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Chen Sun

Publications and source records attributed to Chen Sun.

At least 19 recordsLinked to original sources
arXiv2026

ExecDiffuser: Closing the Sample-to-Execution Gap in Diffusion Planning

Generative planners are often evaluated by the trajectories they can generate, although closed-loop driving ultimately depends on the single candidate committed to control. We identify this mismatch as the sample-to-execution gap and show that improving proposal quality alone can worsen the executed decision. Here, we introduce ExecDiffuser, a recurrent proposal-to-execution framework that couples candidate generation, trajectory selection, and subsequent replanning through shared execution semantics. Intent-Guided Diffusion Proposal (IGD) assigns hypothesis responsibility and shapes trajectories with execution-conditioned supervision. Execution-Grounded Selection (EGS) learns a candidate-conditioned publication utility, commits one trajectory to control, and returns it as context for the next planning cycle. Across nuPlan, InterPlan, and NAVSIM, ExecDiffuser achieves leading closed-loop performance against strong state-of-the-art baselines. Under a unified five-seed protocol, it obtains an average score of 85.62, improving over Diffusion Planner and FlowDrive by 4.02 and 1.31 points, respectively. On NAVSIM, it achieves 92.6 PDMS under the official evaluation pipeline. Matched counterfactual analysis further shows that ExecDiffuser more reliably converts strong candidates into committed decisions, while prefix interventions confirm that this advantage persists after physical execution and subsequent replanning.

cs.RO↗
arXiv2026

D-Pingmesh: Dynamic Probing and Fault Localization for Reconfigurable Datacenter Networks

Pingmesh monitors datacenter networks through periodic pings between servers. In reconfigurable datacenter networks, topology engineering (TPE) and traffic engineering (TE) make uniform server-pair probing inefficient: a pinglist wastes budget retesting common paths while missing low-probability interfaces. Frequent control-plane updates further require rapid pinglist refresh, and cause path ambiguity at control-plane boundaries for fault localization. We present D-Pingmesh, a probing and fault-localization system co-designed with the TPE/TE control plane. Its control-plane-aware generator builds task-efficient pinglists by greedily admitting probes with high interface coverage under the current TPE/TE snapshot. An incremental replay-and-repair mechanism updates pinglists across reconfigurations rather than recomputing from scratch. At control-plane boundaries, a Rho-EM localizer jointly infers per-task old/new-path mixture weights and the fault set through EM-style iteration. We evaluate D-Pingmesh on an 8-pod reconfigurable topology under dynamic TPE/TE. At a 0.99 coverage target, D-Pingmesh uses 17.7x fewer tasks than Pingmesh and generates each pinglist about 5.1x faster than RD-Probe. In ns-3 simulation, boundary-aware localization improves micro F1 from 0.871 to 0.953 over the deTector PLL baseline. A testbed deployment demonstrates second-scale fault localization with low host overhead. These results demonstrate that D-Pingmesh is practical for reconfigurable datacenter networks with control-plane-aware monitoring.

cs.NI↗
arXiv2026

SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes

Autonomous mobile robots must operate smoothly in human-populated indoor environments, where onboard-only sensing suffers from limited perception range and occlusions, and socially compliant motion planning must account for human psychological comfort zones. These factors complicate accurate recognition of human intentions and the generation of comfortable, social-aware trajectories. To address these challenges, we propose SAP-CoPE, an indoor navigation framework that integrates cooperative infrastructure sensing, human pose estimation, and a social-aware MPC planner. In the perception module, an uncertainty-aware optimization problem is formulated to estimate 3D human poses from camera observations, with optional incorporation of sparse LiDAR point-cloud measurements, while considering human joint coherence. In the planning module, the estimated human pose and orientation are used to construct a personal-space (PS) field within an MPC framework, enabling the robot to account for both physical safety and psychological comfort. Extensive real-world evaluations demonstrate the effectiveness of the proposed approach in generating social-aware trajectories for autonomous systems.

cs.RO↗
arXiv2026

A Generative Model of Complex Networks Using Graphons and Neural Inverse Operators

Generative graph models are central to understanding and simulating complex networks. However, existing approaches have complementary strengths and limitations. Mechanistic models offer interpretability but rely on instance-specific estimation methods. Deep generative models, on the other hand, offer amortized inference at the cost of interpretability and are largely limited to graph sizes seen during training. Scientific applications motivate a framework that retains the strengths of both paradigms. We bridge them by formulating both the generative model and parameter recovery in function space. A multifractal step graphon extends standard step graphons with a recursive construction that compactly parameterizes complex networks. This formulation admits a neural inverse operator to recover its parameters, enabling inference on unseen graph sizes. We evaluate our model, trained only on synthetic multifractal step graphon realizations, against both paradigms. Against a graph foundation model pretrained on empirical networks, our method achieves the best average performance on three of four metrics in a zero-shot graph-generation benchmark, indicating that the model transfers to real-world graphs. We also apply our method to single-observation networks, a regime largely inaccessible to deep models that require training corpora, where it performs comparably to an instance-specific method that optimizes on each graph. In a multi-subject EEG case study, the inferred parameters track a reversible change in brain state more sensitively than traditional network statistics. Together, these results indicate that mechanistic interpretability and amortized inference can be effectively unified in a generative graph model to enhance our understanding of complex networks.

cs.LG↗
arXiv2026

KilometerVision: A New Frontier for Large-Scale Spatial Intelligence in VLMs

We push the frontier of large-scale spatial intelligence in Vision-Language Models (VLMs) and introduce the first benchmark that probes geographical layout understanding from real-world videos, spanning up to 1km distances. Inspired by the cognitive science literature, we evaluate models against the hierarchical stages of human spatial awareness: anchoring via landmarks, connecting them through routes, and integrating these into global mental maps. Extensive experiments reveal a fundamental divergence in how current AI models process spatial information. Instead of utilising true path integration or forming geometric survey knowledge, we find that VLMs rely almost entirely on 2D visual recognition and text-matching to bypass complex spatial reasoning. The benchmark is publicly available at https://perception-test-challenge.github.io/kilometervision.html.

cs.CV↗
arXiv2026

GeoForward: Geometry-Guided Cross-View Alignment for Feedforward 3D Gaussian Splatting

Feedforward 3D reconstruction has largely followed an {appearance-driven paradigm}: multi-view images are encoded into visual representations, cross-view correspondence is implicitly inferred from learned features, and 3D primitives are subsequently predicted from these representations. However, calibrated cameras and sparse metric measurements already provide explicit constraints on where the same physical point should appear across views. We propose a novel paradigm, \textbf{Geometry-Conditioned Feedforward Reconstruction}, in which metric geometry establishes cross-view correspondence before the 3D representation is formed, while learned visual features refine rather than discover this correspondence. Based on this paradigm, we introduce \textbf{GeoForward}. Sparse LiDAR points are unprojected into 3D and analytically projected across calibrated cameras to provide metric correspondence anchors. A bounded continuous local search then refines these anchors using visual features, and the resulting geometry-conditioned representation is fused with global multi-view context from VGGT. The shared representation drives separate metric-depth and Gaussian-attribute prediction, establishing a direct path from explicit geometry to both Gaussian centers and spatial attributes. A sparse 3D refinement module subsequently improves local attribute compatibility while preserving the geometrically determined centers. For temporal reconstruction, endpoint Gaussians are composed using vehicle masks and motion priors. On nuScenes, GeoForward achieves the lowest cross-camera depth-consistency error and Chamfer distance among the compared methods while maintaining competitive reconstruction quality. These results demonstrate that explicitly conditioning correspondence formation on metric geometry provides an effective alternative to purely appearance-driven feedforward 3D reconstruction.

cs.CV↗
arXiv2026

Structured Pose-Conditioned Flow Matching for Generative 5G CSI Augmentation

With the growing demand for privacy-preserving and occlusion-resilient human pose recognition (HPR), 5G channel state information (CSI) offers a promising contactless sensing modality by integrating communication and sensing capabilities. However, collecting large-scale synchronized CSI-pose pairs remains costly in practical 5G systems. To address this limitation, we propose StructFlow-HPR, a structured pose-conditioned flow matching framework for generative CSI augmentation. StructFlow-HPR learns a continuous latent transport process from Gaussian noise to real CSI representations under pose guidance, while preserving the receiver-frequency topology of CSI through a reconstruction-preserving autoencoder. A pose-conditioned Transformer is further designed to model the latent velocity field and generate pose-aligned CSI samples via ordinary differential equation sampling. Experiments on real-world 5G sensing data show that StructFlow-HPR can produce realistic CSI-pose pairs and improve downstream HPR performance under limited-data conditions.

eess.SP↗
arXiv2026

Non-Uniform Activation Aided Distributed Generalized Spatial Modulation for DMIMO Systems

This letter investigates a non-uniform activation aided distributed generalized spatial modulation (DGSM) scheme in a downlink distributed multiple-input multiple-output (DMIMO) system formed by geographically separated transmission reception points (TRPs). Unlike conventional uniform-activation DGSM, the proposed scheme assigns adaptive activation probabilities to different TRP subsets, thereby jointly exploiting the data-domain transmission capability and the index-domain information carried by cooperative subset selection. We derive a mutual-information upper bound under non-uniform activation and formulate a joint activation-probability and power allocation problem subject to a long-term average power constraint. To solve this problem, we develop a semi-closed-form joint probability and power optimization (SC-JPPO) algorithm, where the optimal activation probabilities are shown to follow a Softmax function of the effective utilities. Simulation results demonstrate that the proposed scheme improves spectral efficiency under the same activation scale and power budget compared with existing benchmarks.

cs.IT↗
arXiv2026

GNN-Based Global CSI Reconstruction for Fronthaul-Limited Distributed MIMO Systems

Global channel state information (CSI) acquisition is essential for cooperative precoding in distributed multiple-input multiple-output (DMIMO) systems, but uploading full instantaneous CSI from all distributed antennas creates heavy fronthaul overhead. This paper proposes a fronthaul-efficient acquisition framework based on graph neural network (GNN) reconstruction and task-driven antenna selection. Each transmission and reception point (TRP) uploads only selected antenna CSI, while the centralized unit (CU) reconstructs the full global CSI from partial observations. A universal mask-conditioned GNN is trained with random upload masks, used to evaluate antenna subsets under a fronthaul budget, and then fine-tuned for the selected deployment mask. Simulation results show improved CSI reconstruction accuracy with lower fronthaul and pilot overhead.

cs.IT↗
arXiv2026

A Risk-Sensitive and Uncertainty-Aware Decision-Making and Control Framework for Safe and Robust Autonomous Driving

Reinforcement learning (RL) has demonstrated considerable potential for autonomous driving decision-making. However, its deployment in urban autonomous driving, particularly at highly interactive unsignalized intersections, remains challenging, as learned policies may struggle to maintain both safety and robust decision-making in complex traffic situations. Conventional safety-filtering approaches typically employ fixed conservative constraints, which may improve safety at the cost of excessive intervention and degraded traffic efficiency. To address these limitations, we propose a Risk-sensitive and Uncertainty-aware Decision-making and Control (RUDC) framework for safe and robust autonomous driving. RUDC couples risk-sensitive distributional RL with ensemble-based policy uncertainty quantification, jointly accounting for tail risks in return distributions and uncertainty in learned policies. An uncertainty-aware high-order control barrier function (HOCBF)-based safety correction mechanism adaptively adjusts constraint strictness according to policy uncertainty, while a learnable residual predictor compensates for CBF model mismatches and discretization errors. Extensive simulations at unsignalized intersections demonstrate that RUDC achieves a favorable balance among safety, efficiency, and robustness, outperforming representative safe RL baselines under both nominal and challenging OOD and long-tail scenarios while satisfying real-time requirements.

cs.RO↗
arXiv2026

Delta-AI: Local objectives for amortized inference in sparse graphical models

We present a new algorithm for amortized inference in sparse probabilistic graphical models (PGMs), which we call $Δ$-amortized inference ($Δ$-AI). Our approach is based on the observation that when the sampling of variables in a PGM is seen as a sequence of actions taken by an agent, sparsity of the PGM enables local credit assignment in the agent's policy learning objective. This yields a local constraint that can be turned into a local loss in the style of generative flow networks (GFlowNets) that enables off-policy training but avoids the need to instantiate all the random variables for each parameter update, thus speeding up training considerably. The $Δ$-AI objective matches the conditional distribution of a variable given its Markov blanket in a tractable learned sampler, which has the structure of a Bayesian network, with the same conditional distribution under the target PGM. As such, the trained sampler recovers marginals and conditional distributions of interest and enables inference of partial subsets of variables. We illustrate $Δ$-AI's effectiveness for sampling from synthetic PGMs and training latent variable models with sparse factor structure.

cs.LG↗
arXiv2026

Trajectory balance: Improved credit assignment in GFlowNets

Generative flow networks (GFlowNets) are a method for learning a stochastic policy for generating compositional objects, such as graphs or strings, from a given unnormalized density by sequences of actions, where many possible action sequences may lead to the same object. We find previously proposed learning objectives for GFlowNets, flow matching and detailed balance, which are analogous to temporal difference learning, to be prone to inefficient credit propagation across long action sequences. We thus propose a new learning objective for GFlowNets, trajectory balance, as a more efficient alternative to previously used objectives. We prove that any global minimizer of the trajectory balance objective can define a policy that samples exactly from the target distribution. In experiments on four distinct domains, we empirically demonstrate the benefits of the trajectory balance objective for GFlowNet convergence, diversity of generated samples, and robustness to long action sequences and large action spaces.

cs.LG↗
arXiv2026

A Study of Bluetooth Access Control Based on NFT Soft Pairing

This paper proposes a Non-Fungible Token (NFT) soft pairing framework for Bluetooth service access control. Unlike conventional Bluetooth systems where pairing implicitly grants persistent service access, the proposed approach decouples native Bluetooth pairing from authorization without modifying the underlying protocol stack. The framework introduces a three-layer architecture consisting of a Bluetooth layer for connectivity, a blockchain layer for trusted execution and on-chain state verification, and an application layer where NFT soft pairing defines the authorization logic. In this design, Non-Fungible Bluetooth Tokens (NFBTs) represent user-side access credentials, while Non-Fungible Device Tokens (NFDTs) represent device identities. Their bidirectional on-chain binding forms a revocable and verifiable NFT soft pairing relationship. During access, users prove ownership of valid NFBTs through challenge-response signatures, and devices verify the corresponding on-chain state before granting service access. A prototype implemented with MetaMask and Ethereum demonstrates secure authentication, dynamic revocation, acceptable latency, and gas-efficient credential issuance based on ERC1155.

cs.CR↗
arXiv2026

Focus on What Matters: Constraining Spatial-Temporal Attention via Action-Units for Noise-Resilient AQA

The core challenge in Action Quality Assessment (AQA) lies in extracting fine-grained motion features from redundant and complex video backgrounds. Existing global feature learning methods are constrained by extremely low "signal-to-noise ratios", making it difficult to distinguish intrinsic actions from background clutter. To address this, we propose a Pose-Guided Intrinsic Motion Distillation Framework that explicitly enforces physical constraints to focus on motion subjects and decouple motion execution from environmental outcomes. First, we design an Action-Unit Parser that constructs dynamic regions of interest (ROIs) using human pose topology as prior knowledge. This functions as a spatial hard-attention filter that physically removes background noise at the input stage, forcing the model to learn appearance and geometric features only from pure body regions. Second, to resolve factor entanglement, we introduce a dual-stream decoupling mechanism: the Motion Parser focuses on capturing purified joint motion details, while the Condition Parser independently processes non-body-related environmental feedback (e.g., splash in diving) to create two orthogonal evaluation dimensions in feature space. Finally, adaptive weight modules integrate these decoupled features to generate final scores. Experimental results on large-scale datasets including FineDiving, FineDiving-HM, and MTL-AQA demonstrate that this method achieves state-of-the-art (SOTA) performance in both action segmentation and scoring accuracy, validating the effectiveness of "noise suppression focusing" and "motion disentanglement" strategies in fine-grained action evaluation.

cs.CV↗
arXiv2026

Evidence-Backed Video Question Answering

Current Video Large Language Models (Video LLMs) excel in question answering (QA) but largely operate as black boxes, providing textual answers without verifiable visual grounding. Existing explainability efforts rely on textual rationales or sparse bounding boxes, which struggle to capture complex video dynamics such as occlusions and non-rigid deformations. We propose Evidence-Backed Video Question Answering (E-VQA), a novel task requiring models to jointly output a semantic answer and precise spatio-temporal evidence: temporal segments and dense, tracked object segmentation masklets. To support this, we introduce ST-Evidence, the first human-verified benchmark for both discriminative and generative pixel-level grounding. Evaluations of state-of-the-art models reveal a critical decoupling between QA accuracy and true visual perception that scaling alone fails to bridge. To address this, we develop scalable, automated generation pipelines to create ST-Evidence-Instruct, a 160k-scale dataset bridging high-level reasoning with fine-grained grounding. Fine-tuning grounded Video LLMs on this data yields substantial gains over the corresponding size-matched UniPixel baselines (e.g., +27.2 t-mean and +13.8 J&F on a 7B model), establishing a robust baseline for explainable, evidence-backed video understanding. Code and data are available at https://github.com/SalesforceAIResearch/EVQA.

cs.CV↗
arXiv2026

Direct Model State Migration for Elastic Training of Large Language Models

Large language model (LLM) training shall adapt to dynamic resources in shared clusters to tackle the elasticity, including passive preemption and optimistic scaling. State migration across device sets is required when altering the hybrid-parallel configuration due to dynamic resources. Existing solutions rely on checkpoint-based mechanisms, which persist complete states to storage for resuming with re-assigned resources, forcing all GPUs to stall when transferring model states. Despite optimization efforts, checkpoint-based solutions incur prohibitive latency due to data movement across memory hierarchies. We propose ETC, a checkpoint-free state migration framework for elastic hybrid-parallel LLM training. We exploits the state locality to minimize inter-GPU data movement, replacing storage persistence with direct peer-to-peer communication. Besides, we eliminate node fragmentation through communication coalescing. Integrated with Megatron-LM, ETC reduces migration overhead by 2.33$\times$ to 6.37$\times$ compared to checkpoint-based solutions across diverse parallel configurations. By enabling efficient migration, ETC unlocks practical elastic training in production environments.

cs.DC↗
arXiv2026

Wei-Norman approach for non-Hermitian driven spin-$S$ systems and its application to defect freezing

In the theoretical study of nonequilibrium non-Hermitian systems, obtaining exact analytical solutions for their nonadiabatic dynamics is highly desirable yet often challenging. In this work, we identify a class of non-Hermitian quantum systems where this difficulty can be substantially reduced. Employing the Wei-Norman approach, we show that for a spin-$S$ subject to a general non-Hermitian time-dependent drive, the matrix elements of the evolution operator can be expressed in closed analytical forms (via Jacobi polynomials) in terms of the corresponding spin-$1/2$ model. This approach is straightforward and accessible to nonspecialists in Lie algebra. As an application, we investigate a specific nonequilibrium non-Hermitian phenomenon known as defect freezing, i.e., the existence of excitations in the adiabatic limit, in spin-$S$ extensions of the $\mathcal{PT}$-symmetric Su-Schrieffer-Heeger model under linear quenches. We derive exact analytical expressions for the momentum-resolved excitation probabilities and the total excitation densities. Our results reveal that defect freezing occurs exclusively in momentum sectors that traverse the $\mathcal{PT}$-symmetry-broken region -- and thus pass through a pair of higher-order exceptional points (EPs) -- during the quench; notably, the excitation density exhibits a singularity at a critical value of the non-Hermiticity parameter. This work enriches the analytical toolkit for nonadiabatic dynamics in multi-level non-Hermitian systems and provides quantitative, testable predictions for defect freezing across higher-order EPs, possibly accessible on platforms such as electric circuit networks and photonic lattices.

quant-ph↗
arXiv2026

Beyond Scene Priors: Fine-Grained Traffic Scene Reasoning with Benchmarking and Query-Guided Small-Object Focus

In safety-critical traffic scenarios, answering complex questions relies on minute, localized visual cues. However, standard Multimodal Large Language Models (MLLMs) tend to over-attend to backgrounds, overwhelming crucial small objects during visual-language alignment, a failure mode we term 'critical evidence dilution.' Furthermore, existing visual question answering (VQA) datasets rarely expose this flaw, as they lack large-scale, distractor-heavy evaluations that require pinpointing local evidence. To bridge this evaluation and architecture gap, we introduce the Fine-Grained Traffic Reasoning Benchmark (FGTR-Bench) and the Text-Guided Small-Object Reasoning MLLM (TSR-MLLM). FGTR-Bench comprises 40,236 single-image Multiple-Choice Questions (MCQs) created via multi-agent generation, consistency checks, and expert audits, alongside a disjoint 4,947-sample blind test split. To resolve evidence dilution, TSR-MLLM, built on Qwen3-VL-4B, uses a query-conditioned Text-Guided Small-Object Focus (TG-SOF) map. Applied once at the decoder boundary, the map adds sparse Top-K gated residuals to the most question-relevant vision slots while leaving text tokens unchanged. Together with lightweight decoder adaptation, TSR-MLLM preserves single-pass inference without external detectors or image re-encoding. Under matched settings, TSR-MLLM outperforms the strongest 4B baseline by 2.1 points on FGTR-Bench (74.1% overall), with larger gains on evidence-local tracks. Furthermore, it remains competitive on DriveQA-V (CARLA Signs) under greedy decoding without task-specific fine-tuning.

cs.CV↗