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Chenyang Xu

Chenyang Xu appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

ResearcherUnclaimed source record
math.AGmath.DGComputer VisionArtificial IntelligenceComputer Science and Game Theorymath.ACRobotics

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Published work

28 published item(s)

preprint2026arXiv

AH-GS: Augmented 3D Gaussian Splatting for High-Frequency Detail Representation

The 3D Gaussian Splatting (3D-GS) is a novel method for scene representation and view synthesis. Although Scaffold-GS achieves higher quality real-time rendering compared to the original 3D-GS, its fine-grained rendering of the scene is extremely dependent on adequate viewing angles. The spectral bias of neural network learning results in Scaffold-GS's poor ability to perceive and learn high-frequency information in the scene. In this work, we propose enhancing the manifold complexity of input features and using network-based feature map loss to improve the image reconstruction quality of 3D-GS models. We introduce AH-GS, which enables 3D Gaussians in structurally complex regions to obtain higher-frequency encodings, allowing the model to more effectively learn the high-frequency information of the scene. Additionally, we incorporate high-frequency reinforce loss to further enhance the model's ability to capture detailed frequency information. Our result demonstrates that our model significantly improves rendering fidelity, and in specific scenarios (e.g., MipNeRf360-garden), our method exceeds the rendering quality of Scaffold-GS in just 15K iterations.

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preprint2026arXiv

Robot Learning from Human Videos: A Survey

A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing attention in recent years, driven by the abundance of human activity videos and advances in computer vision. This line of research promises to enable robots to acquire skills passively from the vast and readily available resource of human demonstrations, substantially favoring scalable learning for generalist robotic systems. Therefore, we present this survey to provide a comprehensive and up-to-date review of human-video-based learning techniques in robotics, focusing on both human-robot skill transfer and data foundations. We first review the policy learning foundations in robotics, and then describe the fundamental interfaces to incorporate human videos. Subsequently, we introduce a hierarchical taxonomy of transferring human videos to robot skills, covering task-, observation-, and action-oriented pathways, along with a cross-family analysis of their couplings with different data configurations and learning paradigms. In addition, we investigate the data foundations including widely-used human video datasets and video generation schemes, and provide large-scale statistical trends in dataset development and utilization. Ultimately, we emphasize the challenges and limitations intrinsic to this field, and delineate potential avenues for future research. The paper list of our survey is available at https://github.com/IRMVLab/awesome-robot-learning-from-human-videos.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Mechanism Design with Predictions

Improving algorithms via predictions is a very active research topic in recent years. This paper initiates the systematic study of mechanism design in this model. In a number of well-studied mechanism design settings, we make use of imperfect predictions to design mechanisms that perform much better than traditional mechanisms if the predictions are accurate (consistency), while always retaining worst-case guarantees even with very imprecise predictions (robustness). Furthermore, we refer to the largest prediction error sufficient to give a good performance as the error tolerance of a mechanism, and observe that an intrinsic tradeoff among consistency, robustness and error tolerance is common for mechanism design with predictions.

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preprint2022arXiv

Finite generation for valuations computing stability thresholds and applications to K-stability

We prove that on any log Fano pair of dimension $n$ whose stability threshold is less than $\frac{n+1}{n}$, any valuation computing the stability threshold has a finitely generated associated graded ring. Together with earlier works, this implies: (a) a log Fano pair is uniformly K-stable (resp. reduced uniformly K-stable) if and only if it is K-stable (resp. K-polystable); (b) the K-moduli spaces are proper and projective; and combining with the previously known equivalence between the existence of Kähler-Einstein metric and reduced uniform K-stability proved by the variational approach, (c) the Yau-Tian-Donaldson conjecture holds for general (possibly singular) log Fano pairs.

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preprint2021arXiv

Algebraicity of the Metric Tangent Cones and Equivariant K-stability

We prove two new results on the K-polystability of Q-Fano varieties based on purely algebro-geometric arguments. The first one says that any K-semistable log Fano cone has a special degeneration to a uniquely determined K-polystable log Fano cone. As a corollary, we combine it with the differential-geometric results to complete the proof of Donaldson-Sun's Conjecture which says that the metric tangent cone of any close point appearing on a Gromov-Hausdorff limit of Kahler-Einstein Fano manifolds only depends on the algebraic structure of the singularity. The second result says that for any log Fano variety with a torus action, the K-polystability is equivalent to the equivariant K-polystability, that is, to check K-polystability, it is sufficient to check special test configurations which are equivariant under the torus action.

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preprint2020arXiv

On positivity of the CM line bundle on K-moduli spaces

In this paper, we consider the CM line bundle on the K-moduli space, i.e., the moduli space parametrizing K-polystable Fano varieties. We prove it is ample on any proper subspace parametrizing reduced uniformly K-stable Fano varieties which conjecturally should be the entire moduli space. As a corollary, we prove that the moduli space parametrizing smoothable K-polystable Fano varieties is projective. During the course of proof, we develop a new invariant for filtrations which can be used to test various K-stability notions of Fano varieties.

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preprint2020arXiv

Uniqueness of the minimizer of the normalized volume function

We confirm a conjecture of Chi Li which says that the minimizer of the normalized volume function for a klt singularity is unique up to rescaling. This is achieved by defining stability thresholds for valuations, and then showing that a valuation is a minimizer if and only if it is K-semistable, and that K-semistable valuation is unique up to rescaling. As applications, we prove a finite degree formula for volumes of klt singularities and an effective bound of the local fundamental group of a klt singularity.

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preprint2016arXiv

The essential skeleton of a degeneration of algebraic varieties

In this paper, we explore the connections between the Minimal Model Program and the theory of Berkovich spaces. Let $k$ be a field of characteristic zero and let $X$ be a smooth and proper $k((t))$-variety with semi-ample canonical divisor. We prove that the essential skeleton of $X$ coincides with the skeleton of any minimal $dlt$-model and that it is a strong deformation retract of the Berkovich analytification of $X$. As an application, we show that the essential skeleton of a Calabi-Yau variety over $k((t))$ is a pseudo-manifold.

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preprint2015arXiv

Poles of maximal order of motivic zeta functions

We prove a 1999 conjecture of Veys, which says that the opposite of the log canonical threshold is the only possible pole of maximal order of Denef and Loeser's motivic zeta function associated with a germ of a regular function on a smooth variety over a field of characteristic zero. We apply similar methods to study the weight function on the Berkovich skeleton associated with a degeneration of Calabi-Yau varieties. Our results suggest that the weight function induces a flow on the non-archimedean analytification of the degeneration towards the Kontsevich-Soibelman skeleton.

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preprint2015arXiv

Quasi-projectivity of the moduli space of smooth Kahler-Einstein Fano manifolds

In this note, we prove that there is a canonical continuous Hermitian metric on the CM line bundle over the proper moduli space $\bar{\mathcal{M}}$ of smoothable Kahler-Einstein Fano varieties. The curvature of this metric is the Weil-Petersson current, which exists as a positive (1,1)-current on $\bar{\mathcal{M}}$ and extends the canonical Weil-Petersson current on the moduli space parametrizing smooth Kahler-Einstein Fano manifolds $\mathcal{M}$. As a consequence, we show that the CM line bundle is nef and big on $\bar{\mathcal{M}}$ and its restriction on $\mathcal{M}$ is ample.

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preprint2015arXiv

Semi-stable extensions over 1-dimensional bases

Given a family of Calabi-Yau varieties over the punctured disc or over the field of Laurent series, we show that, after a finite base change, the family can be exended across the origin while keeping the canonical class trivial. More generally, we prove similar extension results for families whose log-canonical class is semi-ample. We use these to show that the Berkovich and essential skeleta agree for smooth varieties over ${\mathbb C}((t))$ with semi-ample canonical class.

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preprint2015arXiv

The dual complex of Calabi--Yau pairs

A log Calabi--Yau pair consists of a proper variety $X$ and a divisor $D$ on it such that $K_X+D$ is numerically trivial. A folklore conjecture predicts that the dual complex of $D$ is homeomorphic to the quotient of a sphere by a finite group. The main result of the paper shows that the fundamental group of the dual complex of $D$ is a quotient of the fundamental group of the smooth locus of $X$, hence its pro-finite completion is finite. This leads to a positive answer in dimension $\leq 4$. We also study the dual complex of degenerations of Calabi--Yau varieties. The key technical result we prove is that, after a volume preserving birational equivalence, the transform of $D$ supports an ample divisor.

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preprint2014arXiv

On base point freeness in positive characteristic

We prove that if $(X,A+B)$ is a pair defined over an algebraically closed field of positive characteristic such that $(X,B)$ is strongly $F$-regular, $A$ is ample and $K_X+A+B$ is strictly nef, then $K_X+A+B$ is ample. Similarly, we prove that for a log pair $(X,A+B)$ with $A$ being ample and $B$ effective, $K_X+A+B$ is big if it is nef and of maximal nef dimension. As an application, we establish a rationality theorem for the nef threshold and various results towards the minimal model program in dimension three in positive characteristic.

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preprint2014arXiv

The dual complex of singularities

The dual complex of a singularity is defined, up-to homotopy, using resolutions of singularities. In many cases, for instance for isolated singularities, we identify and study a "minimal" representative of the homotopy class that is well defined up-to piecewise linear homeomorphism. This is derived from a more global result concerning dual complexes of dlt pairs. As an application, we also show that the dual complex of a log terminal singularity as well as the one of a simple normal crossing degeneration of a family of rationally connected manifolds are contractible.

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preprint2013arXiv

On the three dimensional minimal model program in positive characteristic

Let $f:(X,B)\to Z$ be a 3-fold extremal dlt flipping contraction defined over an algebraically closed field of characteristic $p>5$, such that the coefficients of $\{B\}$ are in the standard set $\{1-\frac 1n|n\in \mathbb N\}$, then the flip of $f$ exists. As a consequence, we prove the existence of minimal models for any projective $\Q$-factorial terminal variety $X$ with pseudo-effective canonical divisor $K_X$.

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preprint2013arXiv

Special test configurations and $K$-stability of Fano varieties

For any flat projective family $(\mX,\mL)\rightarrow C$ such that the generic fibre $\mX_η$ is a klt Q-Fano variety and $\mL|_{\mX_η}\sim_{Q}-K_{X_η}$, we use the techniques from the minimal model program (MMP) to modify the total family. The end product is a family such that every fiber is a klt Q-Fano variety. Moreover, we can prove that the Donaldson-Futaki invariants of the appearing models decrease. When the family is a test configuration of a fixed Fano variety $(X,-K_X)$, this implies Tian's conjecture: given $X$ a Fano manifold, to test its K-(semi, poly)stability, we only need to test on the special test configurations.

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preprint2012arXiv

Existence of log canonical closures

Let $f:X\to U$ be a projective morphism of normal varieties and $(X,Δ)$ a dlt pair. We prove that if there is an open set $U^0\subset U$, such that $(X,Δ)\times_U U^0$ has a good minimal model over $U^0$ and the images of all the non-klt centers intersect $U^0$, then $(X,Δ)$ has a good minimal model over $U$. As consequences we show the existence of log canonical compactifications for open log canonical pairs, and the fact that the moduli functor of stable schemes satisfies the valuative criterion for properness.

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