arXiv subjects

Yumeng Liu

Publications and source records attributed to Yumeng Liu.

32 records · Page 2Linked to original sources

arXiv2025

DexH2R: A Benchmark for Dynamic Dexterous Grasping in Human-to-Robot Handover

Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping strategies. However, progress in developing effective dynamic dexterous grasping methods is limited by the absence of high-quality, real-world human-to-robot handover datasets. Existing datasets primarily focus on grasping static objects or rely on synthesized handover motions, which differ significantly from real-world robot motion patterns, creating a substantial gap in applicability. In this paper, we introduce DexH2R, a comprehensive real-world dataset for human-to-robot handovers, built on a dexterous robotic hand. Our dataset captures a diverse range of interactive objects, dynamic motion patterns, rich visual sensor data, and detailed annotations. Additionally, to ensure natural and human-like dexterous motions, we utilize teleoperation for data collection, enabling the robot's movements to align with human behaviors and habits, which is a crucial characteristic for intelligent humanoid robots. Furthermore, we propose an effective solution, DynamicGrasp, for human-to-robot handover and evaluate various state-of-the-art approaches, including auto-regressive models and diffusion policy methods, providing a thorough comparison and analysis. We believe our benchmark will drive advancements in human-to-robot handover research by offering a high-quality dataset, effective solutions, and comprehensive evaluation metrics.

cs.RO↗

arXiv2025

DISC: Plug-and-Play Decoding Intervention with Similarity of Characters for Chinese Spelling Check

One key characteristic of the Chinese spelling check (CSC) task is that incorrect characters are usually similar to the correct ones in either phonetics or glyph. To accommodate this, previous works usually leverage confusion sets, which suffer from two problems, i.e., difficulty in determining which character pairs to include and lack of probabilities to distinguish items in the set. In this paper, we propose a light-weight plug-and-play DISC (i.e., decoding intervention with similarity of characters) module for CSC models.DISC measures phonetic and glyph similarities between characters and incorporates this similarity information only during the inference phase. This method can be easily integrated into various existing CSC models, such as ReaLiSe, SCOPE, and ReLM, without additional training costs. Experiments on three CSC benchmarks demonstrate that our proposed method significantly improves model performance, approaching and even surpassing the current state-of-the-art models.

cs.CL↗

arXiv2025

EasyHOI: Unleashing the Power of Large Models for Reconstructing Hand-Object Interactions in the Wild

Our work aims to reconstruct hand-object interactions from a single-view image, which is a fundamental but ill-posed task. Unlike methods that reconstruct from videos, multi-view images, or predefined 3D templates, single-view reconstruction faces significant challenges due to inherent ambiguities and occlusions. These challenges are further amplified by the diverse nature of hand poses and the vast variety of object shapes and sizes. Our key insight is that current foundational models for segmentation, inpainting, and 3D reconstruction robustly generalize to in-the-wild images, which could provide strong visual and geometric priors for reconstructing hand-object interactions. Specifically, given a single image, we first design a novel pipeline to estimate the underlying hand pose and object shape using off-the-shelf large models. Furthermore, with the initial reconstruction, we employ a prior-guided optimization scheme, which optimizes hand pose to comply with 3D physical constraints and the 2D input image content. We perform experiments across several datasets and show that our method consistently outperforms baselines and faithfully reconstructs a diverse set of hand-object interactions. Here is the link of our project page: https://lym29.github.io/EasyHOI-page/

cs.CV↗

arXiv2025

SEM-CLIP: Precise Few-Shot Learning for Nanoscale Defect Detection in Scanning Electron Microscope Image

In the field of integrated circuit manufacturing, the detection and classification of nanoscale wafer defects are critical for subsequent root cause analysis and yield enhancement. The complex background patterns observed in scanning electron microscope (SEM) images and the diverse textures of the defects pose significant challenges. Traditional methods usually suffer from insufficient data, labels, and poor transferability. In this paper, we propose a novel few-shot learning approach, SEM-CLIP, for accurate defect classification and segmentation. SEM-CLIP customizes the Contrastive Language-Image Pretraining (CLIP) model to better focus on defect areas and minimize background distractions, thereby enhancing segmentation accuracy. We employ text prompts enriched with domain knowledge as prior information to assist in precise analysis. Additionally, our approach incorporates feature engineering with textual guidance to categorize defects more effectively. SEM-CLIP requires little annotated data, substantially reducing labor demands in the semiconductor industry. Extensive experimental validation demonstrates that our model achieves impressive classification and segmentation results under few-shot learning scenarios.

cs.CV↗

arXiv2024

Creating a Cooperative AI Policymaking Platform through Open Source Collaboration

Advances in artificial intelligence (AI) present significant risks and opportunities, requiring improved governance to mitigate societal harms and promote equitable benefits. Current incentive structures and regulatory delays may hinder responsible AI development and deployment, particularly in light of the transformative potential of large language models (LLMs). To address these challenges, we propose developing the following three contributions: (1) a large multimodal text and economic-timeseries foundation model that integrates economic and natural language policy data for enhanced forecasting and decision-making, (2) algorithmic mechanisms for eliciting diverse and representative perspectives, enabling the creation of data-driven public policy recommendations, and (3) an AI-driven web platform for supporting transparent, inclusive, and data-driven policymaking.

cs.CY↗

arXiv2024

RealDex: Towards Human-like Grasping for Robotic Dexterous Hand

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world scenarios. Moreover, we introduce a cutting-edge dexterous grasping motion generation framework, which aligns with human experience and enhances real-world applicability through effectively utilizing Multimodal Large Language Models. Extensive experiments have demonstrated the superior performance of our method on RealDex and other open datasets. The complete dataset and code will be made available upon the publication of this work.

cs.RO↗

arXiv2024

Defects in graphite engineered by ion implantation for the self-assembly of gold nanoparticles

Defect engineering in two-dimensional (2D) materials is essential for advancing applications such as gas sensing, single-atom catalysis, and guided nanoparticle self-assembly, enabling the creation of materials with tailored functionalities. This study investigates ion implantation effects on highly ordered pyrolytic graphite (HOPG) surfaces, using scanning tunneling microscopy (STM) and density functional theory (DFT) simulations to identify distinct defect structures. High-energy heavy ions cause inelastic scattering, increasing surface damage, while gold atoms deposited onto defect sites preferentially form atomic clusters. Through focused ion beam techniques, spatially distributed defects were engineered, guiding the self-assembly of nanoparticles. This research highlights the precision of ion irradiation for modifying HOPG surfaces, with significant implications for catalysis, nanotechnology, and the development of functional materials with controlled nanoscale properties.

cond-mat.mtrl-sci↗

arXiv2024

Reproducible Monolayer MoS2 Devices Free of Resist Contamination by Gold Mask Lithography

Atomically thin MoS2 is a promising material for field-effect transistors (FETs) and electronic devices. However, traditional photolithographic processes introduce surface contamination to 2D materials, leading to poor electrical contacts when metals are deposited. In this work, we present a novel fabrication method using gold as a mask for patterning and etching, which protects 2D materials from contamination in the metal contact region. This technique enabled the fabrication of monolayer MoS2 transistors with clean gold contacts. Additionally, we achieved MoS2 devices with Ohmic contacts, mass-produced traditional lithography and gold mask lithography devices (100 of each), with the latter having a much higher current statistical variance than the former, which demonstrated the effectiveness of this method for contamination-free 2D transistors and potential applications in integrated circuits

cond-mat.mtrl-sci↗

arXiv2024

GaAs doped by self-assembled molecular monolayers

Self-assembled molecular monolayer doping remains as a research focus for its nature of being conformal, nondestructive, and self-limiting. Herein, we demonstrate a sulfur monolayer doping in GaAs, facilitated by (NH4)2Sx solution. The Van der Pauw technique, secondary-ion mass spectroscopy, and low-temperature Hall effect measurements show that the sulfur dopants concentration and electron activation rate are 4*10^20 cm-3 and 77.6%, respectively. The donor energy level of sulfur-doped GaAs is located 68 meV below the conduction band. Based on this process, a p-n junction was successfully fabricated on highly doped p-type GaAs substrate.

cond-mat.mtrl-sci↗

arXiv2024

High Performance MoS2 Phototransistors Photogated by PN Junction

Photodetectors based on two-dimensional (2D) atomically thin semiconductors suffer from low light absorption, limiting their potential for practical applications. In this work, we demonstrate a high-performance MoS2 phototransistors by integrating few-layer MoS2 on a PN junction formed in a silicon (Si) substrate. The photovoltage created in the PN junction under light illumination electrically gates the MoS2 channel, creating a strong photoresponse in MoS2. We present an analytical model for the photoresponse of our device and show that it is in good agreement with measured experimental photocurrent in MoS2 and photovoltage in the Si PN junction. This device structure separates light absorption and electrical response functions, which provides us an opportunity to design new types of photodetectors. For example, incorporating ferroelectric materials into the gate structure can produce a negative capacitance that boosts gate voltage, enabling low power, high sensitivity phototransistor; this, combined with separating light absorption and electrical functions, enables advanced high-performance photodetectors.

cond-mat.mes-hall↗

arXiv2024

Analytical photoresponses of Schottky contact MoS2 phototransistors

High-gain photodetectors based on two-dimensional (2D) semiconductors, in particular those in photoconductive mode, have been extensively investigated in the past decade. However, the classical photoconductive theory was derived on two misplaced assumptions. In this work, we established an explicit analytical device model for Schottky contact MoS2 phototransistors that fits well with experimental data. From the fitting results, we found that the Richardson constant of the MoS2 Schottky contact is temperature dependent, indicating that the Schottky contacts for the 2D material is best described by the mixed thermionic emission and diffusion model. Based on this device model, we further established an analytical photoresponse for the few-layer MoS2 phototransistors, from which we found the voltage distribution on the two Schottky contacts and the channel, and extracted the minority carrier recombination lifetimes. The lifetimes are comparable with the values found from transient photoluminescence measurements, which therefore validates our analytical photoresponses for Schottky contact 2D semiconducting phototransistors.

cond-mat.mes-hall↗

arXiv2023

Improving Seq2Seq Grammatical Error Correction via Decoding Interventions

The sequence-to-sequence (Seq2Seq) approach has recently been widely used in grammatical error correction (GEC) and shows promising performance. However, the Seq2Seq GEC approach still suffers from two issues. First, a Seq2Seq GEC model can only be trained on parallel data, which, in GEC task, is often noisy and limited in quantity. Second, the decoder of a Seq2Seq GEC model lacks an explicit awareness of the correctness of the token being generated. In this paper, we propose a unified decoding intervention framework that employs an external critic to assess the appropriateness of the token to be generated incrementally, and then dynamically influence the choice of the next token. We discover and investigate two types of critics: a pre-trained left-to-right language model critic and an incremental target-side grammatical error detector critic. Through extensive experiments on English and Chinese datasets, our framework consistently outperforms strong baselines and achieves results competitive with state-of-the-art methods.

cs.CL↗

arXiv2022

Preparing for Performance Analysis at Exascale

Performance tools for emerging heterogeneous exascale platforms must address two principal challenges when analyzing execution measurements. First, measurement of large-scale executions may record mountains of performance data. Second, performance measurements for parallel programs are sparse in two ways: the set of metrics present for any context and the set of contexts present in different threads. For GPU-accelerated applications, an important source of sparsity is that none of the myriad of GPU metrics apply to any of the many CPU contexts. To address these challenges, we developed a novel streaming aggregation approach to postmortem analysis that employs both shared and distributed memory parallelism to aggregate sparse performance measurements from every rank, thread, and GPU stream of an application, and attributes heterogeneous call path profiles and traces to source code. Using the same amount of resources, our approach analyzes large-scale performance measurements of GPU-accelerated applications over an order of magnitude faster than HPCToolkit and its sparse analysis results are as much as three orders of magnitude smaller than HPCToolkit's dense representation of metrics.

cs.DC↗

arXiv2021

Measurement and Analysis of GPU-accelerated Applications with HPCToolkit

To address the challenge of performance analysis on the US DOE's forthcoming exascale supercomputers, Rice University has been extending its HPCToolkit performance tools to support measurement and analysis of GPU-accelerated applications. To help developers understand the performance of accelerated applications as a whole, HPCToolkit's measurement and analysis tools attribute metrics to calling contexts that span both CPUs and GPUs. To measure GPU-accelerated applications efficiently, HPCToolkit employs a novel wait-free data structure to coordinate monitoring and attribution of GPU performance. To help developers understand the performance of complex GPU code generated from high-level programming models, HPCToolkit constructs sophisticated approximations of call path profiles for GPU computations. To support fine-grained analysis and tuning, HPCToolkit uses PC sampling and instrumentation to measure and attribute GPU performance metrics to source lines, loops, and inlined code. To supplement fine-grained measurements, HPCToolkit can measure GPU kernel executions using hardware performance counters. To provide a view of how an execution evolves over time, HPCToolkit can collect, analyze, and visualize call path traces within and across nodes. Finally, on NVIDIA GPUs, HPCToolkit can derive and attribute a collection of useful performance metrics based on measurements using GPU PC samples. We illustrate HPCToolkit's new capabilities for analyzing GPU-accelerated applications with several codes developed as part of the Exascale Computing Project.

cs.DC↗