arXiv subjects

Yuhao Lin

Publications and source records attributed to Yuhao Lin.

18 recordsLinked to original sources

arXiv2026

DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration

Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where robots must interact with objects that are moving or require rapid adjustments. However, learning models for dynamic manipulation tasks face two major challenges: (1) the combinatorial complexity of dynamic scenarios leads to substantial data requirements, and (2) rapid variations in dynamics require real-time and accurate policy execution. In this paper, we propose DynamicManip to address these challenges through an efficient data augmentation pipeline and a low-latency imitation policy. We first propose a static-to-dynamic augmentation pipeline that synthesizes diverse dynamic manipulation demonstrations from a single static demonstration. Second, we introduce a dynamic-aware adaptive policy that adjusts its inference frequency according to task dynamics, enabling responsive and effective dynamic manipulation. Third, we build a dynamic manipulation benchmark, which includes diverse dynamic tasks with an automatic evaluation system for scalable and consistent assessment. Extensive experiments in both simulation and the real world demonstrate that DynamicManip not only provides significant improvements in data efficiency but also achieves better performance in dynamic manipulation tasks, with a mean success rate 18.4 percentage points higher and policy-query latency 32.9% lower.

cs.RO↗

arXiv2026

BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes

Bimanual dexterous grasping is a fundamental and promising area in robotics, yet its progress is constrained by the lack of comprehensive datasets and powerful generation models. In this work, we propose BiDexGrasp, consisting of a large-scale bimanual dexterous grasp dataset and a novel learning-based framework. For dataset construction, we propose a novel bimanual grasp synthesis pipeline to efficiently annotate physically feasible data. This pipeline addresses the challenges of high-dimensional bimanual grasping through a two-stage synthesis strategy of efficient region-based grasp initialization and decoupled force-closure grasp optimization. Powered by this pipeline, we construct a large-scale bimanual dexterous grasp dataset, comprising 6351 diverse objects with sizes ranging from 30 to 80 cm, along with 9.53 million annotated grasp data. Based on this dataset, we further introduce a novel learning-based dexterous grasping generation framework. The framework lies in two key designs: a bimanual coordination module and a geometry-size-adaptive grasp generation strategy to generate coordinated and high-quality grasps on unseen objects. Extensive experiments conducted in both simulation and real world demonstrate the superior performance of our proposed data synthesis pipeline and learned generative framework.

cs.RO↗

arXiv2026

DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping

To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment alignment is challenging due to heterogeneous hand kinematics and physical constraints. Existing approaches typically predict intermediate motion targets and retarget them to each embodiment, which may introduce errors and violate embodiment-specific limits, hindering transfer across diverse hands. To overcome these limitations, we propose DexGrasp-Zero, a policy that learns universal grasping skills from diverse embodiments, enabling zero-shot transfer to unseen hands. We first introduce a morphology-aligned graph representation that maps each hand's kinematic keypoints to anatomically grounded nodes and equips each node with tri-axial orthogonal motion primitives, enabling structural and semantic alignment across different morphologies. Relying on this graph-based representation, we design a Morphology-Aligned Graph Convolutional Network (MAGCN) to encode the graph for policy learning. MAGCN incorporates a Physical Property Injection mechanism that fuses hand-specific physical constraints into the graph features, enabling adaptive compensation for varying link lengths and actuation limits for precise and stable grasping. Our extensive simulation evaluations on the YCB dataset demonstrate that our policy, jointly trained on four heterogeneous hands (Allegro, Shadow, Schunk, Ability), achieves an 85% zero-shot success rate on unseen hardware (LEAP, Inspire), outperforming the state-of-the-art method by 59.5%. Real-world experiments further evaluate our policy on three robot platforms (LEAP, Inspire, Revo2), achieving an 82% average success rate on unseen objects.

cs.RO↗

arXiv2026

FuxiShuffle: An Adaptive and Resilient Shuffle Service for Distributed Data Processing on Alibaba Cloud

Shuffle exchanges intermediate results between upstream and downstream operators in distributed data processing and is usually the bottleneck due to factors such as small random I/Os and network contention. Several systems have been designed to improve shuffle efficiency, but from our experiences of running ultra-large clusters at Alibaba Cloud MaxCompute platform, we observe that they can not adapt to highly dynamic job characteristics and cluster resource conditions, and their fault tolerance mechanisms are passive and inefficient when failures are inevitable. To tackle their limitations, we design and implement FuxiShuffle as a general data shuffle service for the ultra-large production environment of MaxCompute, featuring good adaptability and efficient failure resilience. Specifically, to achieve good adaptability, FuxiShuffle dynamically selects the shuffle mode based on runtime information, conducts progress-aware scheduling for the downstream workers, and automatically determines the most suitable backup strategy for each shuffle data chunk. To make failure resilience efficient, FuxiShuffle actively ensures data availability with multi-replica failover, prevents memory overflow with careful memory management, and employs an incremental recovery mechanism that does not lose computation progress. Our experiments show that, compared to baseline systems, FuxiShuffle significantly reduces not only end-to-end job completion time but also aggregate resource consumption. Micro experiments suggest that our designs are effective in improving adaptability and failure resilience.

cs.DC↗

arXiv2025

CycleManip: Enabling Cyclic Task Manipulation via Effective Historical Perception and Understanding

In this paper, we explore an important yet underexplored task in robot manipulation: cycle-based manipulation, where robots need to perform cyclic or repetitive actions with an expected terminal time. These tasks are crucial in daily life, such as shaking a bottle or knocking a nail. However, few prior works have explored this task, leading to two main challenges: 1) the imitation methods often fail to complete these tasks within the expected terminal time due to the ineffective utilization of history; 2) the absence of a benchmark with sufficient data and automatic evaluation tools hinders development of effective solutions in this area. To address these challenges, we first propose the CycleManip framework to achieve cycle-based task manipulation in an end-to-end imitation manner without requiring any extra models, hierarchical structure or significant computational overhead. The core insight is to enhance effective history perception by a cost-aware sampling strategy and to improve historical understanding by multi-task learning. Second, we introduce a cycle-based task manipulation benchmark, which provides diverse cycle-based tasks, and an automatic evaluation method. Extensive experiments conducted in both simulation and real-world settings demonstrate that our method achieves high success rates in cycle-based task manipulation. The results further show strong adaptability performance in general manipulation, and the plug-and-play ability on imitation policies such as Vision-Language-Action (VLA) models. Moreover, the results show that our approach can be applied across diverse robotic platforms, including bi-arm grippers, dexterous hands, and humanoid robots.

cs.RO↗

arXiv2025

ZeroDexGrasp: Zero-Shot Task-Oriented Dexterous Grasp Synthesis with Prompt-Based Multi-Stage Semantic Reasoning

Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize across diverse objects and task instructions, as they heavily rely on costly labeled data to ensure task-specific semantic alignment. In this study, we propose \textbf{ZeroDexGrasp}, a zero-shot task-oriented dexterous grasp synthesis framework integrating Multimodal Large Language Models with grasp refinement to generate human-like grasp poses that are well aligned with specific task objectives and object affordances. Specifically, ZeroDexGrasp employs prompt-based multi-stage semantic reasoning to infer initial grasp configurations and object contact information from task and object semantics, then exploits contact-guided grasp optimization to refine these poses for physical feasibility and task alignment. Experimental results demonstrate that ZeroDexGrasp enables high-quality zero-shot dexterous grasping on diverse unseen object categories and complex task requirements, advancing toward more generalizable and intelligent robotic grasping.

cs.RO↗

arXiv2025

OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback

Enabling robots to dexterously grasp and manipulate objects based on human commands is a promising direction in robotics. However, existing approaches are challenging to generalize across diverse objects or tasks due to the limited scale of semantic dexterous grasp datasets. Foundation models offer a new way to enhance generalization, yet directly leveraging them to generate feasible robotic actions remains challenging due to the gap between abstract model knowledge and physical robot execution. To address these challenges, we propose OmniDexGrasp, a generalizable framework that achieves omni-capabilities in user prompting, dexterous embodiment, and grasping tasks by combining foundation models with the transfer and control strategies. OmniDexGrasp integrates three key modules: (i) foundation models are used to enhance generalization by generating human grasp images supporting omni-capability of user prompt and task; (ii) a human-image-to-robot-action transfer strategy converts human demonstrations into executable robot actions, enabling omni dexterous embodiment; (iii) force-aware adaptive grasp strategy ensures robust and stable grasp execution. Experiments in simulation and on real robots validate the effectiveness of OmniDexGrasp on diverse user prompts, grasp task and dexterous hands, and further results show its extensibility to dexterous manipulation tasks.

cs.RO↗

arXiv2025

TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types

Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However, these approaches may fail to fully leverage the inherent dexterity of dexterous hands, which can execute unique actions through their structural advantages compared to human hands. To address this limitation, we propose TypeTele, a type-guided dexterous teleoperation system, which enables dexterous hands to perform actions that are not constrained by human motion patterns. This is achieved by introducing dexterous manipulation types into the teleoperation system, allowing operators to employ appropriate types to complete specific tasks. To support this system, we build an extensible dexterous manipulation type library to cover comprehensive dexterous postures used in manipulation tasks. During teleoperation, we employ a MLLM (Multi-modality Large Language Model)-assisted type retrieval module to identify the most suitable manipulation type based on the specific task and operator commands. Extensive experiments of real-world teleoperation and imitation learning demonstrate that the incorporation of manipulation types significantly takes full advantage of the dexterous robot's ability to perform diverse and complex tasks with higher success rates.

cs.RO↗

arXiv2025

How Significant Are the Real Performance Gains? An Unbiased Evaluation Framework for GraphRAG

By retrieving contexts from knowledge graphs, graph-based retrieval-augmented generation (GraphRAG) enhances large language models (LLMs) to generate quality answers for user questions. Many GraphRAG methods have been proposed and reported inspiring performance in answer quality. However, we observe that the current answer evaluation framework for GraphRAG has two critical flaws, i.e., unrelated questions and evaluation biases, which may lead to biased or even wrong conclusions on performance. To tackle the two flaws, we propose an unbiased evaluation framework that uses graph-text-grounded question generation to produce questions that are more related to the underlying dataset and an unbiased evaluation procedure to eliminate the biases in LLM-based answer assessment. We apply our unbiased framework to evaluate 3 representative GraphRAG methods and find that their performance gains are much more moderate than reported previously. Although our evaluation framework may still have flaws, it calls for scientific evaluations to lay solid foundations for GraphRAG research.

cs.CL↗

arXiv2025

Guiding LLM-based Smart Contract Generation with Finite State Machine

Smart contract is a kind of self-executing code based on blockchain technology with a wide range of application scenarios, but the traditional generation method relies on manual coding and expert auditing, which has a high threshold and low efficiency. Although Large Language Models (LLMs) show great potential in programming tasks, they still face challenges in smart contract generation w.r.t. effectiveness and security. To solve these problems, we propose FSM-SCG, a smart contract generation framework based on finite state machine (FSM) and LLMs, which significantly improves the quality of the generated code by abstracting user requirements to generate FSM, guiding LLMs to generate smart contracts, and iteratively optimizing the code with the feedback of compilation and security checks. The experimental results show that FSM-SCG significantly improves the quality of smart contract generation. Compared to the best baseline, FSM-SCG improves the compilation success rate of generated smart contract code by at most 48%, and reduces the average vulnerability risk score by approximately 68%.

cs.AI↗

arXiv2025

AffordDexGrasp: Open-set Language-guided Dexterous Grasp with Generalizable-Instructive Affordance

Language-guided robot dexterous generation enables robots to grasp and manipulate objects based on human commands. However, previous data-driven methods are hard to understand intention and execute grasping with unseen categories in the open set. In this work, we explore a new task, Open-set Language-guided Dexterous Grasp, and find that the main challenge is the huge gap between high-level human language semantics and low-level robot actions. To solve this problem, we propose an Affordance Dexterous Grasp (AffordDexGrasp) framework, with the insight of bridging the gap with a new generalizable-instructive affordance representation. This affordance can generalize to unseen categories by leveraging the object's local structure and category-agnostic semantic attributes, thereby effectively guiding dexterous grasp generation. Built upon the affordance, our framework introduces Affordance Flow Matching (AFM) for affordance generation with language as input, and Grasp Flow Matching (GFM) for generating dexterous grasp with affordance as input. To evaluate our framework, we build an open-set table-top language-guided dexterous grasp dataset. Extensive experiments in the simulation and real worlds show that our framework surpasses all previous methods in open-set generalization.

cs.RO↗

arXiv2025

TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer

Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber Bragg Grating (FBG)-based tactile sensor designed for seamless human-to-robot transfer. TacCap is lightweight, durable, and immune to electromagnetic interference, making it ideal for real-world data collection. We detail its design and fabrication, evaluate its sensitivity, repeatability, and cross-sensor consistency, and assess its effectiveness through grasp stability prediction and ablation studies. Our results demonstrate that TacCap enables transferable tactile data collection, bridging the gap between human demonstrations and robotic execution. To support further research and development, we open-source our hardware design and software.

cs.RO↗

arXiv2024

Categorical Keypoint Positional Embedding for Robust Animal Re-Identification

Animal re-identification (ReID) has become an indispensable tool in ecological research, playing a critical role in tracking population dynamics, analyzing behavioral patterns, and assessing ecological impacts, all of which are vital for informed conservation strategies. Unlike human ReID, animal ReID faces significant challenges due to the high variability in animal poses, diverse environmental conditions, and the inability to directly apply pre-trained models to animal data, making the identification process across species more complex. This work introduces an innovative keypoint propagation mechanism, which utilizes a single annotated image and a pre-trained diffusion model to propagate keypoints across an entire dataset, significantly reducing the cost of manual annotation. Additionally, we enhance the Vision Transformer (ViT) by implementing Keypoint Positional Encoding (KPE) and Categorical Keypoint Positional Embedding (CKPE), enabling the ViT to learn more robust and semantically-aware representations. This provides more comprehensive and detailed keypoint representations, leading to more accurate and efficient re-identification. Our extensive experimental evaluations demonstrate that this approach significantly outperforms existing state-of-the-art methods across four wildlife datasets. The code will be publicly released.

cs.CV↗

arXiv2024

A Simple-but-effective Baseline for Training-free Class-Agnostic Counting

Class-Agnostic Counting (CAC) seeks to accurately count objects in a given image with only a few reference examples. While previous methods achieving this relied on additional training, recent efforts have shown that it's possible to accomplish this without training by utilizing pre-existing foundation models, particularly the Segment Anything Model (SAM), for counting via instance-level segmentation. Although promising, current training-free methods still lag behind their training-based counterparts in terms of performance. In this research, we present a straightforward training-free solution that effectively bridges this performance gap, serving as a strong baseline. The primary contribution of our work lies in the discovery of four key technologies that can enhance performance. Specifically, we suggest employing a superpixel algorithm to generate more precise initial point prompts, utilizing an image encoder with richer semantic knowledge to replace the SAM encoder for representing candidate objects, and adopting a multiscale mechanism and a transductive prototype scheme to update the representation of reference examples. By combining these four technologies, our approach achieves significant improvements over existing training-free methods and delivers performance on par with training-based ones.

cs.CV↗

arXiv2023

Semantic Role Labeling Guided Out-of-distribution Detection

Identifying unexpected domain-shifted instances in natural language processing is crucial in real-world applications. Previous works identify the out-of-distribution (OOD) instance by leveraging a single global feature embedding to represent the sentence, which cannot characterize subtle OOD patterns well. Another major challenge current OOD methods face is learning effective low-dimensional sentence representations to identify the hard OOD instances that are semantically similar to the in-distribution (ID) data. In this paper, we propose a new unsupervised OOD detection method, namely Semantic Role Labeling Guided Out-of-distribution Detection (SRLOOD), that separates, extracts, and learns the semantic role labeling (SRL) guided fine-grained local feature representations from different arguments of a sentence and the global feature representations of the full sentence using a margin-based contrastive loss. A novel self-supervised approach is also introduced to enhance such global-local feature learning by predicting the SRL extracted role. The resulting model achieves SOTA performance on four OOD benchmarks, indicating the effectiveness of our approach. The code is publicly accessible via \url{https://github.com/cytai/SRLOOD}.

cs.CL↗

arXiv2023

Masked and Adaptive Transformer for Exemplar Based Image Translation

We present a novel framework for exemplar based image translation. Recent advanced methods for this task mainly focus on establishing cross-domain semantic correspondence, which sequentially dominates image generation in the manner of local style control. Unfortunately, cross-domain semantic matching is challenging; and matching errors ultimately degrade the quality of generated images. To overcome this challenge, we improve the accuracy of matching on the one hand, and diminish the role of matching in image generation on the other hand. To achieve the former, we propose a masked and adaptive transformer (MAT) for learning accurate cross-domain correspondence, and executing context-aware feature augmentation. To achieve the latter, we use source features of the input and global style codes of the exemplar, as supplementary information, for decoding an image. Besides, we devise a novel contrastive style learning method, for acquire quality-discriminative style representations, which in turn benefit high-quality image generation. Experimental results show that our method, dubbed MATEBIT, performs considerably better than state-of-the-art methods, in diverse image translation tasks. The codes are available at \url{https://github.com/AiArt-HDU/MATEBIT}.

cs.CV↗

arXiv2023

Revisiting Image Reconstruction for Semi-supervised Semantic Segmentation

Autoencoding, which aims to reconstruct the input images through a bottleneck latent representation, is one of the classic feature representation learning strategies. It has been shown effective as an auxiliary task for semi-supervised learning but has become less popular as more sophisticated methods have been proposed in recent years. In this paper, we revisit the idea of using image reconstruction as the auxiliary task and incorporate it with a modern semi-supervised semantic segmentation framework. Surprisingly, we discover that such an old idea in semi-supervised learning can produce results competitive with state-of-the-art semantic segmentation algorithms. By visualizing the intermediate layer activations of the image reconstruction module, we show that the feature map channel could correlate well with the semantic concept, which explains why joint training with the reconstruction task is helpful for the segmentation task. Motivated by our observation, we further proposed a modification to the image reconstruction task, aiming to further disentangle the object clue from the background patterns. From experiment evaluation on various datasets, we show that using reconstruction as auxiliary loss can lead to consistent improvements in various datasets and methods. The proposed method can further lead to significant improvement in object-centric segmentation tasks.

cs.CV↗

arXiv2022

Astock: A New Dataset and Automated Stock Trading based on Stock-specific News Analyzing Model

Natural Language Processing(NLP) demonstrates a great potential to support financial decision-making by analyzing the text from social media or news outlets. In this work, we build a platform to study the NLP-aided stock auto-trading algorithms systematically. In contrast to the previous work, our platform is characterized by three features: (1) We provide financial news for each specific stock. (2) We provide various stock factors for each stock. (3) We evaluate performance from more financial-relevant metrics. Such a design allows us to develop and evaluate NLP-aided stock auto-trading algorithms in a more realistic setting. In addition to designing an evaluation platform and dataset collection, we also made a technical contribution by proposing a system to automatically learn a good feature representation from various input information. The key to our algorithm is a method called semantic role labeling Pooling (SRLP), which leverages Semantic Role Labeling (SRL) to create a compact representation of each news paragraph. Based on SRLP, we further incorporate other stock factors to make the final prediction. In addition, we propose a self-supervised learning strategy based on SRLP to enhance the out-of-distribution generalization performance of our system. Through our experimental study, we show that the proposed method achieves better performance and outperforms all the baselines' annualized rate of return as well as the maximum drawdown of the CSI300 index and XIN9 index on real trading. Our Astock dataset and code are available at https://github.com/JinanZou/Astock.

cs.CL↗