Yutong Hu

Yutong Hu, Jinhui Chen, Chaoqiang Xu et al.

Cross-modal Geo-localization (CMGL) matches ground-level text descriptions with geo-tagged aerial imagery, which is crucial for pedestrian navigation and emergency response. However, existing studies are constrained by narrow geographic coverage and simplistic scene diversity, failing to reflect the immense spatial heterogeneity of global architectural styles and topographic features. To bridge this gap and facilitate universal positioning, we introduce CORE, the first million-scale dataset dedicated to global CMGL. CORE comprises 1,034,786 cross-view images sampled from 225 distinct geographic regions across six continents, offering an unprecedented variety of perspectives in varying environmental conditions and urban layouts. We leverage the zero-shot reasoning of Large Vision-Language Models (LVLMs) to synthesize high-quality scene descriptions rich in discriminative cues. Furthermore, we propose a physical-law-aware network (PLANET) for cross-modal geo-localization. PLANET introduces a novel contrastive learning paradigm to guide textual representations in capturing the intrinsic physical signatures of satellite imagery. Extensive experiments across varied geographic regions demonstrate that PLANET significantly outperforms state-of-the-art methods, establishing a new benchmark for robust, global-scale geo-localization. The dataset and source code will be released at https://github.com/YtH0823/CORE.

Yutong Hu, Yang Tan, Andi Han et al.

The advent of deep learning has introduced efficient approaches for de novo protein sequence design, significantly improving success rates and reducing development costs compared to computational or experimental methods. However, existing methods face challenges in generating proteins with diverse lengths and shapes while maintaining key structural features. To address these challenges, we introduce CPDiffusion-SS, a latent graph diffusion model that generates protein sequences based on coarse-grained secondary structural information. CPDiffusion-SS offers greater flexibility in producing a variety of novel amino acid sequences while preserving overall structural constraints, thus enhancing the reliability and diversity of generated proteins. Experimental analyses demonstrate the significant superiority of the proposed method in producing diverse and novel sequences, with CPDiffusion-SS surpassing popular baseline methods on open benchmarks across various quantitative measurements. Furthermore, we provide a series of case studies to highlight the biological significance of the generation performance by the proposed method. The source code is publicly available at https://github.com/riacd/CPDiffusion-SS

Yurui Du, Pinhao Song, Yutong Hu et al.

A central challenge of visual control with model-based reinforcement learning (RL) is reliable long-horizon planning: long rollouts with learned latent dynamics exhibit branching futures and multi-modal action-value distributions. In addition, compounding model errors amplified by visual occlusions make deep imagination brittle. We present ELVIS, a latent model predictive controller (MPC) designed to make long-horizon planning practical. ELVIS plans in a Dreamer-style recurrent state space model (RSSM) and replaces standard unimodal model predictive path integral (MPPI) with a Gaussian-mixture MPPI that maintains multiple coherent hypotheses over long horizons, avoiding mode averaging under branching rollouts. In parallel, ELVIS stabilizes deep imagination with a shared uncertainty-aware lambda-return: an ensemble of latent critics defines an upper-confidence-bound (UCB) score that gates a time-varying lambda, adaptively trading off bootstrapping versus look-ahead to limit compounding error during planning. The same return is used both to train an actor-critic prior from imagined rollouts and to score candidate trajectories inside GMM-MPPI, aligning RL objectives with the planner's long-horizon optimization. On fourteen DeepMind Control Suite visual tasks, ELVIS establishes state-of-the-art performance compared with TD-MPC2 and DreamerV3. Finally, ELVIS transfers zero-shot to a real-world sand-spraying task with severe occlusions, improving surface-quality metrics and demonstrating robustness beyond simulation.

Yutong Hu, Jan-Nico Zaech, Nikolay Nikolov et al.

We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In contrast to existing Vision-Language-Action (VLA) models and diffusion policies that reset temporal context with each new observation and predict actions reactively, our Action Expert maintains its own history through a long-lived memory and is inherently context-aware. This structure addresses the frequency mismatch between fast control and slow reasoning, enabling efficient independent pretraining of kinematic syntax and modular integration with heavy perception backbones, naturally ensuring spatio-temporally consistent action generation across frames. To synchronize these asynchronous hybrid V-L-A modalities, we utilize a re-anchoring mechanism that mathematically accounts for perception staleness during both training and inference. Experiments on simulated and real-robot manipulation tasks demonstrate that the proposed method can effectively replace traditional chunk-based action heads for both specialist and generalist policies. AR-VLA exhibits superior history awareness and substantially smoother action trajectories while maintaining or exceeding the task success rates of state-of-the-art reactive VLAs. Overall, our work introduces a scalable, context-aware action generation schema that provides a robust structural foundation for training effective robotic policies.

Yutong Hu, Quzhe Huang, Yansong Feng · pku

Event Temporal Relation Extraction (ETRE) aims to identify the temporal relationship between two events, which plays an important role in natural language understanding. Most previous works follow a single-label classification style, classifying an event pair into either a specific temporal relation (e.g., \textit{Before}, \textit{After}), or a special label \textit{Vague} when there may be multiple possible temporal relations between the pair. In our work, instead of directly making predictions on \textit{Vague}, we propose a multi-label classification solution for ETRE (METRE) to infer the possibility of each temporal relation independently, where we treat \textit{Vague} as the cases when there is more than one possible relation between two events. We design a speculation mechanism to explore the possible relations hidden behind \textit{Vague}, which enables the latent information to be used efficiently. Experiments on TB-Dense, MATRES and UDS-T show that our method can effectively utilize the \textit{Vague} instances to improve the recognition for specific temporal relations and outperforms most state-of-the-art methods.

Yutong Hu, Kehan Wen, Fisher Yu

Learning dexterous locomotion policy for legged robots is becoming increasingly popular due to its ability to handle diverse terrains and resemble intelligent behaviors. However, joint manipulation of moving objects and locomotion with legs, such as playing soccer, receive scant attention in the learning community, although it is natural for humans and smart animals. A key challenge to solve this multitask problem is to infer the objectives of locomotion from the states and targets of the manipulated objects. The implicit relation between the object states and robot locomotion can be hard to capture directly from the training experience. We propose adding a feedback control block to compute the necessary body-level movement accurately and using the outputs as dynamic joint-level locomotion supervision explicitly. We further utilize an improved ball dynamic model, an extended context-aided estimator, and a comprehensive ball observer to facilitate transferring policy learned in simulation to the real world. We observe that our learning scheme can not only make the policy network converge faster but also enable soccer robots to perform sophisticated maneuvers like sharp cuts and turns on flat surfaces, a capability that was lacking in previous methods. Video and code are available at https://github.com/SysCV/soccer-player

Yutong Hu, Kangcheng Luo, Yansong Feng

Despite remarkable performance in legal consultation exhibited by legal Large Language Models(LLMs) combined with legal article retrieval components, there are still cases when the advice given is incorrect or baseless. To alleviate these problems, we propose {\bf ELLA}, a tool for {\bf E}mpowering {\bf L}LMs for interpretable, accurate, and informative {\bf L}egal {\bf A}dvice. ELLA visually presents the correlation between legal articles and LLM's response by calculating their similarities, providing users with an intuitive legal basis for the responses. Besides, based on the users' queries, ELLA retrieves relevant legal articles and displays them to users. Users can interactively select legal articles for LLM to generate more accurate responses. ELLA also retrieves relevant legal cases for user reference. Our user study shows that presenting the legal basis for the response helps users understand better. The accuracy of LLM's responses also improves when users intervene in selecting legal articles for LLM. Providing relevant legal cases also aids individuals in obtaining comprehensive information.

Yutong Hu, Pinhao Song, Kehan Wen et al.

We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from a previously underexplored distinction between action diffusion and the image diffusion techniques that inspired it: In image generation, the target is high-dimensional. By contrast, in action generation, the dimensionality of the target is comparatively small, and only the image condition is high-dimensional. Our approach, \emph{Mini Diffuser}, exploits this asymmetry by introducing \emph{two-level minibatching}, which pairs multiple noised action samples with each vision-language condition, instead of the conventional one-to-one sampling strategy. To support this batching scheme, we introduce architectural adaptations to the diffusion transformer that prevent information leakage across samples while maintaining full conditioning access. In RLBench simulations, Mini-Diffuser achieves 95\% of the performance of state-of-the-art multi-task diffusion policies, while using only 5\% of the training time and 7\% of the memory. Real-world experiments further validate that Mini-Diffuser preserves the key strengths of diffusion-based policies, including the ability to model multimodal action distributions and produce behavior conditioned on diverse perceptual inputs. Code available at mini-diffuse-actor.github.io

Kehan Wen, Yutong Hu, Yao Mu et al.

Recent work in Offline Reinforcement Learning (RL) has shown that a unified Transformer trained under a masked auto-encoding objective can effectively capture the relationships between different modalities (e.g., states, actions, rewards) within given trajectory datasets. However, this information has not been fully exploited during the inference phase, where the agent needs to generate an optimal policy instead of just reconstructing masked components from unmasked ones. Given that a pretrained trajectory model can act as both a Policy Model and a World Model with appropriate mask patterns, we propose using Model Predictive Control (MPC) at test time to leverage the model's own predictive capability to guide its action selection. Empirical results on D4RL and RoboMimic show that our inference-phase MPC significantly improves the decision-making performance of a pretrained trajectory model without any additional parameter training. Furthermore, our framework can be adapted to Offline to Online (O2O) RL and Goal Reaching RL, resulting in more substantial performance gains when an additional online interaction budget is provided, and better generalization capabilities when different task targets are specified. Code is available: https://github.com/wkh923/m3pc.

Quzhe Huang, Yutong Hu, Shengqi Zhu et al.

Event temporal relation extraction~(ETRE) is usually formulated as a multi-label classification task, where each type of relation is simply treated as a one-hot label. This formulation ignores the meaning of relations and wipes out their intrinsic dependency. After examining the relation definitions in various ETRE tasks, we observe that all relations can be interpreted using the start and end time points of events. For example, relation \textit{Includes} could be interpreted as event 1 starting no later than event 2 and ending no earlier than event 2. In this paper, we propose a unified event temporal relation extraction framework, which transforms temporal relations into logical expressions of time points and completes the ETRE by predicting the relations between certain time point pairs. Experiments on TB-Dense and MATRES show significant improvements over a strong baseline and outperform the state-of-the-art model by 0.3\% on both datasets. By representing all relations in a unified framework, we can leverage the relations with sufficient data to assist the learning of other relations, thus achieving stable improvement in low-data scenarios. When the relation definitions are changed, our method can quickly adapt to the new ones by simply modifying the logic expressions that map time points to new event relations. The code is released at \url{https://github.com/AndrewZhe/A-Unified-Framework-for-ETRE}.

Ziwei Liao, Yutong Hu, Jiadong Zhang et al.

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face challenges such as partial observations, occlusions, unobservable problems, limiting the mapping accuracy and robustness. This paper proposes a novel monocular Semantic Object SLAM (SO-SLAM) system that addresses the introduction of object spatial constraints. We explore three representative spatial constraints, including scale proportional constraint, symmetrical texture constraint and plane supporting constraint. Based on these semantic constraints, we propose two new methods - a more robust object initialization method and an orientation fine optimization method. We have verified the performance of the algorithm on the public datasets and an author-recorded mobile robot dataset and achieved a significant improvement on mapping effects. We will release the code here: https://github.com/XunshanMan/SoSLAM.

Pinhao Song, Yutong Hu, Pengteng Li et al.

We propose a new volumetric grasp model that is equivariant to rotations around the vertical axis, leading to a significant improvement in sample efficiency. Our model employs a tri-plane volumetric feature representation -- i.e., the projection of 3D features onto three canonical planes. We introduce a novel tri-plane feature design in which features on the horizontal plane are equivariant to 90° rotations, while the sum of features from the other two planes remains invariant to the same transformations. This design is enabled by a new deformable steerable convolution, which combines the adaptability of deformable convolutions with the rotational equivariance of steerable ones. This allows the receptive field to adapt to local object geometry while preserving equivariance properties. We further develop equivariant adaptations of two state-of-the-art volumetric grasp planners, GIGA and IGD. Specifically, we derive a new equivariant formulation of IGD's deformable attention mechanism and propose an equivariant generative model of grasp orientations based on flow matching. We provide a detailed analytical justification of the proposed equivariance properties and validate our approach through extensive simulated and real-world experiments. Our results demonstrate that the proposed projection-based design significantly reduces both computational and memory costs. Moreover, the equivariant grasp models built on top of our tri-plane features consistently outperform their non-equivariant counterparts, achieving higher performance with only a modest computational overhead. Video and code can be viewed in: https://mousecpn.github.io/evg-page/

Boning Zhao, Xinnuo Li, Yutong Hu

Assessing student depression in sensitive environments like special education is challenging. Standardized questionnaires may not fully reflect students' true situations. Furthermore, automated methods often falter with rich student narratives, lacking the crucial, individualized insights stemming from teachers' empathetic connections with students. Existing methods often fail to address this ambiguity or effectively integrate educator understanding. To address these limitations by fostering a synergistic human-AI collaboration, this paper introduces Human Empathy as Encoder (HEAE), a novel, human-centered AI framework for transparent and socially responsible depression severity assessment. Our approach uniquely integrates student narrative text with a teacher-derived, 9-dimensional "Empathy Vector" (EV), its dimensions guided by the PHQ-9 framework,to explicitly translate tacit empathetic insight into a structured AI input enhancing rather than replacing human judgment. Rigorous experiments optimized the multimodal fusion, text representation, and classification architecture, achieving 82.74% accuracy for 7-level severity classification. This work demonstrates a path toward more responsible and ethical affective computing by structurally embedding human empathy

Yutong Hu, Quzhe Huang, Kangcheng Luo et al.

As the context length that large language models can handle continues to increase, these models demonstrate an enhanced ability to utilize distant information for tasks such as language modeling. This capability contrasts with human reading and writing habits, where it is uncommon to remember and use particularly distant information, except in cases of foreshadowing. In this paper, we aim to explore which kinds of words benefit more from long contexts in language models. By analyzing the changes in token probabilities with increasing context length, we find that content words (e.g., nouns, adjectives) and the initial tokens of words benefit the most. Frequent patterns in the context (N-grams) also significantly impact predictions. Additionally, the model's prior knowledge plays a crucial role in influencing predictions, especially for rare tokens. We also observe that language models become more confident with longer contexts, resulting in sharper probability distributions. This overconfidence may contribute to the increasing probabilities of tokens with distant contextual information. We hope that our analysis will help the community better understand long-text language modeling and contribute to the design of more reliable long-context models.

Yutong Hu, Quzhe Huang, Mingxu Tao et al.

Recent studies have shown that Large Language Models (LLMs) have the potential to process extremely long text. Many works only evaluate LLMs' long-text processing ability on the language modeling task, with perplexity (PPL) as the evaluation metric. However, in our study, we find that there is no correlation between PPL and LLMs' long-text understanding ability. Besides, PPL may only reflect the model's ability to model local information instead of catching long-range dependency. Therefore, only using PPL to prove the model could process long text is inappropriate. The local focus feature of PPL could also explain some existing phenomena, such as the great extrapolation ability of the position method ALiBi. When evaluating a model's ability in long text, we might pay more attention to PPL's limitation and avoid overly relying on it.