Author name cluster

Ying Jiang

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7 papers

2 author rows

ICRA Conference 2025 Conference Paper

Embedded IPC: Fast and Intersection-Free Simulation in Reduced Subspace for Robot Manipulation

Wenxin Du
Chang Yu 0005
Siyu Ma
Ying Jiang
Zeshun Zong
Yin Yang 0002
Joseph Masterjohn
Alejandro M. Castro

Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance computational efficiency with numerical accuracy, especially when modeling deformable materials with frictional contact constraints. We introduce an efficient subspace representation for the Incremental Potential Contact (IPC) method, leveraging model reduction to decrease the number of degrees of freedom. Our approach decouples simulation complexity from the resolution of the input model by representing elasticity in a low-resolution subspace while maintaining collision constraints on an embedded high-resolution surface. Our barrier formulation ensures intersection-free trajectories and configurations regardless of material stiffness, time step size, or contact severity. We validate our simulator through quantitative experiments with a soft bubble gripper grasping and qualitative demonstrations of placing a plate on a dish rack. The results demonstrate our simulator's efficiency, physical accuracy, computational stability, and robust handling of frictional contact, making it well-suited for generating demonstration data and evaluating downstream robot training applications. More details and supplementary material are on the website: https://sites.google.com/view/embedded-ipc.

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IROS Conference 2025 Conference Paper

GRIP: A General Robotic Incremental Potential Contact Simulation Dataset for Unified Deformable-Rigid Coupled Grasping

Siyu Ma
Wenxin Du
Chang Yu 0005
Ying Jiang
Zeshun Zong
Tianyi Xie
Yunuo Chen 0001
Yin Yang 0002

Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object grasping. However, most existing datasets exclude deformable bodies due to the lack of scalable, robust simulation pipelines, limiting the development of generalizable models for compliant grippers and soft manipulands. To address these challenges, we present GRIP, a General Robotic Incremental Potential contact simulation dataset for universal grasping. GRIP leverages an optimized Incremental Potential Contact (IPC)-based simulator for multi-environment data generation, achieving up to 48× speedup while ensuring efficient, intersection- and inversion-free simulations for compliant grippers and deformable objects. Our fully automated pipeline generates and evaluates diverse grasp interactions across 1, 200 objects and 100, 000 grasp poses, incorporating both soft and rigid grippers. The GRIP dataset enables applications such as neural grasp generation and stress field prediction. We release GRIP to advance research in robotic manipulation, soft-gripper control, and physics-driven simulation at: https://bell0o.github.io/GRIP/.

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NeurIPS Conference 2025 Conference Paper

HBLLM: Wavelet-Enhanced High-Fidelity 1-Bit Quantization for LLMs

Ningning Chen
Weicai Ye
Ying Jiang

We introduce HBLLM, a wavelet-enhanced high-fidelity $1$-bit post-training quantization method for Large Language Models (LLMs). By leveraging Haar wavelet transforms to enhance expressive capacity through frequency decomposition, HBLLM significantly improves quantization fidelity while maintaining minimal overhead. This approach features two innovative structure-aware grouping strategies: (1) frequency-aware multi-parameter intra-row grouping and (2) $\ell_2$-norm-based saliency-driven column selection. For non-salient weights, a shared mean is employed across quantization groups within each frequency band to optimize storage efficiency. Experiments conducted on the OPT and LLaMA models demonstrate that HBLLM achieves state-of-the-art performance in $1$-bit quantization, attaining a perplexity of $6. 71$ on LLaMA$2$-$13$B with an average weight storage of only $1. 08$ bits. Code available at: https: //github. com/Yeyke/HBLLM.

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TCS Journal 2020 Journal Article

A calculus of branching processes

Thomas Ehrhard
Jean Krivine
Ying Jiang

CCS-like calculi can be viewed as an extension of classical automata with communication primitives. We are interested here to follow this principle, applied to tree-automata. It naturally yields a calculus of branching processes (CBP), where the continuations of communications are allowed to branch according to the arity of the communication channel. After introducing the calculus with a reduction semantics we show that CBP can be “implemented” by a fully compositional LTS semantics. We argue that CBP offers an interesting tradeoff between calculi with a fixed communication topology à la CCS and calculi with dynamic connectivity such as the π-calculus.

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I&C Journal 2011 Journal Article

On the expressive power of schemes

Gilles Dowek
Ying Jiang

We present a calculus, called the scheme-calculus, that permits to express natural deduction proofs in various theories. Unlike λ-calculus, the syntax of this calculus sticks closely to the syntax of proofs, in particular, no names are introduced for the hypotheses. We show that despite its non-determinism, some typed scheme-calculi have the same expressivity as the corresponding typed λ-calculi.

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TCS Journal 2006 Journal Article

Eigenvariables, bracketing and the decidability of positive minimal predicate logic

Gilles Dowek
Ying Jiang

We give a new proof of a theorem of Mints that the positive fragment of minimal predicate logic is decidable. The idea of the proof is to replace the eigenvariable condition of sequent calculus by an appropriate scoping mechanism. The algorithm given by this proof seems to be more practical than that given by the original proof. A naive implementation is given at the end of the paper. Another contribution is to show that this result extends to a large class of theories, including simple type theory (higher-order logic) and second-order propositional logic. We obtain this way a new proof of the decidability of the inhabitation problem for positive types in system F.

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I&C Journal 2005 Journal Article

On an open problem of Amadio and Curien: The finite antichain condition

Guo-Qiang Zhang
Ying Jiang

More than a dozen years ago, Amadio [Bifinite domains: stable case, in: Lecture Notes in Computer Science, vol. 530, 1991, pp. 16–33] (see Amadio and Curien, Domains and Lambda-Calculi, Cambridge Tracts in Theoretical Computer Science, vol. 46, Cambridge University Press, 1998 as well) raised the question of whether the category of stable bifinite domains of Amadio–Droste [R. M. Amadio, Bifinite domains: stable case, in: Lecture Notes in Computer Science, vol. 530, 1991, pp. 16–33; M. Droste, On stable domains, Theor. Comput. Sci. 111 (1993) 89–101; M. Droste, Cartesian closed categories of stable domains for polymorphism, Preprint, Universität GHS Essen] is the largest cartesian closed full sub-category of the category of ω-algebraic meet-cpos with stable functions. An affirmative solution to this problem has two major steps: (1) Show that for any ω-algebraic meet-cpo D, if all higher-order stable function spaces built from D are ω-algebraic, then D is finitary (i. e. , it satisfies the so-called axiom I); (2) Show that for any ω-algebraic meet-cpo D, if D violates MI ∞, then [D→D] violates either M or I. We solve the first part of the problem in this paper, i. e. , for any ω-algebraic meet-cpo D, if the stable function space [D→D] satisfies M, then D is finitary. Our notion of (mub, meet)-closed set, which is introduced for step 1, will also be used for treating some example cases in step 2.

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