Researcher profile

Yutao Yue

Yutao Yue contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate

Trust snapshot

Quick read

Trust 21 - EmergingVerification L1Unclaimed author
6works
0followers
7topics
4close collaborators

Actions

Decide how to stay connected

Follow researcher0

Identity and collaboration

How to connect with this researcher

Claiming links this public author record to a researcher profile and unlocks direct collaboration workflows.

Log in to claim

Direct collaboration

Open a focused conversation when the fit is right

Claim this author entity first to unlock direct invitations.

Research graph

See the researcher in context

Open full explorer

Inspect adjacent work, topics, institutions and collaborators without jumping out to a separate graph page.

Building this graph slice

BZPEER is loading the nearby papers, people, topics and institutions for this page.

Published work

6 published item(s)

preprint2026arXiv

All Circuits Lead to Rome: Rethinking Functional Anisotropy in Circuit and Sheaf Discovery for LLMs

In this paper, we present empirical and theoretical evidence against a central but largely implicit assumption in circuit and sheaf discovery (CSD), which we term the Functional Anisotropy Hypothesis: the idea that functions in large language models (LLMs) are localised to a unique or near-unique internal mechanism. We show that a single LLM task can instead be supported by multiple, structurally distinct circuits or sheaves that are simultaneously faithful, sparse, and complete. To systematically uncover such competing mechanisms, we introduce Overlap-Aware Sheaf Repulsion, a method that augments the CSD objective with an explicit penalty on structural overlap across multiple discovery runs, enabling the discovery of circuits or sheaves with strong task performance but minimal shared structure across a plethora of common CSD benchmarks. We find that this phenomenon becomes increasingly pronounced as the number of discovered sheaves grows and persists robustly across major CSD methods. We further identify an ultra-sparse three-edge sheaf and show that none of its edges is individually indispensable, undermining even weakened notions of canonical or essential components. To explain these findings, we propose a Distributive Dense Circuit Hypothesis and provide a theoretical analysis demonstrating that non-unique, low-overlap circuit explanations arise naturally from high-dimensional superposition under mild assumptions. Together, our results suggest that mechanistic explanations in LLMs are inherently non-canonical and call for a rethinking of how CSD results should be interpreted and evaluated.

preprint2026arXiv

Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control

Natural language is an intuitive interface for humanoid robots, yet streaming whole-body control requires control representations that are executable now and anticipatory of future physical transitions. Existing language-conditioned humanoid systems typically generate kinematic references that a low-level tracker must repair reactively, or use latent/action policies whose outputs do not explicitly encode upcoming contact changes, support transfers, and balance preparation. We propose \textbf{DAJI} (\emph{Dynamics-Aligned Joint Intent}), a hierarchical framework that learns an anticipatory joint-intent interface between language generation and closed-loop control. DAJI-Act distills a future-aware teacher into a deployable diffusion action policy through student-driven rollouts, while DAJI-Flow autoregressively generates future intent chunks from language and intent history. Experiments show that DAJI achieves strong results in anticipatory latent learning, single-instruction generation, and streaming instruction following, reaching 94.42\% rollout success on HumanML3D-style generation and 0.152 subsequence FID on BABEL.

preprint2026arXiv

CD^2: Constrained Dataset Distillation for Few-Shot Class-Incremental Learning

Few-shot class-incremental learning (FSCIL) receives significant attention from the public to perform classification continuously with a few training samples, which suffers from the key catastrophic forgetting problem. Existing methods usually employ an external memory to store previous knowledge and treat it with incremental classes equally, which cannot properly preserve previous essential knowledge. To solve this problem and inspired by recent distillation works on knowledge transfer, we propose a framework termed \textbf{C}onstrained \textbf{D}ataset \textbf{D}istillation (\textbf{CD$^2$}) to facilitate FSCIL, which includes a dataset distillation module (\textbf{DDM}) and a distillation constraint module~(\textbf{DCM}). Specifically, the DDM synthesizes highly condensed samples guided by the classifier, forcing the model to learn compacted essential class-related clues from a few incremental samples. The DCM introduces a designed loss to constrain the previously learned class distribution, which can preserve distilled knowledge more sufficiently. Extensive experiments on three public datasets show the superiority of our method against other state-of-the-art competitors.

preprint2026arXiv

Delta Score Matters! Spatial Adaptive Multi Guidance in Diffusion Models

Diffusion models have achieved remarkable success in synthesizing complex static and temporal visuals, a breakthrough largely driven by Classifier-Free Guidance (CFG). However, despite its pivotal role in aligning generated content with textual prompts, standard CFG relies on a globally uniform scalar. This homogeneous amplification traps models in a well-documented "detail-artifact dilemma": low guidance scales fail to inject intricate semantics, while high scales inevitably cause structural degradation, color over-saturation, and temporal inconsistencies in videos. In this paper, we expose the physical root of this flaw through the lens of differential geometry. By analyzing Tweedie's Formula, we reveal that CFG intrinsically performs a tangential linear extrapolation. Because the natural data manifold is highly curved, this uniform linear step introduces a severe orthogonal deviation. To keep the generation trajectory safely bounded, we formulate a theoretical upper bound for spatial and adaptive guidance. Based on these geometric insights, we propose Spatial Adaptive Multi Guidance (SAMG), a training-free and virtually zero-cost sampling algorithm. SAMG dynamically computes point-wise conditional guidance energy, applying a conservative minimum scale to high-energy boundary regions to preserve delicate micro-textures, while deploying an aggressive maximum scale in low-energy regions to maximize semantic injection. Extensive experiments across diverse image (SD 1.5, SDXL, SD3.5 Medium) and video (CogVideoX, ModelScope) architectures demonstrate that SAMG effectively resolves the detail-artifact dilemma, achieving superior semantic alignment, structural integrity, and temporal smoothness without any computational overhead.

preprint2026arXiv

Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms

Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile perception is inherently limited by its sparse spatial coverage and lack of global semantic context. With the recent explosion in deep learning and large language models, integrating tactile with vision and language has become essential to bridge physical interaction with semantic reasoning, leading to the emergence of Multimodal Tactile Fusion. Despite rapid progress, the existing researches remain fragmented across disparate datasets, sensing modalities, and tasks, lacking a unified theoretical framework. To address this gap, this paper provides a comprehensive survey of multimodal tactile fusion research up to the first quarter of 2026. We propose a hierarchical taxonomy that organizes the field into two primary dimensions: multimodal datasets and multimodal methods. On the data side, we categorize resources ranging from Tactile-Vision datasets, Tactile-Language datasets, Tactile-Vision-Language datasets, and Tactile-Vision-Other datasets. On the method side, we structure prior work into three core pillars: (1) Multimodal Perception and Recognition, which focuses on object understanding and grasp prediction; (2) Cross-Modal Generation, focusing on bidirectional translation between tactile, vision, and text; and (3) Multimodal Interaction, emphasizing feedback control and language-guided manipulation. Furthermore, we summarize representative tactile sensing hardware, review commonly used evaluation metrics and benchmark settings, and discuss current challenges and promising future directions.

preprint2022arXiv

A World-Self Model Towards Understanding Intelligence

The symbolism, connectionism and behaviorism approaches of artificial intelligence have achieved a lot of successes in various tasks, while we still do not have a clear definition of "intelligence" with enough consensus in the community (although there are over 70 different "versions" of definitions). The nature of intelligence is still in darkness. In this work we do not take any of these three traditional approaches, instead we try to identify certain fundamental aspects of the nature of intelligence, and construct a mathematical model to represent and potentially reproduce these fundamental aspects. We first stress the importance of defining the scope of discussion and granularity of investigation. We carefully compare human and artificial intelligence, and qualitatively demonstrate an information abstraction process, which we propose to be the key to connect perception and cognition. We then present the broader idea of "concept", separate the idea of self model out of the world model, and construct a new model called world-self model (WSM). We show the mechanisms of creating and connecting concepts, and the flow of how the WSM receives, processes and outputs information with respect to an arbitrary type of problem to solve. We also consider and discuss the potential computer implementation issues of the proposed theoretical framework, and finally we propose a unified general framework of intelligence based on WSM.