Yanyong Zhang
Yanyong Zhang — researcher or builder tracked in the Angestrom contributor network.
Papers · 4
RoMAN-Flow: Taming Autoregressive Normalizing Flows for Offline Reinforcement Learning in Robotic Manipulation
Offline reinforcement learning improves robotic policies using previously collected data without further environment interaction. Yet prevalent diffusion- and flow-matching robot policies lack tractable likelihoods, limiting their use in likelihood-based offline RL post-training. AR-NFs offer both expressive action modeling and exact likelihood evaluation, but their sequential sampling incurs substantial sampling overhead during policy optimization and deployment. We present RoMAN-Flow (Robotic Manipulation with Autoregressive Normalizing Flows), an offline reinforcement learning framework tha
ViCo3D: Empowering LiDAR-based Collaborative 3D Object Detection with Vision Foundation Models
LiDAR-based collaborative 3D perception in Vehicle-to-Everything (V2X) systems typically relies on fusing bird's-eye-view (BEV) features across agents. However, current BEV representations, typically extracted by LiDAR backbones trained from scratch, are geometry-dominated and lack general semantic priors, inherently limiting the efficacy of feature-level collaboration. Meanwhile, vision foundation models (VFMs) pretrained on large-scale image data have demonstrated strong capability in learning general-purpose and informative visual representations for 2D tasks, and have the potential to enha
CEDAR: Controlled and Event-Driven Demand Forecasting via Residual Decomposition
Forecasting in large-scale e-commerce marketplaces is increasingly required to support planning: merchants need to evaluate sales outcomes under future action sequences such as budget schedules, rather than passively predicting what happens next. However, most existing time series forecasting (TSF) approaches remain inherently passive. Even when incorporating operational decisions as auxiliary covariates, they typically optimize for correlation-based extrapolation under historical policies. This design suffers from autoregressive inertia and conflates endogenous market evolution with decision-
Is Your Model Thinking or Just Stagnating? PUMA: Diagnosing Reasoning Pathology via Phase-Momentum Alignment
Test-time scaling empowers Large Reasoning Models (LRMs) to tackle complex tasks via extensive Chain-of-Thought (CoT). However, this often induces the "overthinking" paradox, where redundant reasoning increases computational overhead without guaranteeing accuracy. Existing test-time efficiency optimization methods primarily fall into two categories: information-theoretic approaches, which are prone to "deceptive convergence" where low uncertainty masks hallucinations, and latent representation analyses, which are often post-hoc, lacking the real-time sensitivity for dynamic reasoning. To bridg