arXiv subjects

Yumeng Liu

Publications and source records attributed to Yumeng Liu.

At least 19 recordsLinked to original sources

arXiv2026

Calibrating Multimodal Test-Time Adaptation under Reliability and Availability Modality Shifts

Multimodal test-time adaptation (TTA) enables pretrained multimodal models to accommodate distribution shifts during inference using only unlabeled test data, without recourse to the original training data. Compared with unimodal adaptation, multimodal adaptation is further complicated by the coexistence and interaction of multiple representation perspectives. This complexity is particularly pronounced under modality reliability shifts, which preserve modality availability but degrade information quality, and modality availability shifts, which render the corresponding modality entirely inaccessible. Category-conditional Gaussian modeling offers a natural starting point for handling such distributional variations, having proven effective in unimodal test-time adaptation for characterizing representation distributions, yet its extension to multimodal settings requires a more elaborate formulation. To this end, we propose Adaptive Probabilistic Gaussian Calibration (AdaPGC), which extends category-conditional Gaussian modeling across modality-specific and multimodal fusion representations for probabilistic calibration under multimodal distribution shifts. AdaPGC continuously updates category-conditional Gaussian models over modality-specific and fusion representations, using the resulting probabilistic predictions to calibrate source model predictions and guide reliability based rectification, while exploiting their joint distributions to recover unavailable fusion representations. Extensive experiments under diverse modality corruption and missingness conditions demonstrate that AdaPGC effectively improves robustness under both modality reliability and availability shifts. Our source code will be released at https://github.com/XuJinglinn/AdaPGC-plus.

cs.CV↗

arXiv2026

Dual-Corrected Stochastic Block Model ($\text{DC}^2\text{SBM}$): A Generalized Structure Detection Method for Attributed Networks

Community detection in attributed networks is one of the core tasks of complex network analysis. The stochastic block model (SBM) and its variants are able to detect generalized network structures such as assortative, disassortative and mixed structures. However, existing generative methods either ignore node heterogeneity, or characterize node activity in the topological and attribute dimensions by one and the same factor, making it difficult to correctly model node activity when the two kinds of activity are decoupled. In this paper, we propose the Dual-Corrected Stochastic Block Model ($\text{DC}^2\text{SBM}$), which introduces independent correction factors---a topological degree factor and an attribute abundance factor---into the link-generation and attribute-generation channels, respectively, thereby effectively decoupling node activity from membership inference, and which further introduces a global scaling parameter to resolve the mismatch between the normalization constraints and the network scale. The model is inferred by the expectation--maximization (EM) algorithm, and the newly introduced factors cancel out completely in the posterior computation, so that no additional computational cost is incurred. Experiments on synthetic and real attributed networks show that DC^2SBM outperforms state-of-the-art methods in community detection accuracy, with an especially pronounced advantage when the topological signal is weak. The two correction factors can be recovered independently from their respective channels without cross-talk. Analytical as well as controlled experiments further demonstrate that modeling with a single shared factor fails when the two kinds of activity are decoupled---a regime that is prevalent in real networks---thereby validating the necessity of dual independent correction.

cs.SI↗

arXiv2026

World2HOSI: A Multi-Expert Harness for Long-Horizon Human-Object-Scene Interaction Generation

Long-horizon human-object-scene interaction (HOSI) is central to embodied AI, animation, and game development. Existing human-object interaction (HOI) and human-scene interaction (HSI) models excel in their respective domains, but none alone covers tasks requiring multiple interaction skills. Training unified HOSI models is hindered by scarce and costly data. We introduce World2HOSI, a multi-expert orchestration harness that generates continuous HOSI data from 3D Gaussian Splatting (3DGS) scenes and natural language instructions. Our key insight is that long-horizon HOSI hinges not on a stronger single model but on orchestration. Given a shared, structured scene state and an orchestration harness grounded in it, existing experts can jointly accomplish tasks beyond the reach of any of them alone. World2HOSI realizes this insight as a closed loop around a persistent scene state built from decoupled background and object assets. A harness plans action stages over this state, invokes experts via their native conditioning interfaces, and writes each action's effects back, so that every invocation is grounded in the evolving world. To reduce physical artifacts, bounded residual optimization and contact-driven physics simulation further ensure the physical plausibility of human motion and object manipulation, respectively, while preserving interaction intent. Experiments and a perceptual user study show that World2HOSI achieves the best task completion and interaction quality on the evaluated HOSI tasks, while generating more diverse data.

cs.CV↗

arXiv2026

Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots

High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates temporal asynchrony between the planning and execution, and structural incompleteness for full-body control. We propose an asynchronous upper body task-space tracking framework for humanoids. A student policy is initialized by teacher-student distillation, conditioned on the full cached future trajectory and an execution-time index, and trained with a sliding-window global reward to reduce frame drift without explicit frame estimation. For task-specific post-training, an MPC module completes sparse references into floating-base and upper-body guidance, while action- and FK level self-guidance constrain policy drift. Simulation and Unitree G1 hardware experiments show improved tracking under low update rates, stronger performance than synchronous and decoupled baselines, and safer adaptation to out-of-distribution motions.

cs.RO↗

arXiv2026

FoLD: Force-Informed Learning for Dexterous Articulated Object Manipulation

Transferring human demonstrations to dexterous robots remains challenging because differences in hand morphology and contact dynamics often cause retargeted motions to fail at producing the intended object behavior. We present \textbf{FoLD}, a framework for learning dexterous manipulation of articulated objects through explicit force guidance. FoLD compute compensatory force fields from human demonstrations together with the robot's current interaction state, yielding a force prior that promotes the demonstrated object motion. This force prior informs a residual policy that adapts retargeted hand motions to the contact requirements of the task. We evaluate FoLD on a public benchmark for articulated object manipulation, where it consistently outperforms state-of-the-art baselines across tasks and embodiments. We further validate FoLD on real dexterous robot platforms, demonstrating successful transfer of human manipulation skills to robot execution. Here is the link of our project page: https://gghgghgghgg.github.io/FoLD-project-page/.

cs.RO↗

arXiv2026

InterMASH: A Unified Geometric Representation for Grasp Synthesis

Grasp synthesis aims to generate stable and physically plausible hand--object interactions, and has become a fundamental problem in both human hand modeling and robotic manipulation. However, a unified representation across human and robotic hands is still lacking, mainly due to differences in hand morphology and surface modeling. Prior methods typically rely on either contact maps or dense implicit descriptors to represent interaction, but these representations are often incomplete or computationally expensive and redundant. We propose InterMASH, a unified geometric representation that establishes cross-embodiment correspondence using sphere-fixed anchors. At each anchor, low-degree spherical harmonics compactly encode local hand geometry, object geometry, and contact, forming an explicit and interpretable token sequence. Building on this natively tokenized structure, we introduce a conditional Diffusion Transformer that operates directly in the proposed InterMASH representation space and jointly generates hand geometry and contact, improving consistency and physical plausibility. Our method achieves competitive performance with state-of-the-art methods on key physical feasibility metrics in a large-scale ShadowHand benchmark, supports joint training across multiple hands, and shows that cross-embodiment fine-tuning with human grasp data can improve robotic grasp success and diversity. Project page is available at https://inter-mash.github.io/.

cs.RO↗

arXiv2026

HGGT: Robust and Flexible 3D Hand Mesh Reconstruction from Uncalibrated Images

Recovering high-fidelity 3D hand geometry from images is a critical task in computer vision, holding significant value for domains such as robotics, animation and VR/AR. Crucially, scalable applications demand both accuracy and deployment flexibility, requiring the ability to leverage massive amounts of unstructured image data from the internet or enable deployment on consumer-grade RGB cameras without complex calibration. However, current methods face a dilemma. While single-view approaches are easy to deploy, they suffer from depth ambiguity and occlusion. Conversely, multi-view systems resolve these uncertainties but typically demand fixed, calibrated setups, limiting their real-world utility. To bridge this gap, we draw inspiration from 3D foundation models that learn explicit geometry directly from visual data. By reformulating hand reconstruction from arbitrary views as a visual-geometry grounded task, we propose a feed-forward architecture that, for the first time in literature, jointly infers 3D hand meshes and camera poses from uncalibrated views. Extensive evaluations show that our approach outperforms state-of-the-art benchmarks and demonstrates strong generalization to uncalibrated, in-the-wild scenarios. Here is the link of our project page: https://lym29.github.io/HGGT/.

cs.CV↗

arXiv2026

HybridWorldSim: A Scalable and Controllable High-fidelity Simulator for Autonomous Driving

Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We introduce HybridWorldSim, a hybrid simulation framework that integrates multi-traversal neural reconstruction for static backgrounds with generative modeling for dynamic agents. This unified design addresses key limitations of previous methods, enabling the creation of diverse and high-fidelity driving scenarios with reliable visual and spatial consistency. To facilitate robust benchmarking, we further release a new multi-traversal dataset MIRROR that captures a wide range of routes and environmental conditions across different cities. Extensive experiments demonstrate that HybridWorldSim surpasses previous state-of-the-art methods, providing a practical and scalable solution for high-fidelity simulation and a valuable resource for research and development in autonomous driving.

cs.CV↗

arXiv2026

Advance versus Spot Selling in Queueing Systems: the Effect of Uncertainty Sources

We develop an unobservable M/M/1 queueing model to analyze advance selling and spot selling under uncertainty. Customers are heterogeneous in waiting costs, drawn from a uniform distribution. We disentangle two fundamental sources of uncertainty: customer valuation and service capacity. We derive the respective revenue functions for both advance and spot selling strategies and compare their performance. Our analysis reveals that advance selling is more profitable when customer valuations are uncertain. Conversely, spot selling emerges as the more profitable strategy when uncertainty originates from service capacity. When both sources are present, our numerical experiments suggest that the preferred regime depends on the relative dispersion of the two uncertainties: advance selling tends to be favored when valuation uncertainty is sufficiently pronounced relative to capacity uncertainty, whereas spot selling tends to be favored when capacity uncertainty is more pronounced. These results highlight how the origin and magnitude of uncertainty shape the optimal selling strategy in service queues and offer practical guidance for platforms and service providers deciding between advance and spot selling.

math.OC↗

arXiv2026

CORGI: Consistency-Aware 3D Dog Reconstruction from a Single Image in the Wild

Reconstructing high-fidelity 3D models of highly articulated animals, such as dogs, from a single in-the-wild image remains a formidable challenge. In this paper, we introduce CORGI, a novel framework for consistency-aware 3D dog reconstruction from a single unconstrained image that completely eliminates the need for 3D supervision. To overcome generative inconsistencies and the lack of multi-view capture, our pipeline introduces three core components. First, we propose a Canonical-Driven Orbital Generation (CDOG) strategy, utilizing specialized Canonical and Orbit LoRAs to normalize arbitrary input poses and synthesize reliable 360-degree video observations. Second, we design a Consistency-aware Deformable 3DGS (CA-3DGS) module that anchors on a D-SMAL prior, explicitly modeling per-view generative errors through dedicated neural deformation fields to learn accurate vertex-level displacements. Finally, to eliminate structural distortions and recover high-frequency details, we introduce a self-supervised Deformation-Conditioned Generative Repair (DCGR) module. Extensive experiments demonstrate that CORGI achieves state-of-the-art performance, generalizing seamlessly across diverse dog breeds to produce geometrically accurate, visually coherent, and fully animatable 3D assets ready for downstream applications.

cs.CV↗

arXiv2026

LithoDreamer: A Physics-Informed World Model for Multi-Stage Computational Lithography

As semiconductor technology nodes scale, computational lithography is essential for ensuring yield and performance. However, lithography is a continuous physical process involving mask optimization, optical imaging, resist exposure, and development, which existing models fail to capture. To overcome this limitation, we present LithoDreamer, the first physics-informed World Model (WM) framework for computational lithography, which formulates the ``Layout-Mask-Resist Image-After Development Image (ADI)'' pipeline as a decision-driven multi-step evolution system. LithoDreamer captures feature changes between adjacent states to model stage-specific physics-informed latent spaces, in which it controls process intervention exploration and drives subsequent state transitions. To achieve interpretable intervention optimization without continuous supervision, we propose a contrastive variational optimization paradigm that contrasts the latent differences between intervention paths with variational evolution constraints, guiding the model to generate evolutions consistent with real lithography physics. Experiments show LithoDreamer achieves state-of-the-art performance in forward evolution and inverse planning. Our lithography dataset is publicly available at GitHub (https://github.com/7jiangyq/lithodreamer.git).

cs.AI↗

arXiv2026

AffordGrasp: Cross-Modal Diffusion for Affordance-Aware Grasp Synthesis

Generating human grasping poses that accurately reflect both object geometry and user-specified interaction semantics is essential for natural hand-object interactions in AR/VR and embodied AI. However, existing semantic grasping approaches struggle with the large modality gap between 3D object representations and textual instructions, and often lack explicit spatial or semantic constraints, leading to physically invalid or semantically inconsistent grasps. In this work, we present AffordGrasp, a diffusion-based framework that produces physically stable and semantically faithful human grasps with high precision. We first introduce a scalable annotation pipeline that automatically enriches hand-object interaction datasets with fine-grained structured language labels capturing interaction intent. Building upon these annotations, AffordGrasp integrates an affordance-aware latent representation of hand poses with a dual-conditioning diffusion process, enabling the model to jointly reason over object geometry, spatial affordances, and instruction semantics. A distribution adjustment module further enforces physical contact consistency and semantic alignment. We evaluate AffordGrasp across four instruction-augmented benchmarks derived from HO-3D, OakInk, GRAB, and AffordPose, and observe substantial improvements over state-of-the-art methods in grasp quality, semantic accuracy, and diversity.

cs.RO↗

arXiv2026

VisBrowse-Bench: Benchmarking Visual-Native Search for Multimodal Browsing Agents

The rapid advancement of Multimodal Large Language Models (MLLMs) has enabled browsing agents to acquire and reason over multimodal information in the real world. But existing benchmarks suffer from two limitations: insufficient evaluation of visual reasoning ability and the neglect of native visual information of web pages in the reasoning chains. To address these challenges, we introduce a new benchmark for visual-native search, VisBrowse-Bench. It contains 169 VQA instances covering multiple domains and evaluates the models' visual reasoning capabilities during the search process through multimodal evidence cross-validation via text-image retrieval and joint reasoning. These data were constructed by human experts using a multi-stage pipeline and underwent rigorous manual verification. We additionally propose an agent workflow that can effectively drive the browsing agent to actively collect and reason over visual information during the search process. We comprehensively evaluated both open-source and closed-source models in this workflow. Experimental results show that even the best-performing model, Claude-4.6-Opus only achieves an accuracy of 47.6%, while the proprietary Deep Research model, o3-deep-research only achieves an accuracy of 41.1%. The code and data can be accessed at: https://github.com/ZhengboZhang/VisBrowse-Bench

cs.CV↗

arXiv2025

Unitho: A Unified Multi-Task Framework for Computational Lithography

Reliable, generalizable data foundations are critical for enabling large-scale models in computational lithography. However, essential tasks-mask generation, rule violation detection, and layout optimization-are often handled in isolation, hindered by scarce datasets and limited modeling approaches. To address these challenges, we introduce Unitho, a unified multi-task large vision model built upon the Transformer architecture. Trained on a large-scale industrial lithography simulation dataset with hundreds of thousands of cases, Unitho supports end-to-end mask generation, lithography simulation, and rule violation detection. By enabling agile and high-fidelity lithography simulation, Unitho further facilitates the construction of robust data foundations for intelligent EDA. Experimental results validate its effectiveness and generalizability, with performance substantially surpassing academic baselines.

cs.LG↗

arXiv2025

Enhancing Multimodal Protein Function Prediction Through Dual-Branch Dynamic Selection with Reconstructive Pre-Training

Multimodal protein features play a crucial role in protein function prediction. However, these features encompass a wide range of information, ranging from structural data and sequence features to protein attributes and interaction networks, making it challenging to decipher their complex interconnections. In this work, we propose a multimodal protein function prediction method (DSRPGO) by utilizing dynamic selection and reconstructive pre-training mechanisms. To acquire complex protein information, we introduce reconstructive pre-training to mine more fine-grained information with low semantic levels. Moreover, we put forward the Bidirectional Interaction Module (BInM) to facilitate interactive learning among multimodal features. Additionally, to address the difficulty of hierarchical multi-label classification in this task, a Dynamic Selection Module (DSM) is designed to select the feature representation that is most conducive to current protein function prediction. Our proposed DSRPGO model improves significantly in BPO, MFO, and CCO on human datasets, thereby outperforming other benchmark models.

cs.LG↗

arXiv2025

ChiMDQA: Towards Comprehensive Chinese Document QA with Fine-grained Evaluation

With the rapid advancement of natural language processing (NLP) technologies, the demand for high-quality Chinese document question-answering datasets is steadily growing. To address this issue, we present the Chinese Multi-Document Question Answering Dataset(ChiMDQA), specifically designed for downstream business scenarios across prevalent domains including academic, education, finance, law, medical treatment, and news. ChiMDQA encompasses long-form documents from six distinct fields, consisting of 6,068 rigorously curated, high-quality question-answer (QA) pairs further classified into ten fine-grained categories. Through meticulous document screening and a systematic question-design methodology, the dataset guarantees both diversity and high quality, rendering it applicable to various NLP tasks such as document comprehension, knowledge extraction, and intelligent QA systems. Additionally, this paper offers a comprehensive overview of the dataset's design objectives, construction methodologies, and fine-grained evaluation system, supplying a substantial foundation for future research and practical applications in Chinese QA. The code and data are available at: https://anonymous.4open.science/r/Foxit-CHiMDQA/.

cs.CL↗

arXiv2025

FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens

Learning effective visuomotor policies for robotic manipulation is challenging, as it requires generating precise actions while maintaining computational efficiency. Existing methods remain unsatisfactory due to inherent limitations in the essential action representation and the basic network architectures. We observe that representing actions in the frequency domain captures the structured nature of motion more effectively: low-frequency components reflect global movement patterns, while high-frequency components encode fine local details. Additionally, robotic manipulation tasks of varying complexity demand different levels of modeling precision across these frequency bands. Motivated by this, we propose a novel paradigm for visuomotor policy learning that progressively models hierarchical frequency components. To further enhance precision, we introduce continuous latent representations that maintain smoothness and continuity in the action space. Extensive experiments across diverse 2D and 3D robotic manipulation benchmarks demonstrate that our approach outperforms existing methods in both accuracy and efficiency, showcasing the potential of a frequency-domain autoregressive framework with continuous tokens for generalized robotic manipulation.Code is available at https://github.com/4DVLab/Freqpolicy

cs.RO↗

arXiv2025

A Survey: Learning Embodied Intelligence from Physical Simulators and World Models

The pursuit of artificial general intelligence (AGI) has placed embodied intelligence at the forefront of robotics research. Embodied intelligence focuses on agents capable of perceiving, reasoning, and acting within the physical world. Achieving robust embodied intelligence requires not only advanced perception and control, but also the ability to ground abstract cognition in real-world interactions. Two foundational technologies, physical simulators and world models, have emerged as critical enablers in this quest. Physical simulators provide controlled, high-fidelity environments for training and evaluating robotic agents, allowing safe and efficient development of complex behaviors. In contrast, world models empower robots with internal representations of their surroundings, enabling predictive planning and adaptive decision-making beyond direct sensory input. This survey systematically reviews recent advances in learning embodied AI through the integration of physical simulators and world models. We analyze their complementary roles in enhancing autonomy, adaptability, and generalization in intelligent robots, and discuss the interplay between external simulation and internal modeling in bridging the gap between simulated training and real-world deployment. By synthesizing current progress and identifying open challenges, this survey aims to provide a comprehensive perspective on the path toward more capable and generalizable embodied AI systems. We also maintain an active repository that contains up-to-date literature and open-source projects at https://github.com/NJU3DV-LoongGroup/Embodied-World-Models-Survey.

cs.RO↗