arXiv subjects

Chi Zhang

Publications and source records attributed to Chi Zhang.

At least 271 records · Page 15Linked to original sources

arXiv2026

Mitigating Long-Tailed Anomaly Score Distributions with Importance-Weighted Loss

Anomaly detection is crucial in industrial applications for identifying rare and unseen patterns to ensure system reliability. Traditional models, trained on a single class of normal data, struggle with real-world distributions where normal data exhibit diverse patterns, leading to class imbalance and long-tailed anomaly score distributions (LTD). This imbalance skews model training and degrades detection performance, especially for minority instances. To address this issue, we propose a novel importance-weighted loss designed specifically for anomaly detection. Compared to the previous method for LTD in classification, our method does not require prior knowledge of normal data classes. Instead, we introduce a weighted loss function that incorporates importance sampling to align the distribution of anomaly scores with a target Gaussian, ensuring a balanced representation of normal data. Extensive experiments on three benchmark image datasets and three real-world hyperspectral imaging datasets demonstrate the robustness of our approach in mitigating LTD-induced bias. Our method improves anomaly detection performance by 0.043, highlighting its effectiveness in real-world applications.

stat.ML↗

arXiv2026

RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics

Spatial referring is a fundamental capability of embodied robots to interact with the 3D physical world. However, even with the powerful pretrained vision language models (VLMs), recent approaches are still not qualified to accurately understand the complex 3D scenes and dynamically reason about the instruction-indicated locations for interaction. To this end, we propose RoboRefer, a 3D-aware VLM that can first achieve precise spatial understanding by integrating a disentangled but dedicated depth encoder via supervised fine-tuning (SFT). Moreover, RoboRefer advances generalized multi-step spatial reasoning via reinforcement fine-tuning (RFT), with metric-sensitive process reward functions tailored for spatial referring tasks. To support SFT and RFT training, we introduce RefSpatial, a large-scale dataset of 20M QA pairs (2x prior), covering 31 spatial relations (vs. 15 prior) and supporting complex reasoning processes (up to 5 steps). In addition, we introduce RefSpatial-Bench, a challenging benchmark filling the gap in evaluating spatial referring with multi-step reasoning. Experiments show that SFT-trained RoboRefer achieves state-of-the-art spatial understanding, with an average success rate of 89.6%. RFT-trained RoboRefer further outperforms all other baselines by a large margin, even surpassing Gemini-2.5-Pro by 17.4% in average accuracy on RefSpatial-Bench. Notably, RoboRefer can be integrated with various control policies to execute long-horizon, dynamic tasks across diverse robots (e,g., UR5, G1 humanoid) in cluttered real-world scenes.

cs.RO↗

arXiv2025

TeleWorld: Towards Dynamic Multimodal Synthesis with a 4D World Model

World models aim to endow AI systems with the ability to represent, generate, and interact with dynamic environments in a coherent and temporally consistent manner. While recent video generation models have demonstrated impressive visual quality, they remain limited in real-time interaction, long-horizon consistency, and persistent memory of dynamic scenes, hindering their evolution into practical world models. In this report, we present TeleWorld, a real-time multimodal 4D world modeling framework that unifies video generation, dynamic scene reconstruction, and long-term world memory within a closed-loop system. TeleWorld introduces a novel generation-reconstruction-guidance paradigm, where generated video streams are continuously reconstructed into a dynamic 4D spatio-temporal representation, which in turn guides subsequent generation to maintain spatial, temporal, and physical consistency. To support long-horizon generation with low latency, we employ an autoregressive diffusion-based video model enhanced with Macro-from-Micro Planning (MMPL)--a hierarchical planning method that reduces error accumulation from frame-level to segment-level-alongside efficient Distribution Matching Distillation (DMD), enabling real-time synthesis under practical computational budgets. Our approach achieves seamless integration of dynamic object modeling and static scene representation within a unified 4D framework, advancing world models toward practical, interactive, and computationally accessible systems. Extensive experiments demonstrate that TeleWorld achieves strong performance in both static and dynamic world understanding, long-term consistency, and real-time generation efficiency, positioning it as a practical step toward interactive, memory-enabled world models for multimodal generation and embodied intelligence.

cs.CV↗

arXiv2025

UniTacHand: Unified Spatio-Tactile Representation for Human to Robotic Hand Skill Transfer

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world robotic tactile data. In this study, we propose to collect low-cost human manipulation data using haptic gloves for tactile-based robotic policy learning. The misalignment between human and robotic tactile data makes it challenging to transfer policies learned from human data to robots. To bridge this gap, we propose UniTacHand, a unified representation to align robotic tactile information captured by dexterous hands with human hand touch obtained from gloves. First, we project tactile signals from both human hands and robotic hands onto a morphologically consistent 2D surface space of the MANO hand model. This unification standardizes the heterogeneous data structures and inherently embeds the tactile signals with spatial context. Then, we introduce a contrastive learning method to align them into a unified latent space, trained on only 10 minutes of paired data from our data collection system. Our approach enables zero-shot tactile-based policy transfer from humans to a real robot, generalizing to objects unseen in the pre-training data. We also demonstrate that co-training on mixed data, including both human and robotic demonstrations via UniTacHand, yields better performance and data efficiency compared with using only robotic data. UniTacHand paves a path toward general, scalable, and data-efficient learning for tactile-based dexterous hands.

cs.RO↗

arXiv2025

Creative Agents: Empowering Agents with Imagination for Creative Tasks

We study building embodied agents for open-ended creative tasks. While existing methods build instruction-following agents that can perform diverse open-ended tasks, none of them demonstrates creativity -- the ability to give novel and diverse solutions implicit in the language instructions. This limitation comes from their inability to convert abstract language instructions into concrete goals and perform long-horizon planning for such complicated goals. Given the observation that humans perform creative tasks with imagination, we propose a class of solutions, where the controller is enhanced with an imaginator generating detailed imaginations of task outcomes conditioned on language instructions. We introduce several approaches to implementing the components of creative agents. We implement the imaginator with either a large language model for textual imagination or a diffusion model for visual imagination. The controller can either be a behavior-cloning policy or a pre-trained foundation model generating executable codes in the environment. We benchmark creative tasks with the challenging open-world game Minecraft, where the agents create diverse buildings given free-form language instructions. We propose novel evaluation metrics for open-ended creative tasks utilizing GPT-4V, which holds many advantages over existing metrics. We perform a detailed experimental analysis of creative agents, showing that creative agents are the first AI agents accomplishing diverse building creation in the survival mode of Minecraft. Our benchmark and models are open-source for future research on creative agents (https://github.com/PKU-RL/Creative-Agents).

cs.AI↗

arXiv2025

Rare Word Recognition and Translation Without Fine-Tuning via Task Vector in Speech Models

Rare words remain a critical bottleneck for speech-to-text systems. While direct fine-tuning improves recognition of target words, it often incurs high cost, catastrophic forgetting, and limited scalability. To address these challenges, we propose a training-free paradigm based on task vectors for rare word recognition and translation. By defining task vectors as parameter differences and introducing word-level task vector arithmetic, our approach enables flexible composition of rare-word capabilities, greatly enhancing scalability and reusability. Extensive experiments across multiple domains show that the proposed method matches or surpasses fine-tuned models on target words, improves general performance by about 5 BLEU, and mitigates catastrophic forgetting.

eess.AS↗

arXiv2025

Weakly nilpotent hypergroups

In this paper, we introduce the weakly nilpotent hypergroups with giving some new properties, and then establish several structural characterizations of these hypergroups. Some results obtained in this paper answer the two questions raised by the first author and W. Guo.

math.GR↗

arXiv2025

Embedding Samples Dispatching for Recommendation Model Training in Edge Environments

Training deep learning recommendation models (DLRMs) on edge workers brings several benefits, particularly in terms of data privacy protection, low latency and personalization. However, due to the huge size of embedding tables, typical DLRM training frameworks adopt one or more parameter servers to maintain global embedding tables, while leveraging the edge workers cache part of them. This incurs significant transmission cost for embedding transmissions between workers and parameter servers, which can dominate the training cycle. In this paper, we investigate how to dispatch input embedding samples to appropriate edge workers to minimize the total embedding transmission cost when facing edge-specific challenges such as heterogeneous networks and limited resources. We develop ESD, a novel mechanism that optimizes the dispatch of input embedding samples to edge workers based on expected embedding transmission cost. We propose HybridDis as the dispatch decision method within ESD, which combines a resource-intensive optimal algorithm and a heuristic algorithm to balance decision quality and resource consumption. We implement a prototype of ESD and compare it with state-of-the-art mechanisms on real-world workloads. Extensive experimental results show that ESD reduces the embedding transmission cost by up to 36.76% and achieves up to 1.74 times speedup in end-to-end DLRM training.

cs.DC↗

arXiv2025

Spectral Properties and Energy Injection in Mercury's Magnetotail Current Sheet

Mercury's magnetotail hosts a thin and highly dynamic current sheet (CS), where magnetic reconnection and strong fluctuations frequently occur. Here, we statistically analyze magnetic field power spectra across 370 magnetotail CSs observed by MESSENGER. About 20% of the events are quasi-laminar, showing single power-law spectra, whereas 80% are turbulent, exhibiting a spectral break separating inertial and kinetic ranges. A dawn-dusk asymmetry is identified: inertial-range slopes are systematically shallower on the dawnside, whereas kinetic-range slopes are steeper, indicating more developed turbulence there, consistent with the higher occurrence of reconnection-related processes on the dawnside. Component analysis shows that the transverse components, orthogonal to the tail-aligned principal field (BX), display shallow slopes near -1 in the inertial range, suggesting energy injection at ion scales rather than a classical inertial range. These results demonstrate that Mercury's unique plasma environment fundamentally reshapes the initiation of turbulence and the redistribution of energy in the magnetotail.

physics.space-ph↗

arXiv2025

Shared Representation Learning for High-Dimensional Multi-Task Forecasting under Resource Contention in Cloud-Native Backends

This study proposes a unified forecasting framework for high-dimensional multi-task time series to meet the prediction demands of cloud native backend systems operating under highly dynamic loads, coupled metrics, and parallel tasks. The method builds a shared encoding structure to represent diverse monitoring indicators in a unified manner and employs a state fusion mechanism to capture trend changes and local disturbances across different time scales. A cross-task structural propagation module is introduced to model potential dependencies among nodes, enabling the model to understand complex structural patterns formed by resource contention, link interactions, and changes in service topology. To enhance adaptability to non-stationary behaviors, the framework incorporates a dynamic adjustment mechanism that automatically regulates internal feature flows according to system state changes, ensuring stable predictions in the presence of sudden load shifts, topology drift, and resource jitter. The experimental evaluation compares multiple models across various metrics and verifies the effectiveness of the framework through analyses of hyperparameter sensitivity, environmental sensitivity, and data sensitivity. The results show that the proposed method achieves superior performance on several error metrics and provides more accurate representations of future states under different operating conditions. Overall, the unified forecasting framework offers reliable predictive capability for high-dimensional, multi-task, and strongly dynamic environments in cloud native systems and provides essential technical support for intelligent backend management.

cs.LG↗

arXiv2025

Quarkonia collectivity in large collision systems with ALICE

Quarkonium production is one of the golden probes to study the quark--gluon plasma (QGP). Among many observables, the measurement of azimuthal anisotropies in quarkonium production sheds light on the collective behavior of heavy-flavor particles in a strongly interacting medium. In particular, the measurements of the elliptic flow ($v_{2}$) of quarkonia in Pb--Pb collisions at the LHC provide us direct evidence of heavy quark thermalization in the QGP. In these proceedings, new results of inclusive $\mathrm{J/ψ}$ elliptic flow measurement in Pb--Pb collisions carried out by the ALICE collaboration in Run 3 using three methods including event-plane, scalar-product and multi-particle correlation (cumulant) will be presented. The method of cumulant will give access to the $\mathrm{J/ψ}$ flow fluctuations at forward rapidity. Alongside the new flow measurements of $\mathrm{J/ψ}$, new results of $\mathrmΥ(1S)$ flow measurement at forward rapidity in ALICE Run 3 will be presented as well with comparison to model calculations.

nucl-ex↗

arXiv2025

Cost-TrustFL: Cost-Aware Hierarchical Federated Learning with Lightweight Reputation Evaluation across Multi-Cloud

Federated learning across multi-cloud environments faces critical challenges, including non-IID data distributions, malicious participant detection, and substantial cross-cloud communication costs (egress fees). Existing Byzantine-robust methods focus primarily on model accuracy while overlooking the economic implications of data transfer across cloud providers. This paper presents Cost-TrustFL, a hierarchical federated learning framework that jointly optimizes model performance and communication costs while providing robust defense against poisoning attacks. We propose a gradient-based approximate Shapley value computation method that reduces the complexity from exponential to linear, enabling lightweight reputation evaluation. Our cost-aware aggregation strategy prioritizes intra-cloud communication to minimize expensive cross-cloud data transfers. Experiments on CIFAR-10 and FEMNIST datasets demonstrate that Cost-TrustFL achieves 86.7% accuracy under 30% malicious clients while reducing communication costs by 32% compared to baseline methods. The framework maintains stable performance across varying non-IID degrees and attack intensities, making it practical for real-world multi-cloud deployments.

cs.LG↗

arXiv2025

SlicerOrbitSurgerySim: An Open-Source Platform for Virtual Registration and Quantitative Comparison of Preformed Orbital Plates

Poor adaptation of orbital implants remains a major contributor to postoperative complications and revision surgery. Although preformed orbital plates are widely used to reduce cost and operative time compared with customized implants, surgeons currently lack publicly available tools and standardized metrics to quantitatively compare plate fit across vendors, sizes, and patient anatomy. We developed SlicerOrbitSurgerySim, an open-source extension for the 3D Slicer platform that enables interactive virtual registration, evaluation, and comparison of multiple preformed orbital plates in a patient-specific virtual planning environment. The software generates reproducible quantitative plate-to-orbit distance metrics and visualization tools that support both patient-specific planning and population-level statistical analysis of plate adaptability. By facilitating objective comparison of implant designs and placement strategies, this tool aims to improve preoperative decision-making, reduce intraoperative plate modification, and promote collaborative research and surgical education. Pilot studies, sample datasets, and detailed tutorials are provided to support testing, transparency, and reproducibility.

cs.CV↗

arXiv2025

Revisiting Mars' Induced Magnetic Field and Clock Angle Departures under Real-Time Upstream Solar Wind Conditions

Mars lacks a global intrinsic dipole magnetic field, but its interaction with the solar wind generates a global induced magnetosphere. Until now, most studies have relied on single-spacecraft measurements, which could not simultaneously capture upstream solar wind conditions and the induced magnetic fields, thereby limiting our understanding of the system. Here, we statistically re-examine the properties of Mars' induced magnetic field by incorporating, for the first time, real-time upstream solar wind conditions from the coordinated MAVEN and Tianwen-1 observations. Our results are show that both solar wind dynamic pressure and the interplanetary magnetic field (IMF) magnitude enhance the strength of the induced magnetic field, but they exert opposite effects on the compression ratio: higher dynamic pressure strengthens compression, while stronger IMF weakens it. The induced field is stronger under quasi-perpendicular IMF conditions compared with quasi-parallel IMF, reflecting a stronger mass-loading effect. We further investigate the clock angle departures of the induced fields. They remain relatively small in the magnetosheath near the bow shock, increase gradually toward the induced magnetosphere, and become significantly larger within the induced magnetosphere. In addition, clock angle departures are strongly enhanced under quasi-parallel IMF conditions. Their dependence on upstream drivers further shows that, within the magnetosheath, clock angle departures are minimized under low dynamic pressure, high IMF magnitude, and low Alfven Mach number conditions. These results may enhance our understanding of solar wind interaction with Mars, and highlight the critical role of multi-point observations.

physics.space-ph↗

arXiv2025

Enhancing Blind Face Restoration through Online Reinforcement Learning

Blind Face Restoration (BFR) encounters inherent challenges in exploring its large solution space, leading to common artifacts like missing details and identity ambiguity in the restored images. To tackle these challenges, we propose a Likelihood-Regularized Policy Optimization (LRPO) framework, the first to apply online reinforcement learning (RL) to the BFR task. LRPO leverages rewards from sampled candidates to refine the policy network, increasing the likelihood of high-quality outputs while improving restoration performance on low-quality inputs. However, directly applying RL to BFR creates incompatibility issues, producing restoration results that deviate significantly from the ground truth. To balance perceptual quality and fidelity, we propose three key strategies: 1) a composite reward function tailored for face restoration assessment, 2) ground-truth guided likelihood regularization, and 3) noise-level advantage assignment. Extensive experiments demonstrate that our proposed LRPO significantly improves the face restoration quality over baseline methods and achieves state-of-the-art performance.

cs.CV↗

arXiv2025

Physics-Informed Neural Networks for Modeling the Martian Induced Magnetosphere

Understanding the magnetic field environment around Mars and its response to upstream solar wind conditions provide key insights into the processes driving atmospheric ion escape. To date, global models of Martian induced magnetosphere have been exclusively physics-based, relying on computationally intensive simulations. For the first time, we develop a data-driven model of the Martian induced magnetospheric magnetic field using Physics-Informed Neural Network (PINN) combined with MAVEN observations and physical laws. Trained under varying solar wind conditions, including B_IMF, P_SW, and θ_cone, the data-driven model accurately reconstructs the three-dimensional magnetic field configuration and its variability in response to upstream solar wind drivers. Based on the PINN results, we identify key dependencies of magnetic field configuration on solar wind parameters, including the hemispheric asymmetries of the draped field line strength in the Mars-Solar-Electric coordinates. These findings demonstrate the capability of PINNs to reconstruct complex magnetic field structures in the Martian induced magnetosphere, thereby offering a promising tool for advancing studies of solar wind-Mars interactions.

astro-ph.EP↗

arXiv2025

Astraea: A State-Aware Scheduling Engine for LLM-Powered Agents

Large Language Models (LLMs) are increasingly being deployed as intelligent agents. Their multi-stage workflows, which alternate between local computation and calls to external network services like Web APIs, introduce a mismatch in their execution pattern and the scheduling granularity of existing inference systems such as vLLM. Existing systems typically focus on per-segment optimization which prevents them from minimizing the end-to-end latency of the complete agentic workflow, i.e., the global Job Completion Time (JCT) over the entire request lifecycle. To address this limitation, we propose Astraea, a service engine designed to shift the optimization from local segments to the global request lifecycle. Astraea employs a state-aware, hierarchical scheduling algorithm that integrates a request's historical state with future predictions. It dynamically classifies requests by their I/O and compute intensive nature and uses an enhanced HRRN policy to balance efficiency and fairness. Astraea also implements an adaptive KV cache manager that intelligently handles the agent state during I/O waits based on the system memory pressure. Extensive experiments show that Astraea reduces average JCT by up to 25.5\% compared to baseline methods. Moreover, our approach demonstrates strong robustness and stability under high load across various model scales.

cs.CL↗

arXiv2025

Mixture-of-RAG: Integrating Text and Tables with Large Language Models

Large language models (LLMs) achieve optimal utility when their responses are grounded in external knowledge sources. However, real-world documents, such as annual reports, scientific papers, and clinical guidelines, frequently combine extensive narrative content with complex, hierarchically structured tables. While existing retrieval-augmented generation (RAG) systems effectively integrate LLMs' generative capabilities with external retrieval-based information, their performance significantly deteriorates especially processing such heterogeneous text-table hierarchies. To address this limitation, we formalize the task of Heterogeneous Document RAG, which requires joint retrieval and reasoning across textual and hierarchical tabular data. We propose MixRAG, a novel three-stage framework: (i) hierarchy row-and-column-level (H-RCL) representation that preserves hierarchical structure and heterogeneous relationship, (ii) an ensemble retriever with LLM-based reranking for evidence alignment, and (iii) multi-step reasoning decomposition via a RECAP prompt strategy. To bridge the gap in available data for this domain, we release the dataset DocRAGLib, a 2k-document corpus paired with automatically aligned text-table summaries and gold document annotations. The comprehensive experiment results demonstrate that MixRAG boosts top-1 retrieval by 46% over strong text-only, table-only, and naive-mixture baselines, establishing new state-of-the-art performance for mixed-modality document grounding.

cs.IR↗