Ruiying Li

Ruiying Li, Yunlang Zhou, YuYao Zhu et al.

Vision-Language-Action (VLA) systems have shown strong potential for language-driven robotic manipulation. However, scaling them to long-horizon tasks remains challenging. Existing pipelines typically separate data collection, policy learning, and deployment, resulting in heavy reliance on manual environment resets and brittle multi-policy execution. We present RoboClaw, an agentic robotics framework that unifies data collection, policy learning, and task execution under a single VLM-driven controller. At the policy level, RoboClaw introduces Entangled Action Pairs (EAP), which couple forward manipulation behaviors with inverse recovery actions to form self-resetting loops for autonomous data collection. This mechanism enables continuous on-policy data acquisition and iterative policy refinement with minimal human intervention. During deployment, the same agent performs high-level reasoning and dynamically orchestrates learned policy primitives to accomplish long-horizon tasks. By maintaining consistent contextual semantics across collection and execution, RoboClaw reduces mismatch between the two phases and improves multi-policy robustness. Experiments in real-world manipulation tasks demonstrate improved stability and scalability compared to conventional open-loop pipelines, while significantly reducing human effort throughout the robot lifecycle, achieving a 25% improvement in success rate over baseline methods on long-horizon tasks and reducing human time investment by 53.7%.

Ruiying Li, Bin Pan, Lan Ma et al.

Multitemporal hyperspectral unmixing can capture dynamical evolution of materials. Despite its capability, current methods emphasize variability of endmembers while neglecting dynamics of abundances, which motivates our adoption of neural ordinary differential equations to model abundances temporally. However, this motivation is hindered by two challenges: the inherent complexity in defining, modeling and solving problem, and the absence of theoretical support. To address above challenges, in this paper, we propose a multitemporal latent dynamical (MiLD) unmixing framework by capturing dynamical evolution of materials with theoretical validation. For addressing multitemporal hyperspectral unmixing, MiLD consists of problem definition, mathematical modeling, solution algorithm and theoretical support. We formulate multitemporal unmixing problem definition by conducting ordinary differential equations and developing latent variables. We transfer multitemporal unmixing to mathematical model by dynamical discretization approaches, which describe the discreteness of observed sequence images with mathematical expansions. We propose algorithm to solve problem and capture dynamics of materials, which approximates abundance evolution by neural networks. Furthermore, we provide theoretical support by validating the crucial properties, which verifies consistency, convergence and stability theorems. The major contributions of MiLD include defining problem by ordinary differential equations, modeling problem by dynamical discretization approach, solving problem by multitemporal unmixing algorithm, and presenting theoretical support. Our experiments on both synthetic and real datasets have validated the utility of our work

Ruiying Li, Bin Pan, Qiaoying Qu et al.

Multitemporal hyperspectral unmixing (MTHU) aims to model variable endmembers and dynamical abundances, which emphasizes the critical temporal information. However, existing methods have limitations in modeling temporal dependency, thus fail to capture the dynamical material evolution. Motivated by the ability of copula theory in modeling dependency structure explicitly, in this paper, we propose a copula-guided temporal dependency method (Cog-TD) for multitemporal hyperspectral unmixing. Cog-TD defines new mathematical model, constructs copula-guided framework and provides two key modules with theoretical support. The mathematical model provides explicit formulations for MTHU problem definition, which describes temporal dependency structure by incorporating copula theory. The copula-guided framework is constructed for utilizing copula function, which estimates dynamical endmembers and abundances with temporal dependency. The key modules consist of copula function estimation and temporal dependency guidance, which computes and employs temporal information to guide unmixing process. Moreover, the theoretical support demonstrates that estimated copula function is valid and the represented temporal dependency exists in hyperspectral images. The major contributions of this paper include redefining MTHU problem with temporal dependency, proposing a copula-guided framework, developing two key modules and providing theoretical support. Our experimental results on both synthetic and real-world datasets demonstrate the utility of the proposed method.

Ruiying Li, Bin Pan, Qiaoying Qu et al.

The performance of hyperspectral unmixing may be constrained by low spatial resolution, which can be enhanced using super-resolution in a multitask learning way. However, integrating super-resolution and unmixing directly may suffer two challenges: Task affinity is not verified, and the convergence of unmixing is not guaranteed. To address the above issues, in this paper, we provide theoretical analysis and propose super-resolution guided multi-task learning method for hyperspectral unmixing (SMILE). The provided theoretical analysis validates feasibility of multitask learning way and verifies task affinity, which consists of relationship and existence theorems by proving the positive guidance of super-resolution. The proposed framework generalizes positive information from super-resolution to unmixing by learning both shared and specific representations. Moreover, to guarantee the convergence, we provide the accessibility theorem by proving the optimal solution of unmixing. The major contributions of SMILE include providing progressive theoretical support, and designing a new framework for unmixing under the guidance of super-resolution. Our experiments on both synthetic and real datasets have substantiate the usefulness of our work.