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Anqi Li

Publications and source records attributed to Anqi Li.

At least 19 recordsLinked to original sources

Beyond the Bochner Method: Optimal Spectral Gaps for Block Dynamics of Spin Systems like the $O(N)$ Model

Let $μ$ be a probability distribution on a spin system with $n$ sites and possibly infinite spin spaces. We prove local-to-global spectral-gap bounds for block Glauber dynamics. Given a symmetric, entrywise nonnegative matrix $A$ with zero diagonal and $λ_{\max}(A)<1$ encoding local spectral bounds for a spin system, we derive global spectral-gap bounds for block dynamics on its marginal distributions. These bounds are sharp: the Gaussian system with covariance $(I-A)^{-1}$ attains equality for every choice of disjoint blocks. Our proof extends the Bochner method through an abstract inequality for orthogonal projections on Hilbert spaces. As an application, we prove that Glauber dynamics for the $O(N)$ model, with $N\geq 2$, arbitrary external fields, and couplings of either sign, has spectral gap at least $(1-\|J_{\mathrm{abs}}\|_{\mathrm{op}}/N)/n$, where $J$ is the interaction matrix and $J_{\mathrm{abs}}=(|J_{ij}|)$. We also obtain spectral bounds for swap walks and local spectral expansion of partite simplicial complexes. For complexes formed from disjoint groups of ranks in random flags of subspaces over $\mathbb F_q$, we obtain a one-sided local spectral expansion bound of $2\sqrt q/(q+1)$. This bound is independent of the number and sizes of each group, and is nontrivial for every prime power $q$. Finally, for random forests $F$ of any finite graph with arbitrary positive edge weights, we prove that \[ \Pr(e,f\in F)\le \frac{4}{3} \Pr(e\in F)\Pr(f\in F) \] for distinct edges $e,f$, improving the factor 2 supplied by general log-concavity bounds for matroid independent sets. The argument combines our extended Bochner method with the analysis of an auxiliary real stable polynomial.

cs.DS↗

D&A: Decoupling Description and Assessment Enables VLMs as Zero-Shot Robotic Reward Models

Vision-Language Models (VLMs) hold promise for zero-shot video task-progress estimation in robot learning, yet existing frameworks frequently suffer from confirmation bias, hallucinating progress in failed executions due to implicit success assumptions or relative temporal ranking designs. Naive prompting of frontier models collapses into a binary success detector that fails to capture nuanced, non-linear progress and failures. While post-training approaches can mitigate this through explicit training, they demand expensive real-world robotics data and require computationally intensive post-training for every individual base model. To resolve these limitations, we introduce D&A (Describe & Assess): our approach decouples progress estimation into an objective, task-grounded textual description of scene dynamics followed by an assessment phase using explicit rubrics. By compelling the VLM to synthesize an explicit, text-based definition of absolute success before scoring, the framework anchors evaluations to an external, global criterion rather than the video's internal timeline. Empirical results demonstrate that our method calibrates zero-shot estimates and mitigates confirmation bias, providing fine-grained, partial progress metrics that accurately penalize failed executions while correctly interpolating successful runs. Being purely prompt-based, D&A generalizes across tasks, embodiments, and benchmarks---matching or surpassing post-trained reward models---and its reward estimates enable efficient downstream reinforcement learning.

cs.RO↗

DRScaffold: Boosting Dense-Scene Reasoning in Lightweight Vision Language Models

Lightweight vision-language models perform competitively on standard benchmarks yet fail systematically in dense-scene reasoning, where multiple objects, attributes, and relations must be jointly grounded and resolved through multi-step inference. Such capability is critical for real-world applications where models must reliably interpret cluttered environments. Yet existing training signals provide no explicit grounding between reasoning steps and the underlying visual entities and relations, leaving lightweight models free to generate fluent but visually unanchored reasoning chains. To address this gap, we first introduce DRBench, a benchmark of 14,573 questions across 2,943 images, organized into five task categories spanning three progressive reasoning layers. Building on DRBench, we propose DRScaffold, a supervised fine-tuning framework that decomposes the supervision target into four causally ordered stages, promoting grounded reasoning without architectural modification. Experiments on three lightweight VLMs demonstrate substantial gains on DRBench while preserving or improving performance on general-purpose benchmarks. Notably, Qwen2.5-VL-3B trained with DRScaffold surpasses the frozen Qwen2.5-VL-32B under zero-shot direct-answer prompting on DRBench, demonstrating that structured supervision can substitute for a significant portion of model scale in dense-scene reasoning. Our code is available at https://github.com/irene-shi/DRScaffold.

cs.CV↗

Rheologically tuned diffusion modulates quorum sensing in Vibrio fischeri

Understanding how the physical properties of a fluid influence bacterial behavior is essential for explaining how microorganisms interact with their environment and with animal hosts. Here, we examine how changes in fluid viscosity and rheological properties affect the locomotion of the marine bacterium Vibrio fischeri and its ability to produce luminescence through cell--cell communication. We track the three-dimensional motion of single cells in well-defined fluids with different physical properties and measure the luminescence emitted by cell populations. We find that fluids with higher viscosity cause V. fischeri to spend more time in a slower, turning-focused swimming mode, which reduces how effectively cells spread out and encounter the chemical signals required to activate luminescence. As a result, luminescence first increases and then decreases in Newtonian fluids, but decreases monotonically in fluids that exhibit non-Newtonian rheological behavior. Computer simulations based on our measurements confirm that the ability of cells to explore their surroundings plays a central role in determining when and how strongly they communicate. These findings reveal a direct link between the physical environment, bacterial movement, and collective behavior, and offer insight into how microorganisms adapt to complex fluid habitats, including those found inside animal hosts.

cond-mat.soft↗

Local-to-Global Theorems Based on Cones with Applications to Graph Coloring

Local-to-Global theorems are a cornerstone of many of recent developments in theoretical computer science from coding theory and PCPs all the way to analyzing mixing time of Markov chains. Building on trickledown theorems on simplicial complexes, several techniques have been established to obtain tighter local-to-global theorems to analyze the spectral gap of the Glauber dynamics, namely matrix trickledown, ${\mathcal C}$-Lorentzian polynomials and more recently Bochner type inequalities. In this paper, we adopt non-local local-to-global/Bochner type inequalities on "cones", corresponding to the local neighborhood of a given vertex, to show that the Glauber dynamics mixes in polynomial time to sample proper colorings of maximum degree $Δ$ graphs as long as $q\geq 1.7408Δ$.

math.PR↗

Rationally Inattentive Echo Chambers

Rationally inattentive players allocate limited attention capacities to biased primary sources and to other players as secondary sources to acquire information about an uncertain state. The resulting Poisson attention network stochastically transmits information from primary sources to a recipient either directly or indirectly through other players. We give conditions for the rise of echo-chamber equilibria in which players restrict attention to their own-biased primary source and same-type peers. We characterize the peer attention networks within echo chambers and analyze their comparative statics. Our results explain why modern information environments foster echo-chamber formation, how small differences in attention capacities can magnify into large disparities in allocations, and why regulatory interventions such as altering user visibility on social media or mandating exposure to opposing views may entail unintended consequences.

econ.TH↗

TwinPrune: Density-Aware Two-Phase Token Pruning for Vision-Language Models

We propose a unified spatial-density signal to score token importance for both inference phases: bipartite merge for prefill and KV eviction for decode, yielding measurable gains in each stage. To isolate the two phases, we split benchmarks by scoring logic. Prefill probes (MMBench, POPE, ScienceQA) evaluate only the first decoded token; their accuracy reflects prefill logits argmax before any decode KV eviction. Full-pipeline probes (TextVQA, DocVQA, MM-Vet) assess the complete generated sequence and capture both phases. We identify a critical evaluation pitfall: decode pruning claims validated solely on prefill probes measure prefill quality, not decode performance. Experiments show discarding all visual KV during decode barely affects prefill-probe accuracy but degrades TextVQA and MM-Vet drastically; this insensitivity stems from the scoring rule, not compression intensity. Evaluated on seven model variants (InternVL-3.5, Qwen3-VL, LLaVA-1.5) and three full-pipeline benchmarks, our method achieves a three-way Pareto frontier across compute, memory and accuracy. Density-based prefill compression maintains strong accuracy, scales linearly with visual token count, and delivers 100x faster token selection at high resolution. For decode, density top-k KV eviction consistently outperforms strong baselines H2O, SnapKV and StreamingLLM on TextVQA and MM-Vet across three retention ratios. At 0.125 keep ratio on TextVQA, it surpasses H2O by 9.6 points; InternVL-3.5 models (2B to 38B) maintain a 7 to 10 point advantage. Compression scales favorably with model size: every measured 8B to 38B model transition reduces accuracy loss instead of worsening it. We suggest MM-Vet or DocVQA as mandatory full-pipeline validation for any decode-phase claims. Our code is available at https://github.com/Kai-Liu001/TwinPrune

cs.CV↗

Batch-Paced: Fixed-Budget Batch Decoding in Discrete Diffusion Language Models

As generative language models become more capable and widely used, inference demand grows, making efficient serving increasingly important. Discrete diffusion language models (dLLMs) offer a promising path to more efficient inference through parallel token generation. Prior dLLM decoding methods, however, focus on improving inference efficiency for individual sequences. We formulate fixed-budget dLLM batch decoding and introduce Batch-Paced, a training-free method that jointly optimizes the allocation of decoding compute across requests to improve overall batch quality. Across two dLLM backbones, five benchmarks and their representative mixtures, Batch-Paced improves batch performance under matched budgets; gains generally grow with batch size and largely persist across decoding configurations. Analysis of requests' decoding trajectories suggests that these gains arise largely by raising the committed-token confidence of lower-confidence requests. We further show that Batch-Paced's batch decode time remains competitive and that adding a decoding-depth allowance during Batch-Paced decoding can shorten it further at a modest performance cost.

cs.CL↗

SPAN-Nav: Generalized Spatial Awareness for Versatile Embodied Navigation

Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due to insufficient spatial awareness. In this work, we introduce SPAN-Nav, an end-to-end foundation model designed to infuse embodied navigation with universal 3D spatial awareness using RGB video streams. SPAN-Nav extracts spatial priors across diverse scenes through an occupancy prediction task on extensive indoor and outdoor environments. To mitigate the computational burden, we introduce a compact representation for spatial priors, finding that a single token is sufficient to encapsulate the coarse-grained cues essential for navigation tasks. Furthermore, inspired by the Chain-of-Thought (CoT) mechanism, SPAN-Nav utilizes this single spatial token to explicitly inject spatial cues into action reasoning through an end-to end framework. Leveraging multi-task co-training, SPAN-Nav captures task-adaptive cues from generalized spatial priors, enabling robust spatial awareness to generalize even to the task lacking explicit spatial supervision. To support comprehensive spatial learning, we present a massive dataset of 4.2 million occupancy annotations that covers both indoor and outdoor scenes across multi-type navigation tasks. SPAN-Nav achieves state-of-the-art performance across three benchmarks spanning diverse scenarios and varied navigation tasks. Finally, real-world experiments validate the robust generalization and practical reliability of our approach across complex physical scenarios.

cs.RO↗

Harnessing LLMs with Direction-Scope Control for Combinatorial Solver Refinement

Harnesses are increasingly unlocking the potential of large language model (LLM) agents by making their actions more controllable. In automatic heuristic design (AHD) for combinatorial optimization (CO), LLMs iteratively revise solvers using execution and verification feedback. However, these revisions often break previously validated solver behavior, making refinement unstable and costly. We characterize this pattern as feasibility oscillation and document it across CO benchmarks, AHD methods, and backbone LLMs. Tracing this oscillation, our analysis reveals that feasibility degradation often follows large solver revisions, while substantial feedback redundancy makes it harder to identify which failures deserve attention. Motivated by these findings, we introduce DiSH, a harness that jointly controls revision direction and scope. It selects representative failure evidence to guide each update and progressively narrows the revision scope as feasible behavior accumulates. Across nine CO benchmarks, DiSH consistently improves QYI scores and reduces feasibility oscillation, while roughly halving feedback token consumption relative to prior methods that use full feedback. These results establish DiSH as a strong baseline for solver refinement under harness control.

math.OC↗

Inclined surfaces bias bacterial swarming expansion and edge organization

Bacterial swarming is the collective expansion of dense populations of motile cells across hydrated soft surfaces, yet gravity is usually treated as a fixed background condition in standard horizontal assays. We used surface inclination to examine how agar-surface orientation relative to gravity affects the expansion of Enterobacter sp. SM3 swarms. Colony expansion depended non-monotonically on inclination, with the strongest spreading at intermediate inclinations and weaker expansion under shallow or near-inverted conditions. Paired up-facing acute and down-facing obtuse configurations with the same tilt magnitude showed different expansion responses, suggesting that swarm expansion depended on both tilt magnitude and which side of the agar surface faced upward relative to gravity. Inclination also produced downhill-biased colony morphologies. PIV analysis showed generally lower mean activity under inclination than in the flat references, with a non-monotonic angular response and inward increases in speed and spatial velocity-correlation length. The downhill tip showed slower motion, shorter spatial correlations and smaller vortex cores than the upper region. To interpret the macroscopic trends, we extended a two-phase thin-film model by introducing an effective gravity coupling projected normal and tangential to the agar surface. Simulations suggest that the surface-tangential component mainly drives lateral redistribution, whereas the surface-normal component modifies film pressure and thereby pressure-dependent water replenishment, helping distinguish up-facing from down-facing configurations.

cond-mat.soft↗

UrbanVLA: A Vision-Language-Action Model for Urban Micromobility

Urban micromobility applications, such as delivery robots, demand reliable navigation across large-scale urban environments while following long-horizon route instructions. This task is particularly challenging due to the dynamic and unstructured nature of real-world city areas, yet most existing navigation methods remain tailored to short-scale and controllable scenarios. Effective urban micromobility requires two complementary levels of navigation skills: low-level capabilities such as point-goal reaching and obstacle avoidance, and high-level capabilities, such as route-visual alignment. To this end, we propose UrbanVLA, a route-conditioned Vision-Language-Action (VLA) framework designed for scalable urban navigation. Our method explicitly aligns noisy route waypoints with visual observations during execution, and subsequently plans trajectories to drive the robot. To enable UrbanVLA to master both levels of navigation, we employ a two-stage training pipeline. The process begins with Supervised Fine-Tuning (SFT) using simulated environments and trajectories parsed from web videos. This is followed by Reinforcement Fine-Tuning (RFT) on a mixture of simulation and real-world data, which enhances the model's safety and adaptability in real-world settings. Experiments demonstrate that UrbanVLA surpasses strong baselines by more than 55% in the SocialNav task on MetaUrban. Furthermore, UrbanVLA achieves reliable real-world navigation, showcasing both scalability to large-scale urban environments and robustness against real-world uncertainties.

cs.RO↗

TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model

We study the problem of navigating cluttered indoor environments with a humanoid robot. Unlike conventional methods that model navigation as a 2D path planning problem, humanoid traversal in cluttered environments requires continuous geometry-aware whole-body adaptation, including coordinated arm placement, torso adjustment, and gait modulation for collision-free movement through complex 3D spaces. We introduce TANGO, the first whole-body vision-language navigation framework for language-conditioned humanoid traversal in cluttered environments. Given a natural-language instruction and egocentric RGB observations, TANGO directly predicts 29-DoF joint-space actions for downstream whole-body control. We train TANGO entirely in simulation by synthesizing diverse collision-free traversal behaviors via global path planning, kinematic whole-body motion generation, obstacle-aware motion editing, and RL-based tracking. This pipeline provides dynamically feasible action supervision for learning language-conditioned whole-body policies. In extensive simulation experiments, TANGO demonstrates state-of-the-art performance in vision-language navigation, while outperforming strong modular baselines in navigating challenging scenes requiring obstacle negotiation. Lastly, we deploy TANGO zero-shot on a Unitree G1 humanoid robot, and observe robust language-guided traversal in cluttered real-world scenes without training on any real-world navigation data.

cs.RO↗

Physical AI Smart Spaces: A Large-Scale Benchmark for Multi-Camera 3D Perception in Smart Spaces

Physical AI Smart Spaces is, to the best of our knowledge, the first benchmark to simultaneously provide large-scale, multi-class, and multi-camera 3D perception data for indoor smart spaces. It contains over 280 hours of synchronized 1080p footage captured by nearly 1,800 cameras in warehouses, hospitals, retail venues, and similar settings, together with automatic annotations for multi-camera identities, 2D bounding boxes, 3D bounding boxes, camera calibration, and depth where available. The benchmark spans Isaac Sim synthetic generation, Cosmos Transfer appearance augmentation, and real-world Sim2Real evaluation. For the real-world target, we include two warehouse deployments with time-synchronized streams, automatic VGGT-based calibration, and a 3D labeling interface that projects world-frame 3D boxes into each view for cross-camera verification. We describe the dataset scope, annotation and calibration schema, generation workflow, benchmark protocols, and official evaluation system, which standardizes submission format, and leaderboard reporting. A central contribution is a 3D instantiation of Higher Order Tracking Accuracy (HOTA), extending the usual 2D box-based tracking evaluation to 3D locations and 3D boxes. We further report empirical baselines from the AI City Challenge leaderboards, showing how methods evolve from person-only 3D location tracking to multi-class 3D box tracking under realistic smart-space constraints. The release is available at https://huggingface.co/datasets/nvidia/PhysicalAI-SmartSpaces.

cs.CV↗

OpenTumorBoard: A Real-World Benchmark of Multidisciplinary Tumor Board Discussion Trajectories

Multidisciplinary tumor boards integrate multimodal clinical observations and longitudinal patient histories through specialist discussions, yet benchmarks rarely capture these real-world trajectories. We introduce OpenTumorBoard, a benchmark with 611 patient cases and 19,157 discussion turns across ten specialist roles, transcribed from 12,534 minutes of publicly available tumor board recordings on YouTube. The benchmark evaluates two settings: SPECIALIST TURN, in which an LLM responds to a clinically significant question posed during a real discussion, and BOARD SIMULATION, in which it generates an entire back-and-forth discussion and reaches a consensus on therapy recommendations, surgical plans, next actions and clinical trial matching. Evaluation of 14 general-purpose frontier and medical LLMs reveals substantial limitations: the best models score 3.43 out of 5 in clinical equivalence to specialist answers and 2.78 out of 5 in alignment with recorded board conclusions. Supervised finetuning and reinforcement learning improve performance on a held-out test set, suggesting that real-world discussion trajectories can support model adaptation. Three M.D. experts review a subset of the benchmark, finding high information coverage and factuality of patient cases and strong fidelity of extracted consensus conclusions. We will release OpenTumorBoard and its automated curation pipeline to support the development and evaluation of LLMs for multidisciplinary, personalized cancer decision-making.

cs.CL↗

Good Quantum Locally Testable Codes from Product Expansion

We construct quantum locally testable codes (LTCs) with constant rate, distance, soundness and locality under a variant of a product expansion conjecture of Bafna and Vyas about Reed-Solomon codes. In particular, we use the high-dimensional expansion framework of Dinur, Lin and Vidick for constructing quantum LTCs, instantiated with the non-Abelian cubical complexes of Rungtanapirom, Stix and Vdovina. Our code is obtained by equipping the complex with carefully chosen Reed-Solomon local codes whose symmetries are compatible with those of the complex.

quant-ph↗

Rank-1-perturbed trickledown theorems: Mixing time of Glauber dynamics for the Sherrington-Kirkpatrick model up to $β\leq \frac{1}{2}+\varepsilon$

We introduce a new family of trickledown theorems, a.k.a., local to global technique to bound the spectral gap of the Glauber dynamics for multi-state spin systems. In this technique instead of upper-bounding the influence matrix of a link of co-dimension 2 by $λI$ (where $λ$ is the second eigenvalue of the link), we upper-bound the influence matrix after a carefully chosen rank-1 shift. The rank-1 shift allows for a significantly smaller upper-bound but it comes at the cost of bounding the average loss due to rank-1 perturbations. As an application we use this method to show that the natural Glauber dynamics mixes in polynomial time to generate samples from the Sherrington-Kirkpatrick model for $β\leq \tfrac{1}{2}+\varepsilon$, for an absolute constant $\varepsilon>0$. At the heart of the proof we manage to bound the loss due to rank-1 perturbations by averaging over all links of co-dimension 2.

cs.DS↗

Improved kissing numbers in seventeen through twenty-one dimensions

We prove that the kissing numbers in 17, 18, 19, 20, and 21 dimensions are at least 5730, 7654, 11692, 19448, and 29768, respectively. The previous records were set by Leech in 1967, and we improve on them by 384, 256, 1024, 2048, and 2048. Unlike the previous constructions, the new configurations are not cross sections of the Leech lattice minimal vectors. Instead, they are constructed by modifying the signs in the lattice vectors to open up more space for additional spheres.

math.MG↗