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Yihan Li

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NeurIPS Conference 2025 Conference Paper

Adaptive Fission: Post-training Encoding for Low-latency Spike Neural Networks

  • Yizhou Jiang
  • Feng Chen
  • Yihan Li
  • Yuqian Liu
  • Haichuan Gao
  • Tianren Zhang
  • Ying Fang

Spiking Neural Networks (SNNs) often rely on rate coding, where high-precision inference depends on long time-steps, leading to significant latency and energy cost—especially for ANN-to-SNN conversions. To address this, we propose Adaptive Fission, a post-training encoding technique that selectively splits high-sensitivity neurons into groups with varying scales and weights. This enables neuron-specific, on-demand precision and threshold allocation while introducing minimal spatial overhead. As a generalized form of population coding, it seamlessly applies to a wide range of pretrained SNN architectures without requiring additional training or fine-tuning. Experiments on neuromorphic hardware demonstrate up to 80\% reductions in latency and power consumption without degrading accuracy.

NeurIPS Conference 2025 Conference Paper

RAPID Hand: Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Embodied Intelligence

  • Zhaoliang Wan
  • Zetong Bi
  • Zida Zhou
  • Hao Ren
  • Yiming Zeng
  • Yihan Li
  • Lu Qi
  • Xu Yang

This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware and software platform where the compact 20-DoF hand, robust whole-hand perception, and high-DoF teleoperation interface are jointly designed. Specifically, RAPID Hand adopts a compact and practical hand ontology and a hardware-level perception framework that stably integrates wrist-mounted vision, fingertip tactile sensing, and proprioception with sub-7 ms latency and spatial alignment. Collecting high-quality demonstrations on high-DoF hands is challenging, as existing teleoperation methods struggle with precision and stability on complex multi-fingered systems. We address this by co-optimizing hand design, perception integration, and teleoperation interface through a universal actuation scheme, custom perception electronics, and two retargeting constraints. We evaluate the platform’s hardware, perception, and teleoperation interface. Training a diffusion policy on collected data shows superior performance over prior works, validating the system’s capability for reliable, high-quality data collection. The platform is constructed from low-cost and off-the-shelf components and will be made public to ensure reproducibility and ease of adoption.

v2026.09.13