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Michael Yang

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2 papers
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2

NeurIPS Conference 2025 Conference Paper

Co-PatcheR: Collaborative Software Patching with Component-specific Small Reasoning Models

  • Yuheng Tang
  • Hongwei Li
  • Kaijie Zhu
  • Michael Yang
  • Yangruibo Ding
  • Wenbo Guo

Motivated by the success of general‑purpose large language models (LLMs) in software patching, recent works started to train specialized patching models. Most works trained one model to handle the end‑to‑end patching pipeline (including issue localization, patch generation, and patch validation). However, it is hard for a small model to handle all tasks, as different sub-tasks have different workflows and require different expertise. As such, by using a 70 billion model, SOTA methods can only reach up to 41% resolved rate on SWE-bench-Verified. Motivated by the collaborative nature, we propose Co-PatcheR, the first collaborative patching system with small and specialized reasoning models for individual components. Our key technique novelties are the specific task designs and training recipes. First, we train a model for localization and patch generation. Our localization pinpoints the suspicious lines through a two-step procedure, and our generation combines patch generation and critique. We then propose a hybrid patch validation that includes two models for crafting issue-reproducing test cases with and without assertions and judging patch correctness, followed by a majority vote-based patch selection. Through extensive evaluation, we show that Co-PatcheR achieves 46% resolved rate on SWE-bench-Verified with only 3 x 14B models. This makes Co-PatcheR the best patcher with specialized models, requiring the least training resources and the smallest models. We conduct a comprehensive ablation study to validate our recipes, as well as our choice of training data number, model size, and testing-phase scaling strategy.

IROS Conference 2023 Conference Paper

Event Camera-Based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface

  • Shifan Zhu
  • Zhipeng Tang
  • Michael Yang
  • Erik G. Learned-Miller
  • Donghyun Kim 0002

Our paper proposes a direct sparse visual odometry method that combines event and RGBD data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and dynamic range, which can eliminate the issue of blurred RGB images during fast movements. This unique strength holds a potential for accurate pose estimation of agile- legged robots, which has been a challenging problem to tackle. Our framework leverages the benefits of both RGBD and event cameras to achieve robust and accurate pose estimation, even during dynamic maneuvers such as jumping and landing a quadruped robot, the Mini-Cheetah. Our major contributions are threefold: Firstly, we introduce an adaptive time surface (ATS) method that addresses the whiteout and blackout issue in conventional time surfaces by formulating pixel-wise decay rates based on scene complexity and motion speed. Secondly, we develop an effective pixel selection method that directly samples from event data and applies sample filtering through ATS, enabling us to pick pixels on distinct features. Lastly, we propose a nonlinear pose optimization formula that simultaneously performs 3D-2D alignment on both RGB-based and event-based maps and images, allowing the algorithm to fully exploit the benefits of both data streams. We extensively evaluate the performance of our framework on both the public dataset and our own quadruped robot dataset, demonstrating its effectiveness in accurately estimating the pose of agile robots during dynamic movements. Supplemental video: https://youtu.be/-5ieQShOg3M

v2026.09.13