Showing 1–50 of 663 results for author: Sun, G

AvatarDynamizer: From Static to Dynamic Human Avatars via Generative Dynamic Textures

Authors: Guoxing Sun, Heming Zhu, Linjie Lyu, Pascal Fua, Christian Theobalt, Marc Habermann

Abstract: For full-body avatars, modeling surface dynamics is crucial for overcoming the uncanny valley and achieving perceptual realism. Person-agnostic methods recover static 3D avatars from monocular images, videos, or text prompts, but their skeleton-driven animations lack realistic surface dynamics such as clothing wrinkles. In contrast, person-specific methods achieve high-quality rendering and realis… ▽ More For full-body avatars, modeling surface dynamics is crucial for overcoming the uncanny valley and achieving perceptual realism. Person-agnostic methods recover static 3D avatars from monocular images, videos, or text prompts, but their skeleton-driven animations lack realistic surface dynamics such as clothing wrinkles. In contrast, person-specific methods achieve high-quality rendering and realistic dynamics, but require expensive multi-view captures for each individual. Recent generalizable dynamic avatar methods struggle to embed surface dynamics, leading to either limited multi-view consistency or dynamic expressiveness. To this end, we propose AvatarDynamizer, a generative method that transforms an off-the-shelf static 3D avatar into a controllable, realistic, and multi-view-consistent 4D avatar. We introduce a novel texture-space surface-dynamics embedding and formulate avatar dynamics modeling as conditional texture generation. Our encoder--decoder representation embeds pose-dependent dynamics into dynamic texture maps, enabling compatibility with pre-trained video diffusion models while decoding them into 3D Gaussians for multi-view consistent rendering. Since existing datasets are limited in scale, sequence length, or motion diversity, we collect a large-scale multi-view dataset with long sequences covering diverse skeletal motions and surface dynamics. Experiments show that our method effectively animates static avatars with faithful surface dynamics and outperforms competing generalizable methods in visual fidelity, especially under limited dynamic training data. △ Less

Submitted 20 August, 2026; originally announced August 2026.

Comments: Project page: https://vcai.mpi-inf.mpg.de/projects/AvatarDynamizer

SignalReasoner: Assessing the Upper Bound of 3B Models for Signal Mathematical Reasoning

Authors: Guozheng Sun

Abstract: Post-training with supervised chain-of-thought fine-tuning and reinforcement learning from verifiable rewards has substantially improved the mathematical reasoning capabilities of large language models (LLMs). However, their application to signal processing problems remains relatively under-explored. This report investigates reinforcement fine-tuning strategies for adapting Qwen2.5-3B-Base to grad… ▽ More Post-training with supervised chain-of-thought fine-tuning and reinforcement learning from verifiable rewards has substantially improved the mathematical reasoning capabilities of large language models (LLMs). However, their application to signal processing problems remains relatively under-explored. This report investigates reinforcement fine-tuning strategies for adapting Qwen2.5-3B-Base to graduate-level signal mathematical problems from WirelessMATHBench-XL, a comprehensive benchmark for mathematical reasoning in this domain. We examine two training paradigms: (i) direct reinforcement learning (RL) on WirelessMATHBench-XL with verifiable rewards; and (ii) supervised fine-tuning (SFT) on a distilled wireless-domain chain-of-thought corpus, followed by the same domain-specific RL stage. Across both paradigms, we benchmark Group Relative Policy Optimization (GRPO), Group Sequence Policy Optimization (GSPO), and Geometric-Mean Policy Optimization (GMPO). We aim to assess whether domain-aware CoT SFT serves as an effective initialization for subsequent RL, and whether GSPO or GMPO offer advantages in stability or accuracy over GRPO for signal reasoning tasks. Our best model achieves an overall accuracy of 39.12\%, representing a more than threefold improvement over the untrained Base model (12.37\%). △ Less

Submitted 17 August, 2026; originally announced August 2026.

DeltaLog: Deferred Materialization of Recurrent States for Linear Attention Decoding

Authors: Junqing Lin, Jingwei Sun, Guangzhong Sun

Abstract: Linear attention models eliminate the quadratic prefix computation and context-growing KV cache of softmax attention by replacing pairwise token interactions with recurrent state updates. However, existing decoding implementations often materialize and write back the full recurrent state after every generated token, making state maintenance a major source of memory traffic, especially for models w… ▽ More Linear attention models eliminate the quadratic prefix computation and context-growing KV cache of softmax attention by replacing pairwise token interactions with recurrent state updates. However, existing decoding implementations often materialize and write back the full recurrent state after every generated token, making state maintenance a major source of memory traffic, especially for models with large states and many heads. This paper presents DeltaLog, a recurrent-state decoding scheme that reduces this overhead without changing the model semantics. Specifically, DeltaLog represents the recurrent state as a dense base state together with a bounded log of recent compact updates. Most decode steps append only compact update factors to this log, while periodic merge steps fold the accumulated updates back into the dense base state. Thus, the model observes the same dense state as in eager decoding, but most full-state write-backs are replaced by lightweight append operations. We implement DeltaLog for GDN, KDA, and RWKV6 and integrate it into a prototype serving stack. Across these models, DeltaLog accelerates the recurrent-state update kernel by up to $1.86\times$, reduces profiled recurrent-state write traffic by up to $7.83\times$, and achieves $1.05$--$1.20\times$ end-to-end serving speedups over dense recurrent baselines. △ Less

Submitted 16 August, 2026; originally announced August 2026.

FlashQuant: Sparse-Dense Fusion for Memory-Efficient Outlier-Aware LLM Inference

Authors: Junqing Lin, Jingwei Sun, Zhengding Hu, Guangzhong Sun

Abstract: Low-bit quantization reduces the memory footprint and computational cost of large language model (LLM) inference. However, high-magnitude outlier weights can induce substantial quantization errors and degrade model accuracy. Outlier-aware quantization addresses this issue by retaining outliers in high precision while quantizing the remaining weights, resulting in a low-bit dense GEMM path and a hi… ▽ More Low-bit quantization reduces the memory footprint and computational cost of large language model (LLM) inference. However, high-magnitude outlier weights can induce substantial quantization errors and degrade model accuracy. Outlier-aware quantization addresses this issue by retaining outliers in high precision while quantizing the remaining weights, resulting in a low-bit dense GEMM path and a high-precision sparse SpMM path. Existing implementations execute these paths in separate GPU kernels, despite their shared activations and outputs, thereby missing opportunities for intra-operator reuse and incurring redundant global-memory accesses. This inefficiency is particularly pronounced in memory-bound decoding workloads. We propose FlashQuant, a content-sharing execution framework for outlier-aware W4A16 decoding. FlashQuant fuses the dense GEMM and sparse outlier SpMM paths into a single GPU kernel, enabling on-chip reuse of activation and output tiles across heterogeneous computations. It introduces three key techniques: sparse-dense tiling, which aligns outlier processing with dense GEMM tiles; Tile-COO outlier encoding, which enables efficient sparse access and reduces shared-memory bank conflicts; and pipelined scheduling, which overlaps computation with data movement. Experiments show that FlashQuant reduces outlier-processing overhead, achieving $2.74\times - 4.18\times$ speedup over cuBLAS BF16 and up to $1.53\times$ speedup over the strongest unfused outlier-aware baseline. △ Less

Submitted 16 August, 2026; originally announced August 2026.

HBF Sucks! A Full-Stack Characterization of High-Bandwidth Flash for KV-Centric LLM Serving

Authors: Zhuoran Li, Zhuohang Bian, Xin Huang, Yibo Zhao, Guangyu Sun, Youwei Zhuo

Abstract: A faster storage device should make serving faster. We find the opposite. High-Bandwidth Flash (HBF) stacks NAND behind a wide, package-local interface, promising flash-scale capacity with far lower read latency and higher bandwidth than an SSD. The obvious move is to keep an SSD-style Mooncake KV-offloading stack and swap in HBF underneath. We built that system and measured it: an extended TokenS… ▽ More A faster storage device should make serving faster. We find the opposite. High-Bandwidth Flash (HBF) stacks NAND behind a wide, package-local interface, promising flash-scale capacity with far lower read latency and higher bandwidth than an SSD. The obvious move is to keep an SSD-style Mooncake KV-offloading stack and swap in HBF underneath. We built that system and measured it: an extended TokenSim, four complete two-hour Qwen-Bailian production traces, five dense and mixture-of-experts models, and H100/B200 profiles. The upgrade backfires. Average end-to-end latency rises 2--5.5$\times$ and maximum SLO goodput falls 1.1--2.7$\times$ across H100 and B200, so the faster device yields a slower system. A cost-benefit model explains the paradox: a faster far tier pays off only when read I/O is the bottleneck, reads outweigh writes, and delivered bandwidth is sustainable. Transient KV violates all three at once. Buying flash through the package costs GPU near-tier capacity and bandwidth, while HBF's own read/write latency barely matters: scaling it 3.75$\times$ moves latency less than 1\%. Worse, the two-tier hierarchy keeps reuse in the near tier and hands HBF a relentless write-heavy stream. Writes outnumber reads on every trace, so a 3D-ICE model shows the stack hits its thermal limit well below peak bandwidth, and a TLC tier wears out sooner than the SSD pool it replaced. The device is fine; the drop-in deployment is not. HBF sucks as an SSD replacement for transient KV, but earns its place in LLM serving when used selectively with reuse-aware placement, write budgeting, and thermal coordination. △ Less

Submitted 12 August, 2026; v1 submitted 12 August, 2026; originally announced August 2026.

Comments: 13 pages, 12 figures

MSC Class: 68M07; 68M20 ACM Class: C.1.3; C.4; D.4.2; D.4.8

Apodex Discovery: Reality Benchmarks and Environments for Evaluating and Building Discoverative Artificial Intelligence

Authors: Brian Wang, Bin Feng, Xiaoman Pan, Chenyang An, Felix Liu, Tangqi Fang, Gongbo Sun, Lingfeng Shen, Ning Wang, Handuo Zhang, Feng Chen, Fuchao Yang, Xiang Wang, Jiacheng Lin, Siting Li, Zixuan Liu, Chi Han, Zhenhailong Wang, Kunlun Zhu, Lawrence Zhao, Yueqi Guo, Kailong Wen, Feng Xing, Yiling Guo, Lidong Bing , et al. (4 additional authors not shown)

Abstract: Apollo did not reach the Moon merely because its engineers could solve difficult equations. It succeeded by turning a distant ambition into a mission architecture of explicit objectives, simulation, verification, and repeated correction. AI now faces a similar transition: frontier models can solve difficult tasks once the problem, tools, and success criteria are specified, yet consequential real-w… ▽ More Apollo did not reach the Moon merely because its engineers could solve difficult equations. It succeeded by turning a distant ambition into a mission architecture of explicit objectives, simulation, verification, and repeated correction. AI now faces a similar transition: frontier models can solve difficult tasks once the problem, tools, and success criteria are specified, yet consequential real-world challenges rarely arrive in an executable or verifiable form. We introduce Apodex Discovery, a framework for building and evaluating discoverative AI through the heavy-duty solver, a system comprising a foundation model, harness, tools, and control policies that pursues extended, stateful, verifiable investigations. It has three core components. First, a problem-scouting process surveyed 561 industries across 16 sectors, assembled 423 high-value real-world problems, and selected 20 for the initial release. Second, a common environment-task-episode abstraction provides data, tools, constraints, feedback, trajectory recording, and verification of intermediate artifacts and final submissions. Third, HDS6 evaluates Tools, Repair, Alternatives, Coherence, Evidence, and Scope independently of final-task success. In AAV capsid design, Apodex surpassed the published state of the art by 7% across viability, tropism, structure prediction, and generative design. In drug repurposing and reformulation, a task-specific biomedical environment improved the mean normalized prediction score of GPT-5.5 and GPT-5.6-sol by 2.5 and 7.6 points over the same closed-book backbone. Controlled ablations show that the fixed TRACES episode interface enables attribution of performance differences to specific solver components. Apodex Discovery moves AI evaluation beyond predefined benchmarks toward verifiable investigations aimed at genuine discovery. △ Less

Submitted 11 August, 2026; originally announced August 2026.

Comments: 85 pages, 9 figures, 38 tables

Towards Query-Agnostic RAG Evaluation via Query Coverage and Claim Verifiability

Authors: Jeonghwan Choi, Taewon Yun, Minjeong Ban, Gyeonghun Sun, Jae-Gil Lee, Hwanjun Song

Abstract: Retrieval-augmented generation improves the factuality of large language models by grounding responses in retrieved evidence, yet existing evaluation frameworks struggle to provide consistent, fine-grained diagnostics across the diverse spectrum of user queries, ranging from close-ended fact-seeking to open-ended explanatory requests. We propose Q-CARE, a query-agnostic and fully reference-free fr… ▽ More Retrieval-augmented generation improves the factuality of large language models by grounding responses in retrieved evidence, yet existing evaluation frameworks struggle to provide consistent, fine-grained diagnostics across the diverse spectrum of user queries, ranging from close-ended fact-seeking to open-ended explanatory requests. We propose Q-CARE, a query-agnostic and fully reference-free framework that enables fine-grained assessment by decomposing queries into sub-queries and answers into atomic claims. Q-CARE establishes a unified evaluation principle based on query coverage and claim verifiability, yielding coverage-aware retriever metrics (C-Prec@k, C-nDCG@k) and claim-level generator metrics (Completeness, Conciseness, and Verifiableness). On a human-annotated benchmark spanning eight datasets, Q-CARE achieves higher correlation with human judgments than four existing RAG evaluation metrics, including RAGEval and RAGChecker, proving its effectiveness as a reliable, automated evaluation framework. Code and data are publicly available at https://github.com/DISL-Lab/Q-CaRE-COLM-26. △ Less

Submitted 31 July, 2026; originally announced August 2026.

Comments: Accepted to COLM 2026

RecoverFly: A Failure-Aware Reinforcement Learning Post-Training Framework for Aerial Vision-Language Navigation

Authors: Boxiong Wang, Hui Kang, Geng Sun, Jiahui Li, Chao Yu, Daxin Tian

Abstract: Unmanned aerial vehicle vision-language navigation (UAV-VLN) requires agents to translate visual observations and language instructions into reliable flight actions in complex environments. Although recent end-to-end UAV vision-language-action (UAV-VLA) policies reduce reliance on separately designed perception, planning, and control modules, their behavior-cloning objectives provide limited corre… ▽ More Unmanned aerial vehicle vision-language navigation (UAV-VLN) requires agents to translate visual observations and language instructions into reliable flight actions in complex environments. Although recent end-to-end UAV vision-language-action (UAV-VLA) policies reduce reliance on separately designed perception, planning, and control modules, their behavior-cloning objectives provide limited corrective supervision for interactive closed-loop execution. Reinforcement learning (RL) offers a promising solution, while its effectiveness is constrained by inefficient use of samples, long-tailed scene distributions, and policy distribution shift during optimization. To this end, we propose RecoverFly, a failure-aware RL post-training framework for end-to-end UAV-VLA policies. Specifically, RecoverFly adapts token-level RL for stable optimization of grammar-constrained autoregressive UAV actions, revisits unresolved failure cases to strengthen corrective learning and sample utilization, and combines a two-stage long-tail scene curriculum with reference-policy regularization to improve scene adaptation while preserving acquired capabilities. Experiments on the TravelUAV benchmark demonstrate that RecoverFly achieves the best performance on the seen, unseen-map, and unseen-object splits. Moreover, compared to the AerialVLA initialization, RecoverFly improves success rate by 3.12 to 8.37 percentage points under a total rollout budget of about 30\% of the training-set size, validating its effectiveness, robustness, and generalization capabilities. △ Less

Submitted 10 August, 2026; originally announced August 2026.

Task-Oriented Formation Decision via Reinforcement Learning: Herding an Attacking Swarm

Authors: Zhaozong Wang, Guibin Sun, Jinyong Chen, Rui Zhou

Abstract: Multi-robot systems can accomplish tasks that are difficult for a single robot by organizing into task-specific formations. Different from existing studies on multi-robot shape formation, we here study the task-oriented formation decision problem, with a focus on the herding task. This task is challenging due to the attackers' superior maneuverability and their unknown strategies. To address these… ▽ More Multi-robot systems can accomplish tasks that are difficult for a single robot by organizing into task-specific formations. Different from existing studies on multi-robot shape formation, we here study the task-oriented formation decision problem, with a focus on the herding task. This task is challenging due to the attackers' superior maneuverability and their unknown strategies. To address these challenges, we propose the following novel results. First, we encode the formation shape using a low-dimensional parameter vector. This parametric representation reformulates the formation decision as a parameter optimization problem, thereby resolving the limited flexibility of predefined shapes. By optimizing these formation parameters, the defenders' maneuverability disadvantage is mitigated through a formation shape that continuously adapts to task requirements. Second, we develop a reinforcement learning-based policy to regulate the formation parameters. Trained offline in simulations covering diverse attacking strategies, the learned policy can effectively handle adversarial unpredictability during online deployment. Comparative simulations against three baselines demonstrate that our method can successfully accomplish challenging herding tasks. Additional scalability simulations further verify its applicability to simulated scenarios involving dozens of robots. We also validate the practical feasibility of our method on a physical robotic platform with 3 attackers and 7 defenders. △ Less

Submitted 10 August, 2026; originally announced August 2026.

Comments: Accepted for publication in IEEE Transactions on Automation Science and Engineering

SparseDitto: Customizing GPU Kernels for Different Sparsity Patterns with LLM-Based Agentic System

Authors: Shiyang Li, Guangyan Sun, Jinwei Tang, Yanzhi Wang, Mingyi Hong, Caiwen Ding

Abstract: Sparse matrix kernels are fundamental to scientific computing, graph analytics, and machine learning. Their GPU performance depends strongly on the input sparsity pattern and execution strategy. For the same SpMM on the same matrix, cuSPARSE exhibits a 350x performance gap between CSR and Blocked-ELL. Our study of multiple data formats, specialized systems, and sparse compilers shows that no singl… ▽ More Sparse matrix kernels are fundamental to scientific computing, graph analytics, and machine learning. Their GPU performance depends strongly on the input sparsity pattern and execution strategy. For the same SpMM on the same matrix, cuSPARSE exhibits a 350x performance gap between CSR and Blocked-ELL. Our study of multiple data formats, specialized systems, and sparse compilers shows that no single implementation consistently dominates across sparsity patterns and operators. This motivates a system that can adapt its representation, execution strategy, and hardware mapping to each workload and target GPU. We present SparseDitto, an LLM-based system that constructs a GPU kernel for each matrix, operator, and target GPU. SparseDitto supports SpMV, SpMM, and SpGEMM within a unified design framework. A lightweight additive model ranks established strategies using structural features of the input matrix. An architecture-aware planner then proposes several candidate designs. Coding and verification agents implement and refine them using measurements from the target GPU. Across three sparse operators and a diverse set of matrices, SparseDitto achieves a geometric-mean speedup of 2.68x over cuSPARSE on an NVIDIA RTX PRO 6000 GPU, with a maximum of 146.61x. On an NVIDIA H200 GPU, it achieves 2.79x, with a maximum of 78.5x. Its generated SpMM kernels also accelerate full-batch GCN training by up to 3.39x. △ Less

Submitted 12 August, 2026; v1 submitted 5 August, 2026; originally announced August 2026.

PRIMAL3: Pathfinding via Reinforcement and Imitation Multi-Agent Learning - Leveraging LaCAM3

Authors: Chengyang He, Tanishq Duhan, Gadiel Sznaier Camps, Fangyuan Wang, Yuhong Cao, Jiankai Sun, Ge Sun, Mac Schwager, Guillaume Sartoretti

Abstract: We present PRIMAL3, an ultra-large-scale learning-based framework for multi-agent pathfinding (MAPF) that integrates reinforcement learning, topology-aware communication, LaCAM3-guided training, and PIBT-based action refinement. PRIMAL3 targets failures at topologically critical states, where agents must coordinate decisively around bottlenecks, dead ends, and persistent conflicts. Each agent is r… ▽ More We present PRIMAL3, an ultra-large-scale learning-based framework for multi-agent pathfinding (MAPF) that integrates reinforcement learning, topology-aware communication, LaCAM3-guided training, and PIBT-based action refinement. PRIMAL3 targets failures at topologically critical states, where agents must coordinate decisively around bottlenecks, dead ends, and persistent conflicts. Each agent is represented using features derived from cut vertices, dead-end regions, shortest-path distances, and blocking estimates. Two complementary graphs capture agent interactions: a same-direction following graph propagates multihop context along compatible paths, while a different-direction conflict graph differentiates agents competing for shared space through masked attention and relative features. During training, we propose to let policy entropy identify uncertain agents, for which LaCAM3 provides confidence-triggered action interventions and label-smoothed imitation targets. During execution, a priority-aware PIBT module refines the proposed joint actions using persistent, learned, and distance-aware priorities together with policy-aware fallback preferences while maintaining collision-free execution. The resulting framework combines learned exploration with structured expert guidance without requiring LaCAM3 at inference. Experiments demonstrate that PRIMAL3 substantially outperforms state-of-the-art learning-based baselines and scales to ultra-large instances with up to city-level 100,000 agents. Real-world experiments further demonstrate the feasibility of deploying PRIMAL3 on physical robotic systems and ablation studies validate the individual contributions the components we proposed. Project page: https://marmotlab.github.io/PRIMAL3/ △ Less

Submitted 5 August, 2026; originally announced August 2026.

Comments: Under Review

Attention-Steered Vision-Language Models for Sign Language Translation

Authors: Meibo Hu, Guohao Sun, Annemarie D. Ross, Sheng Li, Zhiqiang Tao

Abstract: Vision-language models (VLMs) have emerged as a powerful framework for multimodal video understanding. However, they remain limited in the sign language translation task, where we identify a key failure mode of existing VLMbased translators: poor spatial-temporal visual grounding. In particular, we find that standard next-token cross-entropy does not directly provide signal for where and when the… ▽ More Vision-language models (VLMs) have emerged as a powerful framework for multimodal video understanding. However, they remain limited in the sign language translation task, where we identify a key failure mode of existing VLMbased translators: poor spatial-temporal visual grounding. In particular, we find that standard next-token cross-entropy does not directly provide signal for where and when the model should attend, causing models to overlook sign-relevant regions and frames. To address this challenge, we propose AttnSign, a VLM-based spatial-temporal attention steering framework for sign language translation. AttnSign first introduces spatial attention supervision for sign-relevant regions, such as face and hands, in each frame; then develops an RL-based motion-cadence steering method that encourages the model to explore and focus on sign-level keyframes. Experimental results on How2Sign and OpenASL benchmarks show that our proposed AttnSign consistently outperforms existing methods. △ Less

Submitted 31 July, 2026; originally announced August 2026.

Physics Transformer: Tailoring Transformer for General PDE Prediction

Authors: Guoze Sun, Rui Zhang, Jiankai Tang, Mengtao Yan, Runze Mao, Zhi X. Chen, Hao Sun

Abstract: Transformer architectures have attracted increasing attention for solving partial differential equations (PDEs), owing to their flexibility in handling irregular discretizations and their ability to capture long-range physical dependencies. However, unlike discrete language tokens or fixed-resolution image patches, observed physical fields are finite samples of underlying infinite-dimensional func… ▽ More Transformer architectures have attracted increasing attention for solving partial differential equations (PDEs), owing to their flexibility in handling irregular discretizations and their ability to capture long-range physical dependencies. However, unlike discrete language tokens or fixed-resolution image patches, observed physical fields are finite samples of underlying infinite-dimensional functions. Consequently, effectively applying Transformers to PDEs requires a tokenizer that respects the functional nature of physical fields and constructs physically expressive tokens from arbitrary discretizations.To this end, we propose \methodname{Physics Transformer}, a function-projection-based Transformer architecture for physical field prediction. Physics Transformer treats a physical field as a continuous function and partitions its discretization into locality-preserving spatial patches. Within each patch, it dynamically learns a set of adaptive local basis functions and projects the sampled field onto these bases to obtain compact physics tokens. The resulting tokens capture diverse latent physical states while preserving fine-scale spatial structures, enabling efficient global interaction through factorized attention across space and physical states. The projected representation further supports efficient decoding at arbitrary query locations. Extensive experiments on diverse benchmarks, ranging from two-dimensional PDE dynamics to industrial-scale three-dimensional CFD simulations, demonstrate that Physics Transformer accurately captures fine-grained physical structures and achieves state-of-the-art predictive performance. These results establish function projection as a practical and effective foundation for designing Transformer architectures for PDE solving. △ Less

Submitted 27 July, 2026; originally announced July 2026.

Comments: Original version. To be updated

ACM Class: I.2.6; G.1.8; J.2

RadioTrace: Transmitter-Aware Diffusion for Radio Map Estimation without Deployment-Time Fine-Tuning

Authors: Liu Yang, Qiang Li, Zhuo Cao, Weijie Xiong, Guomin Sun, Jingran Lin

Abstract: Radio map (RM) estimation aims to reconstruct the spatial distribution of wireless signal characteristics, such as received signal strength (RSS), from sparse measurements, a task that is critical for spectrum management, interference mitigation, and localization in modern wireless networks. Traditional approaches, including interpolation and deep learning, either struggle to capture complex propa… ▽ More Radio map (RM) estimation aims to reconstruct the spatial distribution of wireless signal characteristics, such as received signal strength (RSS), from sparse measurements, a task that is critical for spectrum management, interference mitigation, and localization in modern wireless networks. Traditional approaches, including interpolation and deep learning, either struggle to capture complex propagation effects or require large-scale retraining for each new sampling pattern, which limits their generalization. More recently, prior-based methods have combined pre-trained generative models with measurements to reduce the need for deployment-time model fine-tuning, but they typically treat the prior as a simple regularizer and lack explicit transmitter-aware integration. In this paper, we propose RadioTrace, a novel RM estimation framework without deployment-time fine-tuning that tightly integrates sparse RSS measurements with a frozen pre-trained diffusion prior. RadioTrace incorporates transmitter (Tx) location estimation directly into the denoising loop, iteratively refining Tx coordinates based on reconstruction quality to guide the generative process. To further enhance robustness, we introduce a propagation-guided K-means initialization that mitigates poor local minima in the Tx update and provides a geometry-consistent starting point. Moreover, we provide a stochastic stability analysis for the Tx-coordinate refinement component, showing that the Tx update remains stable under perturbations induced by diffusion sampling and Tx-map relaxation. Extensive experiments demonstrate that RadioTrace achieves competitive performance with state-of-the-art learning-based methods under random sampling, and maintains strong reconstruction quality under restricted-area sampling, highlighting its adaptability, robustness, and practical relevance. △ Less

Submitted 23 July, 2026; originally announced July 2026.

Comments: IEEE Trans. Wireless Comm

CODA: Algorithm-Hardware Co-design for Edge Video Diffusion via NMP-Enabled Compute-Cache Operator Disaggregation

Authors: Yuanpeng Zhang, YuXuan Wu, Yitong Xiao, Chenhao Xue, Yi Ren, Cong Li, Yihan Yin, Dimin Niu, Guangyu Sun

Abstract: Deploying Video Diffusion Models (VDMs) on edge devices is appealing for localized and privacy-preserving generation, but their iterative Transformer-based denoising remains too slow for practical local inference. Cross-Timestep Caching (CTC) has emerged as a promising direction for reducing redundant computation, reusing activations across adjacent denoising steps rather than modifying model weig… ▽ More Deploying Video Diffusion Models (VDMs) on edge devices is appealing for localized and privacy-preserving generation, but their iterative Transformer-based denoising remains too slow for practical local inference. Cross-Timestep Caching (CTC) has emerged as a promising direction for reducing redundant computation, reusing activations across adjacent denoising steps rather than modifying model weights, while largely preserving generation fidelity. However, on memory-constrained edge GPUs, CTC requires a massive cache footprint that quickly exceeds on-device VRAM and forces the cache into host memory. More fundamentally, cache operators remain tightly interleaved and chain-dependent with native compute operators, so naive near-memory offloading still incurs repeated PCIe exchanges for residual and fusion computations, turning cache reuse into a communication- and serialization-bound execution flow. We therefore propose CODA, an algorithm-hardware co-designed architecture centered on Compute-Cache Operator Disaggregation. CODA separates dense compute paths and memory-bound cache paths across the xPU and a lightweight DIMM-side near-memory engine, reorganizes fragmented cache activity into hardware-friendly coalesced segments, and exploits Classifier-Free Guidance (CFG) branch independence to overlap xPU compute with cache-side execution. Experiments show that CODA achieves up to 1.80x end-to-end speedup and 1.74x higher energy efficiency, while preserving competitive generation quality compared with a state-of-the-art caching algorithm. △ Less

Submitted 16 July, 2026; originally announced July 2026.

Comments: 15 pages, 14 figures, accepted to the 59th IEEE/ACM International Symposium on Microarchitecture (MICRO 2026)

Towards Human-like Physical Intelligence: Lifelong Vision-Language-Action Learning for Robotic Manipulation

Authors: Yao He, Gan Sun, Wenqi Liang, Fazeng Li, Yang Cong

Abstract: Similar to the natural capabilities of humans to sequentially learn new tasks, robots with Vision-Language-Action (VLA) models should possess lifelong learning ability to learn a new task when deployed in open-world environments. However, most recently proposed lifelong learning models aim to effectively learn the current task (plasticity) or maintain high accuracy on previous tasks (stability), w… ▽ More Similar to the natural capabilities of humans to sequentially learn new tasks, robots with Vision-Language-Action (VLA) models should possess lifelong learning ability to learn a new task when deployed in open-world environments. However, most recently proposed lifelong learning models aim to effectively learn the current task (plasticity) or maintain high accuracy on previous tasks (stability), while the plasticity-stability trade-off remains largely unsolved in robotic manipulation models. To address this fundamental challenge, we propose a cache-efficient lifelong Vision-Language-Action learning framework for robotic manipulation (i.e., LifelongVLA), which alleviates the plasticity-stability trade-off with a dual-timescale adaptation mechanism while achieving low-cost robotic deployment with a cache-efficient replay strategy. More concretely, we propose a dual-timescale LoRA gating module to decompose VLA adaptation into two lightweight pathways: a short-term adapter for plasticity and a long-term adapter for stable consolidation. These pathways are integrated via a task-aware gate, enabling explicit control of the plasticity-stability trade-off. In the skill replay phase, a cache-efficient stochastic replay strategy is proposed to preserve more balanced retention signals without full-trajectory storage. Finally, experiments show that LifelongVLA outperforms existing baselines, demonstrating efficient skill expansion, robust retention of learned manipulation behaviors, and reduced reliance on retraining for real-world deployment on an xArm robot. △ Less

Submitted 21 July, 2026; v1 submitted 16 July, 2026; originally announced July 2026.

RainDancer: RGB-Event Video Deraining with Rain-Oriented Spiking Dynamics

Authors: Kui Jiang, Runzhe Li, Zhaocheng Yu, Guanglu Sun, Junjun Jiang, Xianming Liu

Abstract: Video deraining aims to recover clean visual content from rainy videos for reliable perception under adverse weather. Existing methods mainly rely on RGB sequences and temporal redundancy, but RGB-only restoration remains ambiguous in dynamic rainy scenes, where rain streaks, textures, boundaries, motion, and occlusions may share similar visual patterns. Event cameras provide complementary motion-… ▽ More Video deraining aims to recover clean visual content from rainy videos for reliable perception under adverse weather. Existing methods mainly rely on RGB sequences and temporal redundancy, but RGB-only restoration remains ambiguous in dynamic rainy scenes, where rain streaks, textures, boundaries, motion, and occlusions may share similar visual patterns. Event cameras provide complementary motion-sensitive cues with high temporal resolution, but event streams also contain sensor noise and background-triggered responses, so direct RGB-Event fusion may introduce cross-modal interference. To address this issue, we propose RainDancer, a progressive RGB-Event video deraining framework based on a decompose-before-interact paradigm. The core idea is to separate rain and background components within each modality before cross-modal interaction. In the RGB branch, frame features are progressively decomposed into rain and background representations. In the event branch, a rain-oriented spiking neural network module captures sparse and bursty event dynamics associated with rain motion. Component-level fusion is then performed between semantically aligned representations for structure preservation and rain suppression. We further introduce event-domain supervision to regularize sparse event reconstruction, structural consistency, and gradient orientation. Experiments on synthetic and real RGB-Event video deraining datasets demonstrate superior quantitative performance, visual quality, and downstream perception robustness. Code is available at https://github.com/AE86-plus/RainDancer. △ Less

Submitted 15 July, 2026; originally announced July 2026.

Self in Space: Benchmarking Self-Awareness and Spatial Cognition in UAV Embodied Intelligence

Authors: Zhishan Zou, Guoyan Sun, Zhiwei Wei, Jiancheng Pan, Yujie Li, Mugen Peng, Wenjia Xu

Abstract: Autonomous UAV systems increasingly rely on multimodal large language models (MLLMs) to operate in complex real-world environments. Such embodied scenarios require not only understanding the surrounding space but also maintaining a coherent representation of the agent itself. However, existing UAV-oriented approaches and benchmarks remain largely environment-centric, primarily focusing on spatial… ▽ More Autonomous UAV systems increasingly rely on multimodal large language models (MLLMs) to operate in complex real-world environments. Such embodied scenarios require not only understanding the surrounding space but also maintaining a coherent representation of the agent itself. However, existing UAV-oriented approaches and benchmarks remain largely environment-centric, primarily focusing on spatial understanding tasks, with the agent's self-awareness remaining implicit. To address this gap, we introduce SIS-Bench, a benchmark for evaluating embodied spatial intelligence in UAV scenarios under a unified self-in-space formulation. SIS-Bench organizes evaluation along two complementary dimensions, space and self, and a three-level hierarchy of perception, memory, and reasoning. It contains 4,856 question--answer pairs across 13 tasks derived from 1,646 real-world UAV videos through a task-conditioned construction pipeline with expert verification. Extensive evaluations reveal that current MLLMs exhibit fundamental limitations in modeling dynamic and agent-centered processes. In particular, we observe a clear imbalance between spatial cognition and self-awareness, as well as a progressive performance degradation across cognitive levels. Motivated by these findings, we further explore a motion-aware representation that incorporates self-related dynamics through optical flow and visual feature fusion. Experimental results show that modeling agent motion consistently improves perception and memory performance, not only in spatial cognition but also in self-awareness, and generalizes to downstream UAV decision-making tasks. Our results highlight the importance of self-awareness for advancing embodied spatial intelligence, and provide both a new benchmark and empirical evidence for motion-aware self-in-space modeling. △ Less

Submitted 14 July, 2026; v1 submitted 14 July, 2026; originally announced July 2026.

Comments: Website:https://choucisan.github.io/publications/self-in-space ; Code:https://github.com/IntelliSensing/Self-in-Space

EMO: Energy Efficiency Modeling and Optimization for AI Workloads

Authors: Jiyu Luo, Shaoyu Chen, Jingwei Sun, Shengcai Liu, Ke Tang, Guangzhong Sun

Abstract: The massive energy consumption of GPU-accelerated AI workloads challenges sustainable computing. We observe that execution asynchrony (e.g., CPU-GPU, concurrent streams, multi-GPU) creates slack, allowing non-critical kernels to run at lower frequencies to save energy without impacting end-to-end latency. However, existing approaches fail to simultaneously achieve workload generality and fine-grai… ▽ More The massive energy consumption of GPU-accelerated AI workloads challenges sustainable computing. We observe that execution asynchrony (e.g., CPU-GPU, concurrent streams, multi-GPU) creates slack, allowing non-critical kernels to run at lower frequencies to save energy without impacting end-to-end latency. However, existing approaches fail to simultaneously achieve workload generality and fine-grained slack discovery, while high-fidelity modeling incurs prohibitive overhead. We present EMO, a lightweight framework exploiting these fine-grained opportunities. First, to identify where to optimize, EMO constructs a low-level dependency graph capturing asynchrony and performs what-if timing analysis to precisely identify slack windows. Second, to determine how to optimize, EMO introduces dependency-aware kernel packing. It aggregates kernels to preserve critical paths while collapsing redundant details, enabling high-fidelity latency-energy modeling with minimal profiling cost. Finally, EMO combines graph analysis and pack-level models to formulate energy optimization as a constrained combinatorial problem, efficiently solving for optimal frequency policies under given latency targets. Evaluations show EMO reduces energy consumption by 15%--28% with only 2%--5% performance loss and negligible overhead. △ Less

Submitted 14 July, 2026; originally announced July 2026.

Comments: 13 pages, 9 figures. Accepted to SC26

ABot-3DWorld 0: A Universal World Model to Explore Any 3D Space

Authors: Mingchao Sun, Luyang Tang, Yu Liu, Xu Yan, Zhan Li, Yunwei Zhang, Fei Yu, Zengye Ge, Yumin Liu, Jiacheng Zhang, Yongchang Zhang, Jiawei Zhang, Zhicheng Liu, Zhongxu Sun, Tianjian Ouyang, Wenzheng Chen, Shixing Yang, Nianfei Fan, Guodong Sun, Huan Li, Zheng Zhou, Yongze Li, Yingliang Peng, Mengmeng Du, Yuan Liu , et al. (12 additional authors not shown)

Abstract: We present ABot-3DWorld 0, a universal multimodal 3D world model that turns text, image, and video inputs into high-fidelity, explorable 3D worlds. At the heart of our framework is a unified Spatial Generative Primitive (SGP), a compact tuple of a high-quality panorama and a spatial point cloud that delivers an efficient description of any 3D space. Multimodal inputs are first lifted into this pri… ▽ More We present ABot-3DWorld 0, a universal multimodal 3D world model that turns text, image, and video inputs into high-fidelity, explorable 3D worlds. At the heart of our framework is a unified Spatial Generative Primitive (SGP), a compact tuple of a high-quality panorama and a spatial point cloud that delivers an efficient description of any 3D space. Multimodal inputs are first lifted into this primitive; a 3D-consistent panoramic video generator then explores the primitive along a planned trajectory; finally, our panoramic video reconstruction engine converts the generated video into a clean, photorealistic 3D Gaussian Splatting (3DGS) world. This pipeline covers two regimes: rich inputs (multi-view sets, casual video) are lifted into the SGP through a geometry-rigorous recovery that mirrors the observed scene, while a single image or sentence is completed generatively into a creative world. The result is one low-barrier engine for general 3D content creation that further anchors generated worlds to geographic points of interest, enabling map-native spatial exploration at consumer scale. Experiments show that ABot-3DWorld 0 sets the state of the art among open-source methods and demonstrates stronger scene fidelity than Marble under rich multimodal inputs. △ Less

Submitted 14 July, 2026; v1 submitted 13 July, 2026; originally announced July 2026.

Comments: Official Page: https://abot-world.amap.com/plaza

SLVMBench: Skill Learning from Video Memory

Authors: Yudong Yang, Guangzhi Sun, Yixuan Li, Chao Zhang

Abstract: We introduce Skill Learning from Video Memory (SLVMBench), the first benchmark that jointly evaluates whether video large language models (video-LLMs) can learn skills from long video memory and apply them to real-time tasks. SLVMBench presents models with 2-3 hour video streams that contain a tutorial video embedded in a stream of arbitrary irrelevant videos, resembling real-world human learning… ▽ More We introduce Skill Learning from Video Memory (SLVMBench), the first benchmark that jointly evaluates whether video large language models (video-LLMs) can learn skills from long video memory and apply them to real-time tasks. SLVMBench presents models with 2-3 hour video streams that contain a tutorial video embedded in a stream of arbitrary irrelevant videos, resembling real-world human learning practices. Video-LLMs are asked to apply the acquired skill to answer real-time questions about an ongoing video. Unlike long-video understanding benchmarks that emphasize passive comprehension and skill-learning benchmarks that rely on short, immediate demonstrations, SLVMBench tests the full pipeline of memorizing and extracting procedural knowledge, as well as transferring it to real-time tasks. Moreover, rigorous human annotations feature sub-second-level temporal calibration, manually engineered questions eliminating common-sense guessing, and collated tutorials to ensure coverage of the required skills. Evaluations on state-of-the-art proprietary and open-source video LLMs show that video-LLMs struggle substantially with learning and applying skill knowledge from videos. Moreover, performance degrades markedly when the skill knowledge is placed within a long video memory. These results reveal a key limitation of existing video LLMs and position SLVMBench as the first benchmark for studying real-time skill acquisition and application from long-context video memory. △ Less

Submitted 13 July, 2026; originally announced July 2026.

ShapeTalk: Combining Natural Language and Sketch for Time-Series Pattern Querying

Authors: Guoruizhe Sun, Yueqiao Chen, Emily Guo, Yutong Yao, Dongyu Liu

Abstract: Searching for time-series segments that match user-defined patterns is important in domains such as finance, climate science, and healthcare. However, existing visual query tools often struggle to support vague, composite, or fuzzy pattern descriptions, often requiring users to express their intent through precise sketches or rigid structured filters. We present ShapeTalk, a coordinated natural-la… ▽ More Searching for time-series segments that match user-defined patterns is important in domains such as finance, climate science, and healthcare. However, existing visual query tools often struggle to support vague, composite, or fuzzy pattern descriptions, often requiring users to express their intent through precise sketches or rigid structured filters. We present ShapeTalk, a coordinated natural-language and sketch-based querying system for univariate time-series pattern search. Rather than treating text and sketch as a fused input stream, ShapeTalk uses them as complementary representations of analytic intent: natural language supports semantic and compositional pattern descriptions, while sketching supports direct geometric refinement. The two modalities are linked through a shared visual context, editable feature representations, and synchronized result views, enabling users to move between text and sketch during iterative query formulation. At its core is an LLM-based semantic parsing pipeline that translates free-form natural-language queries into interpretable and editable shape-feature constraints. We evaluate ShapeTalk through two usage scenarios, a user study with failure-case analysis, and an assessment of the LLM-based semantic parsing pipeline. The results show that ShapeTalk supports effective time-series pattern search, with natural language serving as an accessible entry point and sketching providing a complementary mechanism for refinement and recovery when textual specifications are insufficient. △ Less

Submitted 8 July, 2026; originally announced July 2026.

Comments: 10 pages of main text, 2 pages of references, and 20 pages of appendices

Agentic-SecPBFT: Agentic AI-Driven Proactive Security Framework for Wireless PBFT Consensus in Mobile Ad-Hoc Networks

Authors: Haoxiang Luo, Yinqiu Liu, Ruichen Zhang, Guangyuan Liu, Gang Sun, Hongfang Yu, Zhu Han, Dong In Kim

Abstract: The standard Practical Byzantine Fault Tolerance (PBFT) protocol, designed for stable, wired environments, exhibits critical vulnerabilities when deployed in settings like mobile ad-hoc networks, thus making it susceptible to sophisticated threats such as Sybil attacks, Byzantine collusion, and message manipulation. Existing static defense mechanisms are ill-equipped to handle the intelligent and… ▽ More The standard Practical Byzantine Fault Tolerance (PBFT) protocol, designed for stable, wired environments, exhibits critical vulnerabilities when deployed in settings like mobile ad-hoc networks, thus making it susceptible to sophisticated threats such as Sybil attacks, Byzantine collusion, and message manipulation. Existing static defense mechanisms are ill-equipped to handle the intelligent and coordinated nature of these attacks. To address this challenge, this paper leverages the Agentic AI paradigm to build a distributed multi-agent system in which each consensus node is equipped with an intelligent agent. These agents employ a hierarchical Multi-Agent Deep Q-Network (MADQN) algorithm to learn and execute proactive security policies in real-time. By observing local network behavior, message consistency, and dynamically maintained reputation scores, the agents collaboratively identify suspicious behavior and recommend defensive actions under standard PBFT quorum and membership rules, thereby improving the integrity of the consensus process. We refer to the resulting framework as Agentic-SecPBFT. Then, we formally model key attack vectors and conduct extensive simulations. The results demonstrate that Agentic-SecPBFT reaches a 95.0% attack detection rate with a 1.8% false positive rate. Compared with mainstream PBFT variants, it achieves 3.1* higher throughput with 56% lower latency on average under 33% malicious nodes, offering a robust and adaptive security solution for decentralized wireless systems. △ Less

Submitted 3 July, 2026; originally announced July 2026.

STAC: Selective Spatiotemporal Aggregation and Compression for Video Reasoning Segmentation

Authors: Syed Ariff Syed Hesham, Yun Liu, Guolei Sun, Jing Yang, Henghui Ding, Xue Geng, Xudong Jiang

Abstract: Video reasoning segmentation demands pixel-accurate object tracking across hundreds of frames under complex natural language queries, producing dense spatiotemporal tokens whose quadratic self-attention cost makes long-video processing prohibitive. Existing methods address this through token compression, yet typically operate on encoder features lacking temporal context, constraining selection bef… ▽ More Video reasoning segmentation demands pixel-accurate object tracking across hundreds of frames under complex natural language queries, producing dense spatiotemporal tokens whose quadratic self-attention cost makes long-video processing prohibitive. Existing methods address this through token compression, yet typically operate on encoder features lacking temporal context, constraining selection before content redundancy can be reliably assessed. Informed compression requires contextual awareness, but acquiring that awareness at full resolution incurs the same quadratic cost compression aims to reduce. State-space models resolve this constraint, as their linear recurrence selectively conditions each token on temporal context at $\mathcal{O}(T)$ cost, producing representations where content redundancy becomes assessable. Building on this, Selective SpatioTemporal Aggregation and Compression (STAC) enriches features via decoupled bidirectional spatial and causal temporal scanning, leveraging recurrence-derived redundancy for hierarchical compression with adaptive thresholds optimised with segmentation objective. STAC achieves 85% token reduction and 1.8$\times$ speedup while surpassing compression-free baselines on reasoning segmentation benchmarks in a zero-shot streaming-compatible setting. Code is available \href{https://github.com/MCG-NKU/nku-video}{here}. △ Less

Submitted 2 July, 2026; originally announced July 2026.

Information-Regularized Attention for Visual-Centric Reasoning

Authors: Guohao Sun, Xiaofang Wang, Yash Patel, Mengchen Liu, Zhiqiang Tao, Praveen Krishnan

Abstract: Vision-language models (VLMs) have become a paradigm for multimodal learning, yet remain unstable due to object hallucination, weak visual grounding, and catastrophic forgetting after full-parameter instruction tuning. We claim these failures result from a lack of explicit control over visual representation learning during the standard next-token prediction objective. As a result, visual embedding… ▽ More Vision-language models (VLMs) have become a paradigm for multimodal learning, yet remain unstable due to object hallucination, weak visual grounding, and catastrophic forgetting after full-parameter instruction tuning. We claim these failures result from a lack of explicit control over visual representation learning during the standard next-token prediction objective. As a result, visual embeddings thus become passively optimized and prone to injecting redundant or spurious signals. To counter this, we introduce Information-Regularized Attention (IRA), a stochastic attention mechanism that explicitly regulates the amount of visual information injected into the hidden states of intermediate transformer layers. This local reparameterization translates uncertainty about visual representations into local noise that is independent across data points. Beyond evaluating model performance, we also quantify embedding properties, where IRA produces smoother curvature trajectories and suppresses attention-sink across all layers, indicating a more stable transformation of the visual signal. Our results suggest that stochastic attention is not merely a regularizer but a key contributor to representation learning in a generative architecture, offering a new direction for building more reliable VLMs. △ Less

Submitted 1 July, 2026; originally announced July 2026.

Comments: Accepted by ECCV 2026

TacGen: Touch Is a Necessary Dimension of Physical-World Representation -- Addressing Tactile Data Scarcity with Scalable Vision-to-Touch Alignment and Generation

Authors: Wanghao Ye, Aarosh Das, Sihan Chen, Yiting Wang, Bowei Tian, Guoheng Sun, Shwai He, Zheyu Shen, Ziyao Wang, Yexiao He, Zhaoyi Liu, Meng Liu, Yuning Zhang, Meng Feng, Ziyi Wang, Yilong Dai, Yifei Dong, Siyuan Peng, Zhenle Duan, Joshua Liu, Lang Xiong, Ang Li

Abstract: Touch resolves the physical-property ambiguity left by vision: exploratory contact recovers shape, texture, compliance, and material, and visuo-haptic object representations converge in ventral visual cortex. We ask whether representation learning can reproduce this grounding. TacGen mitigates the tactile-data scarcity bottleneck by combining pre-specified V+T contrastive alignment with a latent-s… ▽ More Touch resolves the physical-property ambiguity left by vision: exploratory contact recovers shape, texture, compliance, and material, and visuo-haptic object representations converge in ventral visual cortex. We ask whether representation learning can reproduce this grounding. TacGen mitigates the tactile-data scarcity bottleneck by combining pre-specified V+T contrastive alignment with a latent-space residual-MLP V->T generator that synthesizes tactile latents from RGB for tactile-data scaling. With matched DINOv2 backbones, splits, and probes, V+T improves matched V-only on mass (Delta R^2=+0.570), density (Delta acc=+0.067), hardness (+0.117), and uncertainty-banded force labels (Delta R^2=+0.281); all CIs exclude zero. The same representation lifts matched-capacity TACTO manipulation 0.246->0.979 while V-only capacity scaling accounts for only 4.5% of the gap, preserving 95.5%. The generator reaches cross-seed +0.589, with real tactile +0.585 inside the seed interval; the architecture comparison shows a 13pp downstream gap between reconstruction quality and representation utility. Across five-seed SSVTP/TVL reproductions, YCB-Sight transfer, three-backbone checks, permutation/random-feature controls, hash-verified manifests, and measured-force validation checks, the evidence supports the claim that touch supplies a necessary physical evidence channel for representations of contact-dependent properties. △ Less

Submitted 30 June, 2026; v1 submitted 27 June, 2026; originally announced June 2026.

Comments: 49 pages, 29 figures

Self-Evolving Agentic Image Restoration via Deliberate Planning and Intuitive Execution

Authors: Shuang Cui, Fan Ji, Guanglong Sun, Yufei Guo, Xiongxin Tang, Jiangmeng Li, Fanjiang Xu

Abstract: Real-world image restoration (IR) remains challenging due to complex and coupled degradations. While recent agentic IR frameworks leverage Large Language Models for flexible tool planning, they face two critical limitations. First, from a search scheme perspective, excessive reliance on greedy strategies fails to balance exploration and exploitation. Second, existing agentic systems underutilize i… ▽ More Real-world image restoration (IR) remains challenging due to complex and coupled degradations. While recent agentic IR frameworks leverage Large Language Models for flexible tool planning, they face two critical limitations. First, from a search scheme perspective, excessive reliance on greedy strategies fails to balance exploration and exploitation. Second, existing agentic systems underutilize information, exhibiting episodic amnesia. To address these challenges, we propose \textbf{Self-Evolving Agentic Image Restoration (SEAR)}, which formulates restoration as a sequential decision-making problem. Inspired by the dual-process theory, SEAR comprises an Intuitive Executor and a Deliberate Planner, respectively following the fast-thinking \textit{System 1} and slow-thinking \textit{System 2} principles. The Deliberate Planner employs Pruning-Aware Monte Carlo Tree Search for long-horizon reasoning, utilizing a hybrid no-reference reward and a Multimodal Large Language Model (MLLM)-based tournament to prevent metric exploitation. Complementarily, the Intuitive Executor leverages a self-evolving episodic memory indexed by degradation-aware state fingerprints. This mechanism distills expensive search trajectories into adaptive expertise, overcoming episodic amnesia while progressively amortizing cold-start exploration costs through memory reuse. Extensive experiments on synthetic and real-world benchmarks demonstrate its strong perceptual and quantitative performance. △ Less

Submitted 27 June, 2026; originally announced June 2026.

ComMem: Complementary Memory Systems for Test-Time Adaptation of Vision-Language Models

Authors: Guanglong Sun, Shuang Cui, Bo Lei, Liyuan Wang, Zihan Zhai, Hongwei Yan, Hang Su, Jun Zhu, Yi Zhong

Abstract: Test-time adaptation (TTA) of vision-language models (VLMs) is essential for their robust deployment in dynamic, real-world environments. However, existing TTA methods often adapt locally without accumulating knowledge over time, or operating within a single modality without exploiting VLMs' inherently multi-modal nature. Inspired by the \textbf{Com}plementary \textbf{Mem}ory systems of the biolog… ▽ More Test-time adaptation (TTA) of vision-language models (VLMs) is essential for their robust deployment in dynamic, real-world environments. However, existing TTA methods often adapt locally without accumulating knowledge over time, or operating within a single modality without exploiting VLMs' inherently multi-modal nature. Inspired by the \textbf{Com}plementary \textbf{Mem}ory systems of the biological brain, we propose \textbf{ComMem}, an innovative approach that mimics the distinct but cooperative roles of the hippocampus and neocortex to enable effective TTA for VLMs. ComMem consists of two key components: a fast-adapting detailed memory, akin to the hippocampus, that forms a dynamic visual cache from high-confidence test samples; and a slow-integrating abstract memory, akin to the neocortex, that continually refines global textual prototypes. For each test instance, ComMem jointly optimizes both memory systems to ensure cross-modal consistency. Extensive experiments on 15 benchmark datasets show that ComMem significantly outperforms state-of-the-art methods under both natural distribution shifts and cross-dataset generalization, offering a promising direction for enhancing VLMs' practical adaptability. △ Less

Submitted 26 June, 2026; originally announced June 2026.

Comments: A brain-inspired complementary memory framework leveraging fast visual caching and slow textual refinement for VLM test-time adaptation

Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?

Authors: Guoheng Sun, Kaixi Feng, Shwai He, Xiaochuan Gong, Yexiao He, Ziyao Wang, Zheyu Shen, Wanghao Ye, Ramana Rao Kompella, Gaowen Liu, Ang Li

Abstract: Vision-Language-Action (VLA) models enable instruction-driven robotic manipulation, but they inherit oversized language backbones from pretrained VLMs whose capacity far exceeds what is needed for short robotic instructions. This raises a basic question: how much of a VLA model is actually necessary for closed-loop control? In this work, we study architectural redundancy in VLA models by using tra… ▽ More Vision-Language-Action (VLA) models enable instruction-driven robotic manipulation, but they inherit oversized language backbones from pretrained VLMs whose capacity far exceeds what is needed for short robotic instructions. This raises a basic question: how much of a VLA model is actually necessary for closed-loop control? In this work, we study architectural redundancy in VLA models by using transformer block removal as a controlled intervention. We introduce \textbf{Drop-Then-Recovery (DTR)}, an analysis protocol that removes selected blocks from a pretrained VLA model and then fine-tunes the resulting model to measure whether the removed capacity was necessary for downstream control. To make this intervention reliable, we propose \textbf{GateProbe}, a one-shot virtual-gate sensitivity metric that ranks blocks by their contribution to the downstream action loss. Across multiple VLA architectures, manipulation benchmarks and even real-robot industrial scenarios, we find a strong asymmetry in post-removal recoverability: \ul{\textit{language backbones are highly redundant for standard robotic manipulation tasks, whereas vision and action pathways are substantially less tolerant to removal}}. On LIBERO, removing half of the LLM blocks even improves OpenVLA-OFT from 95.0% to 98.3% under the same downstream fine-tuning budget, and retaining only two language blocks still recovers baseline-level performance. These results suggest that current VLA benchmarks may exert limited pressure on deep language grounding and compositional instruction understanding, and that future VLA architectures should allocate capacity more deliberately across language, vision, and action components. The code is available at https://github.com/s1ghhh/VLADrop. △ Less

Submitted 26 June, 2026; originally announced June 2026.

video-SALMONN-R$^3$: Learning to ReWatch, ReAsk, and ReAnswer for Efficient Video Understanding

Authors: Yixuan Li, Guangzhi Sun, Yudong Yang, Chao Zhang

Abstract: Video large language models (LLMs) are often constrained by computation and memory budgets, leading them to use reduced frame rates and spatial resolutions, which may cause them to miss critical information for question answering (QA). A practical and efficient solution is a two-stage paradigm: first perform coarse video understanding to localize relevant segments, and then re-watch these segments… ▽ More Video large language models (LLMs) are often constrained by computation and memory budgets, leading them to use reduced frame rates and spatial resolutions, which may cause them to miss critical information for question answering (QA). A practical and efficient solution is a two-stage paradigm: first perform coarse video understanding to localize relevant segments, and then re-watch these segments at higher temporal or spatial fidelity. In this paper, we present video-SALMONN-R$^3$, the first end-to-end video-LLM that enables re-watch through reinforcement learning without relying on chain-of-thought (CoT) cold-start. This design removes the need for costly CoT data annotations and avoids CoT-based supervised fine-tuning (SFT), which can otherwise degrade the pretrained video understanding abilities. To address the mismatch between the reasoning-first behavior induced by re-watch and the answer-first tendency of pretrained video-LLMs, we propose a re-answer strategy, in which the model first produces a direct answer in the first watch and then refines it after re-watching. Finally, to improve question adherence during re-watching, we propose a re-ask mechanism that re-injects the query when revisiting localized segments. Experimental results show that video-SALMONN-R$^3$ consistently outperforms both the base model and the QA-SFT baseline, while surpassing prior re-watch-based approaches with significantly lower computational cost. Code, models, and data will be publicly released upon acceptance. △ Less

Submitted 9 July, 2026; v1 submitted 23 June, 2026; originally announced June 2026.

SkyChain Intelligence: A Blockchain-Secured Multi-Agent DRL Framework for Low-Altitude Embodied Artificial Intelligence

Authors: Haoxiang Luo, Tianqi Jiang, Ruichen Zhang, Yinqiu Liu, Gang Sun, Hongfang Yu, Abbas Jamalipour, Dong In Kim

Abstract: With the rapid development of the Low-Altitude Economy (LAE) ecosystem, Low-Altitude Embodied Artificial Intelligence (LAEAI) agents have become the core carriers of autonomous aerial services, thereby enabling dynamic Low-altitude Computility Networks (LACNets) for distributed computing resource sharing. However, resource-constrained LAEAI agents in decentralized LACNets face a fundamental trilem… ▽ More With the rapid development of the Low-Altitude Economy (LAE) ecosystem, Low-Altitude Embodied Artificial Intelligence (LAEAI) agents have become the core carriers of autonomous aerial services, thereby enabling dynamic Low-altitude Computility Networks (LACNets) for distributed computing resource sharing. However, resource-constrained LAEAI agents in decentralized LACNets face a fundamental trilemma of autonomy, security, and efficiency. Existing solutions primarily focus on either optimizing computational performance or enhancing security in isolation, failing to address the inherent trade-offs among trust, performance, and overhead in untrusted dynamic environments with malicious agents. To tackle this challenge, this paper proposes SkyChain Intelligence, a holistic framework that synergistically integrates agentic AI, consortium blockchain, and Multi-Agent Deep Reinforcement Learning (MADRL). We design a lightweight blockchain-based decentralized trust management system with a dynamic reputation mechanism and develop a hybrid-action-space MADDPG algorithm that embeds on-chain reputation scores into the reward function to jointly optimize offloading decisions, resource allocation, and drone 3D trajectories. Extensive simulations demonstrate that our framework outperforms state-of-the-art baselines in task completion latency and energy consumption, while achieving a 94.1% task completion rate in the baseline scenario and stable convergence within 300 training episodes. This work provides a viable path for building secure, autonomous, and efficient machine-to-machine computing ecosystems in the low-altitude domain. △ Less

Submitted 23 June, 2026; originally announced June 2026.

Uncertainty-based Debiasing and Unlearning for Decontamination

Authors: Guangzhi Sun, Xiao Zhan, Mark Gales

Abstract: Benchmark-based evaluation is the dominant paradigm for assessing large language model (LLM) capabilities, yet data contamination inflates reported performance and undermines fair comparison. Existing decontamination methods are evaluated solely through aggregate accuracy, which can obscure substantial differences in per-sample model behaviour, and many require access to an uncontaminated model. I… ▽ More Benchmark-based evaluation is the dominant paradigm for assessing large language model (LLM) capabilities, yet data contamination inflates reported performance and undermines fair comparison. Existing decontamination methods are evaluated solely through aggregate accuracy, which can obscure substantial differences in per-sample model behaviour, and many require access to an uncontaminated model. In this paper, we propose a sample-level evaluation framework for decontamination that complements accuracy-based assessment with distributional distance metrics, measuring how closely a decontaminated model recovers the output distribution of an uncontaminated model on each sample. Building on this framework, we introduce Uncertainty-Based Decontamination (UBD), a family of methods that leverage deep ensembles of the contaminated model to estimate per-sample memorization without requiring a uncontaminated model or knowledge of which samples are contaminated. UBD estimates a per-sample correction scalar from ensemble uncertainty, which is used to construct a debiased target distribution that suppresses the inflated probability mass on correct answers induced by contamination. This target is then used either as a post-hoc output correction (debiasing) or as a soft training signal for parameter update (unlearning). Experiments on MMLU-Pro and MATH-MCQA across multiple LLM backbones demonstrate that UBD produces per-sample output distributions substantially closer to those of an uncontaminated model than paraphrasing or choice-permutation baselines, while preserving model performance on uncontaminated data. △ Less

Submitted 22 June, 2026; originally announced June 2026.

Do Generative Recommenders Deepen the Information Cocoon? A Closed-Loop Simulation with LLM-powered User Simulators

Authors: Jiyuan Yang, Gengxin Sun, Mengqi Zhang, Lingjie Wang, Yuanzi Li, Hongxi Cui, Xin Xin, Pengjie Ren

Abstract: Recommender systems alleviate information overload, yet repeated feedback between recommendations and user interactions can reinforce existing preferences and narrow users' exposure, forming information cocoons. While this phenomenon has been widely studied in traditional sequential recommendation, its impact on generative recommendation remains unclear. By replacing atomic item IDs with Semantic… ▽ More Recommender systems alleviate information overload, yet repeated feedback between recommendations and user interactions can reinforce existing preferences and narrow users' exposure, forming information cocoons. While this phenomenon has been widely studied in traditional sequential recommendation, its impact on generative recommendation remains unclear. By replacing atomic item IDs with Semantic ID (SID) sequences, generative recommenders introduce a different recommendation mechanism whose role in information cocoon formation is not yet understood. To investigate whether generative recommenders deepen information cocoons, we propose \textsc{RecLoop}, a closed-loop simulation framework with LLM-driven user agents. We compare two generative recommenders and two traditional sequential baselines on two Amazon datasets across multiple feedback cycles. In addition to standard exposure-level metrics, we introduce \emph{Code-Space Structural Cocoon}, a model-level metric that measures concentration in the generated SID space. Experimental results show that generative recommenders are generally less prone to exposure-level cocoon formation than traditional baselines, preserving broader exposure diversity and slowing cross-user homogenization. However, feedback loops can still induce concentration within the generated SID space. We further find that cocoon severity depends strongly on tokenization strategy and model scale: collaborative-signal tokenization produces stronger cocoon effects than semantic tokenization, whereas larger models maintain greater code-space diversity and better retain access to niche content. These findings suggest that information cocoons in generative recommendation are shaped not only by recommendation behavior, but also by item tokenization and model capacity. Our code is available at https://github.com/Dregen-Yor/RecLoop. △ Less

Submitted 16 June, 2026; originally announced June 2026.

DCP-Prune: Ultra-Low Token Pruning with Distribution Consistency Preservation

Authors: Xifeng Xue, Xiaokang Wang, Zirui Li, Ming-Ming Cheng, Guolei Sun

Abstract: Recent vision token pruning methods effectively preserve model performance under moderate token budgets but become unstable under ultra-low token budget. Our analysis shows that as the pruning budget decreases, accuracy degradation is often accompanied by larger feature distribution shifts. Critically, the degree of this distribution shift strongly correlates with performance degradation. To bette… ▽ More Recent vision token pruning methods effectively preserve model performance under moderate token budgets but become unstable under ultra-low token budget. Our analysis shows that as the pruning budget decreases, accuracy degradation is often accompanied by larger feature distribution shifts. Critically, the degree of this distribution shift strongly correlates with performance degradation. To better characterize this phenomenon, we introduce a lightweight distribution consistency metric to estimate the distribution shift between retained and full tokens. Motivated by these observations, we propose a two-stage pruning framework consisting of Anchor-Context Graph Recovery (ACGR) and Text-Aware Token Cluster Selection (TATCS). Specifically, ACGR transfers contextual information before token removal, while TATCS dynamically re-selects representative tokens when severe distribution shift is detected. Extensive experiments demonstrate that our method achieves superior and more stable performance under ultra-low token budget. Notably, it retains 92.1% of the upper-bound average performance on LLaVA-1.5-7B with only 16 visual tokens. △ Less

Submitted 15 June, 2026; originally announced June 2026.

Comments: The code will be released at: https://github.com/EMVision-NK/DCP-Prune

Conditional Multi-Event Temporal Grounding in Long-Form Video

Authors: Yuanhao Zou, Arthad Kulkarni, Lucas Tonanez, Lincoln Spencer, Guangyu Sun, Tianxingjian Ding, Andong Deng, Yi Li, Shuangjun Liu, Yuan Li, Dashan Gao, Ning Bi, Taotao Jing, Shuai Zhang, Chen Chen

Abstract: Multimodal large language models have made rapid progress in video temporal grounding, yet real-world applications routinely require localizing every event that satisfies compositional temporal and spatial conditions. Existing benchmarks fall short: they localize only a single moment per query, count without temporal conditions, or treat grounding and counting as disjoint tasks. We introduce CoMET… ▽ More Multimodal large language models have made rapid progress in video temporal grounding, yet real-world applications routinely require localizing every event that satisfies compositional temporal and spatial conditions. Existing benchmarks fall short: they localize only a single moment per query, count without temporal conditions, or treat grounding and counting as disjoint tasks. We introduce CoMET-Bench for Conditional Multi-Event Temporal Grounding in long-form video, comprising 2789 queries over 600 videos averaging 33.8 minutes across five real-world domains, with each query composed from 4 temporal conditions, 3 spatial conditions, and a dedicated negative-query subset. We further propose a unified evaluation protocol jointly measuring counting, grounding, and negative-query recognition, including a new Rejection-F1 metric that prevents trivial gaming by lazy "always-empty" models. Benchmarking a broad suite of MLLMs, agent-based, and grounding-specialized methods reveals that existing approaches remain far from solving this task. Building on these findings, we propose CoMET-Agent, a training-free agentic framework that reformulates the task as structured search-and-aggregate, improving F1@0.5 by 6.1% over GPT-5 purely through structural reasoning. Failure analysis further surfaces three open directions: fine-grained entity tracking, position-uniform retrieval, and causal event pairing. △ Less

Submitted 13 June, 2026; originally announced June 2026.

Isolation-aware Scheduling Framework for DNN-based End-to-End Autonomous Driving System on Tile-based Accelerators

Authors: Chenguang Zhang, Yuanpeng Zhang, Chenhao Xue, Yihan Yin, Chen Zhang, Guangyu Sun

Abstract: Level-4+ autonomous driving systems (ADS) must run dozens of heterogeneous deep neural networks (DNNs) as end-to-end (E2E) pipelines under a strict latency constraint (<=100 ms), even as execution time varies by up to 3.3x. Cost rules out dedicating isolated hardware to each function in mass-produced ADS, so these DNNs must be densely colocated on a single chip, which introduces shared-resource co… ▽ More Level-4+ autonomous driving systems (ADS) must run dozens of heterogeneous deep neural networks (DNNs) as end-to-end (E2E) pipelines under a strict latency constraint (<=100 ms), even as execution time varies by up to 3.3x. Cost rules out dedicating isolated hardware to each function in mass-produced ADS, so these DNNs must be densely colocated on a single chip, which introduces shared-resource contention. Tile-based accelerators expose two scheduling opportunities that conventional ADS schedulers do not exploit. First, they provide a tunable degree of parallelism (DoP): assigning more tiles raises DoP and can shorten DNN execution time. Second, they provide hardware-native isolation: tiles can be physically partitioned among co-located DNNs. But using this flexibility is expensive: changing a task's DoP triggers a stop-migrate-restart reallocation of its weights and intermediate features. At ADS task rates of 10-240 Hz, these stalls accumulate along E2E chains and threaten deadlines. Reservation-based schedulers fix DoP and leave this flexibility unused; work-conserving schedulers exploit it but assume reallocation is cheap and treat deadlines as independent. We present ADS-Tile that combines configurable isolation and elastic reservation into a spatio-temporal isolation-sharing space that bounds where and when reallocation occurs; a probabilistic latency model and a DAG-aware runtime scheduler then use this space to decide task colocation and DoP under shared E2E deadlines. On an industry- and academia- derived ADS benchmark, ADS-Tile uses up to 32% fewer tiles than the work-conserving baseline in deadline-critical settings and cuts reallocation-induced wasted processing capacity from 17%-44% to below 1.2%. Controlled spatio-temporal sharing improves resource efficiency and latency predictability for tile-based ADS. △ Less

Submitted 8 June, 2026; originally announced June 2026.

Comments: Accepted by IEEE Transactions on Computers

A multi-agent system for spine MRI report generation from multi-sequence imaging

Authors: Zhiping Xiao, Junwei Yang, Gongbo Sun, Han Zhang, Hanwen Xu, Yi Yao, Zachary D. Miller, William E. King III, Mohammed M. Kanani, Jalal B. Andre, Sammy Chu, Ming Zhang, Paul E. Kinahan, Nathan M. Cross, Sheng Wang

Abstract: Spinal pathology is a leading cause of pain and disability worldwide. Spine MRI is central to clinical evaluation, yet its interpretation remains complex and time-consuming, requiring integration of information across multiple imaging sequences and anatomical regions. Despite recent advances in automated MRI analysis, effectively combining multi-sequence data while preserving sequence-specific dia… ▽ More Spinal pathology is a leading cause of pain and disability worldwide. Spine MRI is central to clinical evaluation, yet its interpretation remains complex and time-consuming, requiring integration of information across multiple imaging sequences and anatomical regions. Despite recent advances in automated MRI analysis, effectively combining multi-sequence data while preserving sequence-specific diagnostic information remains an open challenge. Here we present SpineAgent, a multi-agent framework for spine MRI report generation built upon a multi-sequence foundation model trained on routine clinical data from 32,047 patients and 453,683 MRI series, comprising a total of 13,441,191 MRI slices. To accommodate diverse modalities of sequences, we first pre-train two DINOv3-based encoders separately on T1- and T2-weighted sequences. We then introduce a continual training strategy that learns a synthesizer to embed images of other sequences using the T1 and T2 encoders, producing patient-level embedding that integrates various signals across MRI sequences. Using these embeddings, SpineAgent achieves state-of-the-art performance, and demonstrates strong generalizability under cross-manufacturer and cross-cohort evaluation. Beyond classification, SpineAgent enables pathology localization by identifying findings-relevant slices and segmenting pathological regions. It also supports multimodal image-report retrieval, providing a solid foundation for scalable and explainable MRI report generation. We further integrate these validated capabilities of SpineAgent into 37 specialized agents. Finally, we incorporate their outputs as structured tokens within a Medical Report Agent trained end-to-end for report generation. Through both automated metrics and expert evaluation by five radiologists, SpineAgent achieves leading performance in spine MRI report generation. △ Less

Submitted 7 June, 2026; originally announced June 2026.

MSC Class: 68T07 ACM Class: J.3; I.2.1

OmniMem: Perturbation-aware Memory Compression for Streaming Audio-Visual LLMs

Authors: Guangzhi Sun, Yixuan Li, Yudong Yang, Chao Zhang

Abstract: Audio-visual large language models (LLMs) hold strong promise for long-form video understanding, yet their long-video inference is fundamentally limited by the linear growth of video tokens and key-value (KV) caches. We present OmniMem, a memory-efficient streaming framework designed specifically for audio-visual LLMs. Unlike existing compression methods that treat all tokens uniformly, OmniMem in… ▽ More Audio-visual large language models (LLMs) hold strong promise for long-form video understanding, yet their long-video inference is fundamentally limited by the linear growth of video tokens and key-value (KV) caches. We present OmniMem, a memory-efficient streaming framework designed specifically for audio-visual LLMs. Unlike existing compression methods that treat all tokens uniformly, OmniMem introduces a modality-aware memory allocation strategy that separately manages visual and audio contexts, addressing the severe token imbalance between the two modalities. OmniMem further preserves informative and non-redundant KV states through perturbation-aware memory selection, enabling compact memory without sacrificing long-range understanding. To strengthen compression under realistic deployment constraints, we also explore budget-aware fine-tuning, which encourages the model to consolidate useful information into retained memory. Experiments on VideoMME Long, LVBench, and LVOmniBench with video-SALMONN 2+ and Qwen-2.5-Omni show that OmniMem consistently improves over strong training-free compression baselines by 2-4% absolute accuracy under the same memory budgets, with an additional 1-2% gain after fine-tuning. △ Less

Submitted 26 May, 2026; originally announced June 2026.

Comments: Code: https://github.com/bytedance/SALMONN/tree/omni_mem

L-SDPPO: Policy Optimization of Spiking Diffusion Policy for Intra-vehicular Robotic Manipulation

Authors: Liwen Zhang, Dong Zhou, Guanghui Sun, Yifei Zheng, Yuhui Hu, Kaihong Ouyang, Zuoquan Zhao

Abstract: Intra-vehicular robots in spacecraft help reduce astronaut workload and improve mission efficiency. Recent research focuses on using deep learning methods to achieve the acute control required for operations in these complex environments. However, objects exhibit unpredictable, unconstrained drift without gravitational damping. These factors demand robustness against complex multimodal action dist… ▽ More Intra-vehicular robots in spacecraft help reduce astronaut workload and improve mission efficiency. Recent research focuses on using deep learning methods to achieve the acute control required for operations in these complex environments. However, objects exhibit unpredictable, unconstrained drift without gravitational damping. These factors demand robustness against complex multimodal action distributions. Diffusion policies (DP) can model these complex actions, but their iterative sampling process consumes too much energy for the limited power budgets of spacecraft. We therefore propose a low-energy intra-vehicular robotic manipulation framework, L-SDPPO, in which the Spiking Diffusion Policy (SDP) is optimized with a reinforcement learning (RL) algorithm. Furthermore, to address the insufficient perception of dynamic spatiotemporal features in microgravity, we propose the statedependent latency injection (SDLI) mechanism, which mimics biological neural delays to dynamically regulate the timing of input information. Evaluation on five representative intra-vehicular daily tasks (e.g., hatch opening and precision container capping) shows that our method consistently achieves higher success rates and lower energy consumption, compared to the state-of-the-art robotic manipulation methods. These results demonstrate our method is a viable intra-vehicular robotic manipulation method. △ Less

Submitted 4 June, 2026; originally announced June 2026.

Airy Beam Dispersion in Near-Field Wideband Terahertz Communications

Authors: Yongchao Qu, Wanming Hao, Gangcan Sun

Abstract: This letter investigates Airy beam dispersion in near-field wideband terahertz communications. Unlike conventional focusing beams, whose dispersion mainly appears as focal-point migration, Airy beams exhibit frequency-dependent shifts of both the reference focusing point and the self-bending main-lobe trajectory. Based on the Fresnel diffraction integral, a closed-form trajectory expression is der… ▽ More This letter investigates Airy beam dispersion in near-field wideband terahertz communications. Unlike conventional focusing beams, whose dispersion mainly appears as focal-point migration, Airy beams exhibit frequency-dependent shifts of both the reference focusing point and the self-bending main-lobe trajectory. Based on the Fresnel diffraction integral, a closed-form trajectory expression is derived to characterize the dispersion behavior across subcarriers. Furthermore, a true-time-delay (TTD)-assisted Airy beamforming structure is developed to actively control the trajectory dispersion. By properly designing the time delay parameters, the proposed scheme can either generate frequency-dependent curved trajectory clusters for sensing-oriented scanning or suppress trajectory drift for reliable communication. △ Less

Submitted 22 May, 2026; originally announced June 2026.

Comments: 5 pages, 8 figures. Submitted to IEEE Transactions on Vehicular Technology

When Are Multimodal Predictions Biologically Supported? A Diagnostic Evaluation Framework

Authors: Dylan Steiner, Gustavo Arango-Argoty, Gerald Sun, Etai Jacob

Abstract: Multimodal models in oncology can produce accurate predictions, but accurate prediction does not reveal whether the model has learned biology that is shared across modalities, biology confined to one modality, or spurious correlations that reflect confounders rather than genuine biology. We introduce DECAT, a model-agnostic post-hoc evaluation framework that classifies multimodal representations i… ▽ More Multimodal models in oncology can produce accurate predictions, but accurate prediction does not reveal whether the model has learned biology that is shared across modalities, biology confined to one modality, or spurious correlations that reflect confounders rather than genuine biology. We introduce DECAT, a model-agnostic post-hoc evaluation framework that classifies multimodal representations into four diagnostic scenarios for a given task and modality, using five null-referenced metrics and a rule-based decision procedure. The framework operates on learned representations, requires no knowledge of which specific confounder is present, and returns indeterminate when the evidence is insufficient. We validate DECAT on synthetic data across four multimodal model classes (over 2,500 trained representations) and on real data from 8,979 TCGA patients, evaluating both multimodal embeddings and five pretrained pathology foundation models. Entangled models (e.g., CLIP) achieve near-perfect shared biology detection but falsely claim shared biology in the majority of cases where it is absent on real foundation model embeddings. This false claim rate increases with confound strength so that larger cohorts and stronger representations produce more confident but still incorrect diagnoses. Applied to both multimodal TCGA embeddings and five pathology foundation models without paired RNA, DECAT detects confounding invisible to AUROC without requiring the confounder labels, as confirmed by post-hoc stratification. △ Less

Submitted 29 May, 2026; originally announced May 2026.

Image Feature Fusion-based Federated Client Unlearning (FCU)

Authors: Hangyi Shen, Yizhi Pan, Tiansuo Li, Weiqi Jiang, Guanqun Sun

Abstract: Major data protection regulations all mention the "right to be forgotten," and that's what pushed federated unlearning (FU) techniques forward. But one stubborn issue remains: catastrophic forgetting--you erase the target knowledge, yet somehow you also end up throwing out essential retained knowledge, which then hurts the model's global generalization. To get a better balance between unlearning… ▽ More Major data protection regulations all mention the "right to be forgotten," and that's what pushed federated unlearning (FU) techniques forward. But one stubborn issue remains: catastrophic forgetting--you erase the target knowledge, yet somehow you also end up throwing out essential retained knowledge, which then hurts the model's global generalization. To get a better balance between unlearning effectiveness and generalization ability, we propose something called Image Feature Fusion-based Federated Client Unlearning (IFF-FCU). The idea is to bring in a linear Image Feature Fusion mechanism (Mixup) that dynamically creates mixed samples, bridging the gap between forget-distribution and retain-distribution. What this strategy does isn't just deleting a few discrete data points--it theoretically widens and regularizes the forgetting boundary. We ran extensive experiments on medical imaging benchmarks (RSNA-ICH and ISIC2018), and the results show that our approach achieves reasonably good unlearning. For instance, on the ICH dataset, IFF-FCU achieves a highly competitive Error deviation from the retrained gold standard, demonstrating robust improvements over existing baselines. △ Less

Submitted 26 May, 2026; originally announced May 2026.

RePlan-Bot: Multi-Level Replanning for Embodied Instruction Following

Authors: Xicheng Gong, Guozheng Sun, Peiran Xu, Yadong Mu

Abstract: Embodied instruction following (EIF) requires agents to understand and execute complex natural language commands within interactive 3D environments. Despite recent advances, existing methods often fail in long-horizon planning and handling irreversible state changes, resulting in low task success rates. To address these challenges, we introduce RePlan-Bot, a novel EIF agent that performs multi-lev… ▽ More Embodied instruction following (EIF) requires agents to understand and execute complex natural language commands within interactive 3D environments. Despite recent advances, existing methods often fail in long-horizon planning and handling irreversible state changes, resulting in low task success rates. To address these challenges, we introduce RePlan-Bot, a novel EIF agent that performs multi-level, continuous replanning throughout task execution. RePlan-Bot integrates a high-level LLM-based auditor for dynamic sub-goal adjustments guided by environmental feedback, a commonsense-guided search mechanism based on a multi-layered instance map for precise and structured object localization, and a lightweight ViT-based corrector to preemptively fix risky low-level actions. Evaluated on the ALFRED benchmark, RePlan-Bot achieves state-of-the-art performance in both seen and unseen environments, demonstrating superior adaptability and reliability. △ Less

Submitted 25 May, 2026; originally announced May 2026.

Comments: 10 pages

Leveraging Large Language Models for Sentiment Analysis: Multi-Modal Analysis of Decentraland's MANA Token

Authors: Xintong Wu, Peiting Tsai, Jing Yuan, Michael Yu, Greg Sun, Luyao Zhang

Abstract: Decentraland, a decentralized virtual reality platform operating within the expanding Metaverse ecosystem, utilizes its native MANA token to facilitate virtual asset transactions and governance. This study investigates the integration of Discord community sentiment with multi-modal financial data to enhance cryptocurrency price prediction within virtual world economies. We address: (1) identifying… ▽ More Decentraland, a decentralized virtual reality platform operating within the expanding Metaverse ecosystem, utilizes its native MANA token to facilitate virtual asset transactions and governance. This study investigates the integration of Discord community sentiment with multi-modal financial data to enhance cryptocurrency price prediction within virtual world economies. We address: (1) identifying sentiment patterns within Decentraland's Discord community, and (2) evaluating the impact of multi-modal features on token return forecasting. Using a BERT-based large language model for sentiment analysis, we develop two LSTM architectures: a baseline incorporating historical prices and a multi-modal variant integrating sentiment scores, trading volume, and market capitalization. Results indicate predominantly neutral community sentiment with a positive skew. The multi-modal model significantly outperforms the price-only baseline in prediction accuracy. These findings demonstrate the predictive value of community-derived signals for virtual economy forecasting and establish a foundation for future research at the intersection of immersive virtual environments, natural language processing, and cryptocurrency market analysis. △ Less

Submitted 4 April, 2026; originally announced May 2026.

Breaking Modality Heterogeneity in Low-Bit Quantization for Large Vision-Language Models

Authors: Yi Zhong, Haotong Qin, Xindong Zhang, Lei Zhang, Guolei Sun

Abstract: Low-bit post-training quantization (PTQ) is a pivotal technique for deploying Vision-Language Models (VLMs) on resource-constrained devices. However, existing PTQ methods often degrade VLMs' accuracy due to the heterogeneous activation distributions of text and vision modalities during quantization. We find that this cross-modal heterogeneity is distributed unevenly across channels: a small subset… ▽ More Low-bit post-training quantization (PTQ) is a pivotal technique for deploying Vision-Language Models (VLMs) on resource-constrained devices. However, existing PTQ methods often degrade VLMs' accuracy due to the heterogeneous activation distributions of text and vision modalities during quantization. We find that this cross-modal heterogeneity is distributed unevenly across channels: a small subset of channels contains most modality-specific outliers, and these outliers typically reside in different channels for each modality. Motivated by this, we propose SplitQ, a channel-Splitting-driven post-training Quantization framework. At its core, SplitQ introduces a novel Modality-specific Outlier Channel Decoupling (MOCD) module that effectively isolates salient modality-specific outlier channels with minimal overhead. To further address the remaining cross-modal distribution discrepancies, we design an Adaptive Cross-Modal Calibration (ACC) module that employs dual lightweight learnable branches to dynamically mitigate modality-induced quantization errors. Extensive experiments on popular VLMs demonstrate that SplitQ significantly outperforms existing approaches across 6 popular multi-modal datasets under all evaluated quantization settings, including W4A8, W4A4, W3A3, and W3A2. Notably, SplitQ preserves 93.5% of FP16 performance under the challenging W3A3 setting (69.5 vs. 74.3), pushing the efficiency frontier for deploying advanced VLMs. Our code is available at https://github.com/EMVision-NK/SplitQ △ Less

Submitted 19 May, 2026; originally announced May 2026.

Extending CDCL to disjunctions of parity equations

Authors: Paul Beame, Glenn Sun

Abstract: Because CDCL produces proofs in the Resolution proof system, problems provably hard for Resolution are also provably hard for CDCL. Exponentially shorter proofs can sometimes be found using stronger proof systems such as $\text{Res}(\oplus)$, a generalization of Resolution to XNF formulas, whose constraints are disjunctions of parity equations ("linear clauses") such as… ▽ More Because CDCL produces proofs in the Resolution proof system, problems provably hard for Resolution are also provably hard for CDCL. Exponentially shorter proofs can sometimes be found using stronger proof systems such as $\text{Res}(\oplus)$, a generalization of Resolution to XNF formulas, whose constraints are disjunctions of parity equations ("linear clauses") such as $(x \oplus y) \lor \lnot (y \oplus z)$. While some modern solvers like CryptoMiniSAT reason on Boolean clauses with separate parity equations, reasoning about more general linear clauses is less explored. We present $\text{CDCL}(\oplus)$, a generalization of CDCL to XNF formulas, and prove a bidirectional connection with $\text{Res}(\oplus)$: $\text{CDCL}(\oplus)$ not only produces $\text{Res}(\oplus)$ proofs, but also polynomially simulates $\text{Res}(\oplus)$ given nondeterministic decisions and restarts, mirroring the classical relationship between CDCL and Resolution. Our key technical tool is a new set of inference rules for $\text{Res}(\oplus)$ that helps us translate Resolution-based subroutines such as 1-UIP clause learning. Altogether, $\text{CDCL}(\oplus)$'s parity reasoning includes branching on arbitrary parity equations, linear-algebraic reasoning during unit propagation, and learning linear clauses through conflict analysis. We provide a proof-of-concept implementation of $\text{CDCL}(\oplus)$ called Xorcle, which includes adaptations of existing CDCL heuristics to XNF formulas and an extension of LRUP proof logging that we call $\text{LRUP}(\oplus)$. On a selected suite of benchmarks focusing on native XNF formulas, Xorcle outperforms existing solvers such as Kissat and CryptoMiniSAT. Additionally, on Tseitin formulas written in CNF, even without preprocessing, Xorcle's running time appears to scale nearly polynomially. △ Less

Submitted 14 May, 2026; originally announced May 2026.

Comments: 28 pages, 5 figures. This is the extended version of an article to appear in SAT'26 (29th International Conference on Theory and Applications of Satisfiability Testing)

DRIFT: A Benchmark for Task-Free Continual Graph Learning with Continuous Distribution Shifts

Authors: Guiquan Sun, Xikun Zhang, Jingchao Ni, Dongjin Song

Abstract: Continual graph learning (CGL) aims to learn from dynamically evolving graphs while mitigating catastrophic forgetting. Existing CGL approaches typically adopt a task-based formulation, where the data stream is partitioned into a sequence of discrete tasks with pre-defined boundaries. However, such assumptions rarely hold in real-world environments, where data distributions evolve continuously and… ▽ More Continual graph learning (CGL) aims to learn from dynamically evolving graphs while mitigating catastrophic forgetting. Existing CGL approaches typically adopt a task-based formulation, where the data stream is partitioned into a sequence of discrete tasks with pre-defined boundaries. However, such assumptions rarely hold in real-world environments, where data distributions evolve continuously and task identity is often unavailable. To better reflect realistic non-stationary environments, we revisit continual graph learning from a task-free perspective. We propose a unified formulation that models the data stream as a time-varying mixture of latent task distributions, enabling continuous modeling of distribution drift. Based on this formulation, we construct \emph{DRIFT}, a benchmark that spans a spectrum of transition dynamics ranging from hard task switches to smooth distributional drift through a Gaussian parameterization. We evaluate representative continual learning methods under this task-free setting and observe substantial performance degradation compared to traditional task-based protocols. Our findings indicate that many existing approaches implicitly rely on task boundary information and struggle under realistic task-free graph streams. This work highlights the importance of studying continual graph learning under realistic non-stationary conditions and provides a benchmark for future research in this direction. Our code is available at https://github.com/UConn-DSIS/DRIFT. △ Less

Submitted 27 June, 2026; v1 submitted 13 May, 2026; originally announced May 2026.

Comments: 20 pages, 5 figures

Learning to Foresee: Unveiling the Unlocking Efficiency of On-Policy Distillation

Authors: Yuchen Cai, Ding Cao, Liang Lin, Chunxi Luo, Xin Xu, Kai Yang, Weijie Liu, Saiyong Yang, Tianxiang Zhao, Guangzhong Sun, Guiquan Liu, Junfeng Fang

Abstract: On-policy distillation (OPD) has emerged as an efficient post-training paradigm for large language models. However, existing studies largely attribute this advantage to denser and more stable supervision, while the parameter-level mechanisms underlying OPD's efficiency remain poorly understood. In this work, we argue that OPD's efficiency stems from a form of ``foresight'': it establishes a stable… ▽ More On-policy distillation (OPD) has emerged as an efficient post-training paradigm for large language models. However, existing studies largely attribute this advantage to denser and more stable supervision, while the parameter-level mechanisms underlying OPD's efficiency remain poorly understood. In this work, we argue that OPD's efficiency stems from a form of ``foresight'': it establishes a stable update trajectory toward the final model early in training. This foresight manifests in two aspects. First, at the \textbf{Module-Allocation Level}, OPD identifies regions with low marginal utility and concentrates updates on modules that are more critical to reasoning. Second, at the \textbf{Update-Direction Level}, OPD exhibits stronger low-rank concentration, with its dominant subspaces aligning closely with the final update subspace early in training. Building on these findings, we propose \textbf{EffOPD}, a plug-and-play acceleration method that speeds up OPD by adaptively selecting an extrapolation step size and moving along the current update direction. EffOPD requires no additional trainable modules or complex hyperparameter tuning, and achieves an average training acceleration of $3\times$ while maintaining comparable final performance. Overall, our findings provide a parameter-dynamics perspective for understanding the efficiency of OPD and offer practical insights for designing more efficient post-training methods for large language models. △ Less

Submitted 21 May, 2026; v1 submitted 12 May, 2026; originally announced May 2026.

CUDAHercules: Benchmarking Hardware-Aware Expert-level CUDA Optimization for LLMs

Authors: Shiyang Li, Zijian Zhang, Guangyan Sun, Yuebo Luo, Winson Chen, Yanzhi Wang, Mingyi Hong, Caiwen Ding

Abstract: Large language models show promise for automated CUDA programming, however even the strongest coding models (e.g., Claude-Opus-4.6) may still fall short of expert-level, architecture-aware optimization. We introduce CUDAHercules, a benchmark that evaluates generated CUDA against end-to-end human-expert SOTA systems. It spans single kernels, module-level operators, full applications, and unsolved c… ▽ More Large language models show promise for automated CUDA programming, however even the strongest coding models (e.g., Claude-Opus-4.6) may still fall short of expert-level, architecture-aware optimization. We introduce CUDAHercules, a benchmark that evaluates generated CUDA against end-to-end human-expert SOTA systems. It spans single kernels, module-level operators, full applications, and unsolved challenge tasks across Ampere, Hopper, and Blackwell GPUs, with end-to-end tasks gated by domain-specific semantic validators. Evaluating models such as Claude-Opus-4.6 and GPT-5.4 shows a large gap between runnable CUDA and expert CUDA engineering: models often compile and pass tests, but rarely recover the optimization strategies needed to match expert performance. Application semantics further reduce success, and iterative or tool-augmented feedback can improve correctness while drifting toward slow fallback implementations. These results show that automated CUDA programming remains far from fully solved and requires stronger hardware reasoning, better tool use, and training objectives that connect code understanding to hardware architecture-grounded intelligence. △ Less

Submitted 8 May, 2026; originally announced May 2026.

MoE-Hub: Taming Software Complexity for Seamless MoE Overlap with Hardware-Accelerated Communication on Multi-GPU Systems

Authors: Zhuoshan Zhou, Chen Zhang, Shuyi Zhang, Qijun Zhang, Haibo Wang, Zhe Zhou, Zhipeng Tu, Guangyu Sun, Yijia Diao, Zhigang Ji, Jingwen Leng, Guanghui He, Minyi Guo

Abstract: The Mixture-of-Experts (MoE) architecture is crucial for scaling large language models, but its scalability is severely limited by inter-GPU communication bottlenecks in multi-GPU systems. Although overlapping communication with computation is a widely recognized optimization, its effective deployment still remains challenging, both in terms of performance and programmability. In this work, we ide… ▽ More The Mixture-of-Experts (MoE) architecture is crucial for scaling large language models, but its scalability is severely limited by inter-GPU communication bottlenecks in multi-GPU systems. Although overlapping communication with computation is a widely recognized optimization, its effective deployment still remains challenging, both in terms of performance and programmability. In this work, we identify the root cause as a fundamental abstraction mismatch between MoE's dynamic, irregular token-to-expert mapping and the static, address-centric communication model of modern GPUs, which necessitates a complex software mediation phase to resolve addresses before data transfers, limiting performance and software flexibility. To resolve this, we propose MoE-Hub, a hardware-software co-design that introduces a destination-agnostic communication paradigm. MoE-Hub decouples data transmission from address management, allowing producers to send data immediately after routing using only a logical destination, while address allocation and data-flow orchestration are handled transparently by lightweight hardware in the GPU hub. By hardware-accelerating the entire communication control plane, MoE-Hub enables seamless and transparent overlap. Our evaluation shows that MoE-Hub achieves 1.40x-3.08x per-layer and 1.21x-1.98x end-to-end speedup over state-of-the-art systems. △ Less

Submitted 7 May, 2026; originally announced May 2026.

Comments: Accepted to ISCA 2026