In summary, these results suggest that early experience leaves a persistent geometric imprint on how neural networks adapt to future tasks.Code is available at https://github.com/YuantaoDeng/latent-scaffold.

cs.LG↗