arXiv subjects

Dong Wang

Publications and source records attributed to Dong Wang.

At least 163 records · Page 9Linked to original sources

arXiv2026

Eva-Tracker: ESDF-update-free, Visibility-aware Planning with Target Reacquisition for Robust Aerial Tracking

The Euclidean Signed Distance Field (ESDF) is widely used in visibility evaluation to prevent occlusions and collisions during tracking. However, frequent ESDF updates introduce considerable computational overhead. To address this issue, we propose Eva-Tracker, a visibility-aware trajectory planning framework for aerial tracking that eliminates ESDF updates and incorporates a recovery-capable path generation method for target reacquisition. First, we design a target trajectory prediction method and a visibility-aware initial path generation algorithm that maintain an appropriate observation distance, avoid occlusions, and enable rapid replanning to reacquire the target when it is lost. Then, we propose the Field of View ESDF (FoV-ESDF), a precomputed ESDF tailored to the tracker's field of view, enabling rapid visibility evaluation without requiring updates. Finally, we optimize the trajectory using differentiable FoV-ESDF-based objectives to ensure continuous visibility throughout the tracking process. Extensive simulations and real-world experiments demonstrate that our approach delivers more robust tracking results with lower computational effort than existing state-of-the-art methods. The source code is available at https://github.com/Yue-0/Eva-Tracker.

cs.RO↗

arXiv2026

Maximum residual strong monogamy inequality for multiqubit entanglement

We establish two new inequalities, the weighted strong monogamy (WSM) and the maximum residual strong monogamy (MRSM), which sharpen the generalized Coffman-Kundu-Wootters inequity for multiqubit states. The WSM inequality distinguishes itself from the strong monogamy (SM) conjecture [Phys. Rev. Lett. 113, 110501 (2014)] by using coefficients rather than exponents to modulate the weight allocated to various m-partite contributions. In contrast, the MRSM inequality is formulated using only the maximum m-partite entanglement. We find that the residual entanglement of the MRSM inequality can effectively distinguish the separable states. We also compare the tightness of various SM inequalities and provide examples using a four-qubit mixed state and a five-qubit pure state to illustrate the MRSM inequality. These examples characterize the trade-off relations among entanglement components involving varying numbers of qubits. Our results provide a rigorous framework to characterize and quantify the monogamy of multipartite entanglement.

quant-ph↗

arXiv2026

Generalized entropic uncertainty relation and non-classicality in Schwarzschild black hole

The uncertainty principle constitutes a fundamental pillar of quantum theory, representing one of the most distinctive features that differentiates quantum mechanics from classical physics. In this study, we firstly propose a novel generalized entropic uncertainty relation (EUR) for arbitrary multi-measurement in the many-body systems, and rigorously derive a significantly tighter bound compared to existing formulations. Specifically, we discuss the proposed EUR in the context of Schwarzschild black hole, where we demonstrate the superior tightness of our derived bound. The study further elucidates the dynamical evolution of multipartite quantum coherence and entanglement in the curved spacetime. A particularly noteworthy finding reveals the exact equivalence between entanglement and $l_1$-norm coherence for arbitrary $N$-partite Greenberger-Horne-Zeilinger-type (GHZ-type) states. Moreover, we find that quantum coherence is significantly diminished and the measurement uncertainty increases to a stable maximum with increasing Hawking temperature. Thus, the findings of this study contribute to a deeper understanding of non-classicality and quantum resources in black holes.

gr-qc↗

arXiv2026

Practical continuous-variable quantum key distribution using dynamic digital signal processing: security proof and experimental demonstration

Digital signal processing technology has paved the way for the realization of high-speed continuous-variable quantum key distribution systems. However, existing security proofs are limited to static digital signal processing algorithms, while practical systems rely on dynamic multiple-input multiple-output algorithms to compensate for time-varying channel impairments. Our analysis reveals that the conventional dynamic algorithm, due to its non-unitary nature, systematically underestimates the excess noise, which in turn leads to security issues and the generation of insecure keys. To close this gap, we propose a secure algorithm model, mapping the dynamic algorithm to an equivalent physical optical model whose security can be rigorously assessed. Simulations illustrate the algorithm's non-unitary property and provide a quantitative analysis of the excess noise underestimation caused by the conventional algorithm. We further experimentally validate the necessity of the proposed modeling for dynamic digital signal processing, achieving a secret key rate of 14.4 Mbps based on estimated excess noise of 0.07 shot noise unit; whereas the conventional algorithm would have dangerously overestimated the key rate to 28.2 Mbps with noise of 0.008 shot noise unit. This work provides the essential security framework for dynamic digital signal processing, overcoming a critical impediment for the development of high-performance continuous-variable quantum key distribution systems.

quant-ph↗

arXiv2026

Understanding Degradation with Vision Language Model

Understanding visual degradations is a critical yet challenging problem in computer vision. While recent Vision-Language Models (VLMs) excel at qualitative description, they often fall short in understanding the parametric physics underlying image degradations. In this work, we redefine degradation understanding as a hierarchical structured prediction task, necessitating the concurrent estimation of degradation types, parameter keys, and their continuous physical values. Although these sub-tasks operate in disparate spaces, we prove that they can be unified under one autoregressive next-token prediction paradigm, whose error is bounded by the value-space quantization grid. Building on this insight, we introduce DU-VLM, a multimodal chain-of-thought model trained with supervised fine-tuning and reinforcement learning using structured rewards. Furthermore, we show that DU-VLM can serve as a zero-shot controller for pre-trained diffusion models, enabling high-fidelity image restoration without fine-tuning the generative backbone. We also introduce \textbf{DU-110k}, a large-scale dataset comprising 110,000 clean-degraded pairs with grounded physical annotations. Extensive experiments demonstrate that our approach significantly outperforms generalist baselines in both accuracy and robustness, exhibiting generalization to unseen distributions.

cs.CV↗

arXiv2026

ERNIE 5.0 Technical Report

In this report, we introduce ERNIE 5.0, a natively autoregressive foundation model desinged for unified multimodal understanding and generation across text, image, video, and audio. All modalities are trained from scratch under a unified next-group-of-tokens prediction objective, based on an ultra-sparse mixture-of-experts (MoE) architecture with modality-agnostic expert routing. To address practical challenges in large-scale deployment under diverse resource constraints, ERNIE 5.0 adopts a novel elastic training paradigm. Within a single pre-training run, the model learns a family of sub-models with varying depths, expert capacities, and routing sparsity, enabling flexible trade-offs among performance, model size, and inference latency in memory- or time-constrained scenarios. Moreover, we systematically address the challenges of scaling reinforcement learning to unified foundation models, thereby guaranteeing efficient and stable post-training under ultra-sparse MoE architectures and diverse multimodal settings. Extensive experiments demonstrate that ERNIE 5.0 achieves strong and balanced performance across multiple modalities. To the best of our knowledge, among publicly disclosed models, ERNIE 5.0 represents the first production-scale realization of a trillion-parameter unified autoregressive model that supports both multimodal understanding and generation. To facilitate further research, we present detailed visualizations of modality-agnostic expert routing in the unified model, alongside comprehensive empirical analysis of elastic training, aiming to offer profound insights to the community.

cs.CL↗

arXiv2026

Doppler-SLAM: Doppler-Aided Radar-Inertial and LiDAR-Inertial Simultaneous Localization and Mapping

Simultaneous localization and mapping (SLAM) is a critical capability for autonomous systems. Traditional SLAM approaches, which often rely on visual or LiDAR sensors, face significant challenges in adverse conditions such as low light or featureless environments. To overcome these limitations, we propose a novel Doppler-aided radar-inertial and LiDAR-inertial SLAM framework that leverages the complementary strengths of 4D radar, FMCW LiDAR, and inertial measurement units. Our system integrates Doppler velocity measurements and spatial data into a tightly-coupled front-end and graph optimization back-end to provide enhanced ego velocity estimation, accurate odometry, and robust mapping. We also introduce a Doppler-based scan-matching technique to improve front-end odometry in dynamic environments. In addition, our framework incorporates an innovative online extrinsic calibration mechanism, utilizing Doppler velocity and loop closure to dynamically maintain sensor alignment. Extensive evaluations on both public and proprietary datasets show that our system significantly outperforms state-of-the-art radar-SLAM and LiDAR-SLAM frameworks in terms of accuracy and robustness. To encourage further research, the code of our Doppler-SLAM and our dataset are available at: https://github.com/Wayne-DWA/Doppler-SLAM.

cs.RO↗

arXiv2026

Physics informed learning of orthogonal features with applications in solving partial differential equations

The random feature method (RFM) constructs approximation spaces by initializing features from generic distributions, which provides universal approximation properties to solve general partial differential equations. However, such standard initializations lack awareness of the underlying physical laws and geometry, which limits approximation. In this work, we propose the Physics-Driven Orthogonal Feature Method (PD-OFM), a framework for constructing feature representations that are explicitly tailored to both the differential operator and the computational domain by pretraining features using physics-informed objectives together with orthogonality regularization. This pretraining strategy yields nearly orthogonal feature bases. We provide both theoretical and empirical evidence that physics-informed pretraining improves the approximation capability of the learned feature space. When employed to solve Helmholtz, Poisson, wave, and Navier-Stokes equations, the proposed method achieves residual errors 2-3 orders of magnitude lower than those of comparable methods. Furthermore, the orthogonality regularization improves transferability, enabling pretrained features to generalize effectively across different source terms and domain geometries for the same PDE.

math.NA↗

arXiv2026

Mind the Ambiguity: Aleatoric Uncertainty Quantification in LLMs for Safe Medical Question Answering

The deployment of Large Language Models in Medical Question Answering is severely hampered by ambiguous user queries, a significant safety risk that demonstrably reduces answer accuracy in high-stakes healthcare settings. In this paper, we formalize this challenge by linking input ambiguity to aleatoric uncertainty (AU), which is the irreducible uncertainty arising from underspecified input. To facilitate research in this direction, we construct CV-MedBench, the first benchmark designed for studying input ambiguity in Medical QA. Using this benchmark, we analyze AU from a representation engineering perspective, revealing that AU is linearly encoded in LLM's internal activation patterns. Leveraging this insight, we introduce a novel AU-guided "Clarify-Before-Answer" framework, which incorporates AU-Probe - a lightweight module that detects input ambiguity directly from hidden states. Unlike existing uncertainty estimation methods, AU-Probe requires neither LLM fine-tuning nor multiple forward passes, enabling an efficient mechanism to proactively request user clarification and significantly enhance safety. Extensive experiments across four open LLMs demonstrate the effectiveness of our QA framework, with an average accuracy improvement of 9.48% over baselines. Our framework provides an efficient and robust solution for safe Medical QA, strengthening the reliability of health-related applications. The code is available at https://github.com/yaokunliu/AU-Med.git, and the CV-MedBench dataset is released on Hugging Face at https://huggingface.co/datasets/yaokunl/CV-MedBench.

cs.CL↗

arXiv2026

V2P: Visual Attention Calibration for GUI Grounding via Background Suppression and Center Peaking

Precise localization of GUI elements is crucial for the development of GUI agents. Traditional methods rely on bounding box or center-point regression, neglecting spatial interaction uncertainty and visual-semantic hierarchies. Recent methods incorporate attention mechanisms but still face two key issues: (1) ignoring processing background regions causes attention drift from the desired area, and (2) uniform modeling the target UI element fails to distinguish between its center and edges, leading to click imprecision. Inspired by how humans visually process and interact with GUI elements, we propose the Valley-to-Peak (V2P) method to address these issues. To mitigate background distractions, V2P introduces a suppression attention mechanism that minimizes the model's focus on irrelevant regions to highlight the intended region. For the issue of center-edge distinction, V2P applies a Fitts' Law-inspired approach by modeling GUI interactions as 2D Gaussian heatmaps where the weight gradually decreases from the center towards the edges. The weight distribution follows a Gaussian function, with the variance determined by the target's size. Consequently, V2P effectively isolates the target area and teaches the model to concentrate on the most essential point of the UI element. The model trained by V2P achieves the performance with 92.4\% and 52.5\% on two benchmarks ScreenSpot-v2 and ScreenSpot-Pro. Ablations further confirm each component's contribution, underscoring V2P's generalizability in precise GUI grounding tasks and its potential for real-world deployment in future GUI agents.

cs.AI↗

arXiv2026

Pressure Induced 18 K Superconductivity and Two Superconducting Phases in CuIr2S4

We report pressure-induced superconductivity in the spinel CuIr$_{2}$S$_{4}$ with a transition temperature ($T_{\text{c}}$) reaching \textbf{18.2 K}, establishing a new record for this class of materials and surpassing the decades-old limit of 13.7 K. Our electrical transport and synchrotron X-ray diffraction studies up to 224 GPa reveal the emergence of \textbf{two distinct superconducting phases} from a charge-ordered insulating state. The first phase (SC-I) appears around 18 GPa, and forms a dome-shaped superconducting region in which the resistivity exhibits a pronounced, field- and current-sensitive drop without reaching strict zero above our base temperature. Above 111.8 GPa, a second, lower-$T_{\text{c}}$ phase (SC-II) emerges and coexists with SC-I over a broad pressure range, and SC-II ultimately develops a true zero-resistance state above 122.2 GPa. These superconducting phases are intimately linked to a cascade of structural transitions that systematically distort the frustrated pyrochlore lattice of Ir atoms. Our results expand the potential for superconductivity in spinels and demonstrate a pathway to high-$T_{\text{c}}$ pairing directly from a correlated insulating state driven by lattice tuning.

cond-mat.supr-con↗

arXiv2026

MASH: A Multiplatform and Multimodal Annotated Dataset for Societal Impact of Hurricane

Natural disasters cause multidimensional threats to human societies, with hurricanes exemplifying one of the most disruptive events that not only caused severe physical damage but also sparked widespread discussion on social media platforms. Existing datasets for studying societal impacts of hurricanes often focus on outdated hurricanes and are limited to a single social media platform, failing to capture the broader societal impact in today's diverse social media environment. Moreover, existing datasets annotate visual and textual content of the post separately, failing to account for the multimodal nature of social media posts. To address these gaps, we present a multiplatform and Multimodal Annotated Dataset for Societal Impact of Hurricane (MASH) that includes 59,607 relevant social media data posts from Reddit, TikTok, and YouTube. In addition, all relevant social media data posts are annotated in a multimodal approach that considers both textual and visual content on three dimensions: Humanitarian Classes, Bias Classes, and Information Integrity Classes. To our best knowledge, MASH is the first large-scale, multi-platform, multimodal, and multi-dimensionally annotated dataset centered on hurricane disasters. In addition, we introduce an online platform that supports interactive data exploration, provides preliminary analytical results, and allows users to share their insights regarding the societal impacts of hurricanes. We envision that MASH can contribute to the study of hurricanes' impact on society, such as disaster response, disaster severity classification, public sentiment analysis, disaster policy making, and bias identification. The dataset is publicly available at https://huggingface.co/datasets/YRC10/MASH under the Creative Commons Attribution 4.0 (CC BY 4.0) license.

cs.SI↗

arXiv2026

V2P: Visual Attention Calibration for GUI Grounding via Background Suppression and Center Peaking

Precise localization of GUI elements is crucial for the development of GUI agents. Traditional methods rely on bounding box or center-point regression, neglecting spatial interaction uncertainty and visual-semantic hierarchies. Recent methods incorporate attention mechanisms but still face two key issues: (1) ignoring processing background regions causes attention drift from the desired area, and (2) uniform modeling the target UI element fails to distinguish between its center and edges, leading to click imprecision. Inspired by how humans visually process and interact with GUI elements, we propose the Valley-to-Peak (V2P) method to address these issues. To mitigate background distractions, V2P introduces a suppression attention mechanism that minimizes the model's focus on irrelevant regions to highlight the intended region. For the issue of center-edge distinction, V2P applies a Fitts' Law-inspired approach by modeling GUI interactions as 2D Gaussian heatmaps where the weight gradually decreases from the center towards the edges. The weight distribution follows a Gaussian function, with the variance determined by the target's size. Consequently, V2P effectively isolates the target area and teaches the model to concentrate on the most essential point of the UI element. The model trained by V2P achieves the performance with 92.4\% and 52.5\% on two benchmarks ScreenSpot-v2 and ScreenSpot-Pro (see Fig.~\ref{fig:main_results_charts}). Ablations further confirm each component's contribution, underscoring V2P's generalizability in precise GUI grounding tasks and its potential for real-world deployment in future GUI agents.

cs.AI↗

arXiv2026

From Failure to Mastery: Generating Hard Samples for Tool-use Agents

The advancement of LLM agents with tool-use capabilities requires diverse and complex training corpora. Existing data generation methods, which predominantly follow a paradigm of random sampling and shallow generation, often yield simple and homogeneous trajectories that fail to capture complex, implicit logical dependencies. To bridge this gap, we introduce HardGen, an automatic agentic pipeline designed to generate hard tool-use training samples with verifiable reasoning. Firstly, HardGen establishes a dynamic API Graph built upon agent failure cases, from which it samples to synthesize hard traces. Secondly, these traces serve as conditional priors to guide the instantiation of modular, abstract advanced tools, which are subsequently leveraged to formulate hard queries. Finally, the advanced tools and hard queries enable the generation of verifiable complex Chain-of-Thought (CoT), with a closed-loop evaluation feedback steering the continuous refinement of the process. Extensive evaluations demonstrate that a 4B parameter model trained with our curated dataset achieves superior performance compared to several leading open-source and closed-source competitors (e.g., GPT-5.2, Gemini-3-Pro and Claude-Opus-4.5). Our code, models, and dataset will be open-sourced to facilitate future research.

cs.CL↗

arXiv2025

On the Effectiveness of Training Data Optimization for LLM-based Code Generation: An Empirical Study

Large language models (LLMs) have achieved remarkable progress in code generation, largely driven by the availability of high-quality code datasets for effective training. To further improve data quality, numerous training data optimization techniques have been proposed; however, their overall effectiveness has not been systematically evaluated. To bridge this gap, we conduct the first large-scale empirical study, examining five widely-used training data optimization techniques and their pairwise combinations for LLM-based code generation across three benchmarks and four LLMs. Our results show that data synthesis is the most effective technique for improving functional correctness and reducing code smells, although it performs relatively worse on code maintainability compared to data refactoring, cleaning, and selection. Regarding combinations, we find that most combinations do not further improve functional correctness but can effectively enhance code quality (code smells and maintainability). Among all combinations, data synthesis combined with data refactoring achieves the strongest overall performance. Furthermore, our fine-grained analysis reinforces these findings and provides deeper insights into how individual techniques and their combinations influence code generation effectiveness. Overall, this work represents a first step toward a systematic understanding of training data optimization and combination strategies, offering practical guidance for future research and deployment in LLM-based code generation.

cs.SE↗

arXiv2025

Movable Antenna Enhanced Multi-Region Beam Coverage: A Multi-Notch-Filter-Inspired Design

Movable antenna (MA) has emerged as a promising technology to enhance wireless communication performance by exploiting the new degree of freedom (DoF) via antenna position optimization. In this letter, we investigate the MA-enhanced wide beam coverage over multiple subregions in the spatial domain. Specifically, we aim to maximize the minimum beam gain over the desired subregions by jointly optimizing the transmit beamforming and antenna position vector (APV). Although this problem is non-convex, we propose an efficient algorithm to solve it by leveraging the similarity between the considered multi-region coverage and classical multi-notch filter (MNF) design. In particular, we construct a spatial MNF-based transmit beamforming vector by assuming a continuous amplitude and phase-shift profile within the antenna movement region. Based on this continuous profile, we propose a sequential update algorithm to select an optimal subset of MA positions for multi-region coverage, jointly with a Gibbs sampling (GS) procedure to avoid undesired local optimum. Numerical results show that our proposed algorithm can significantly outperform conventional fixed position antennas (FPAs) and achieve a comparable performance to the alternating optimization (AO) algorithm with dramatically lower complexity.

eess.SP↗

arXiv2025

Critical Hermitian matrix model with external source and Boussinesq hierarchy

We consider the random Hermitian matrix model of dimension $2n$, with external source, defined by the probability density function \begin{equation*} \frac{1}{Z_{2n}} \lvert \det(M) \rvert^α e^{-2n\mathrm{Tr} (V(M) - AM)}, \quad V(x) = \frac{x^4}{4} - t\frac{x^2}{2}, \end{equation*} where the external source $A$ has two eigenvalues $\pm a$ of equal multiplicity. We investigate the limiting local statistics of the eigenvalues of $M$ around $0$ in certain critical regimes as $n \to \infty$. When the parameters $t$ and $a$ lie on a critical curve along which the limiting mean eigenvalue density vanishes as $|x|^{1/3}$, the double scaling limit of the correlation kernel is constructed from functions associated with the Boussinesq equation. This new limiting kernel reduces to the classical Pearcey kernel when $α= 0$. Furthermore, in the multi-critical case where the limiting mean eigenvalue density vanishes as $|x|^{5/3}$, the limiting kernel is built from the second member of the Boussinesq hierarchy. We derive the results by transforming the random matrix model into biorthogonal ensembles that are analogous to the Muttalib-Borodin ensemble, and then analyzing its asymptotic behavior via a vector Riemann-Hilbert problem.

math-ph↗

arXiv2025

MCVI-SANet: A lightweight semi-supervised model for LAI and SPAD estimation of winter wheat under vegetation index saturation

Vegetation index (VI) saturation during the dense canopy stage and limited ground-truth annotations of winter wheat constrain accurate estimation of LAI and SPAD. Existing VI-based and texture-driven machine learning methods exhibit limited feature expressiveness. In addition, deep learning baselines suffer from domain gaps and high data demands, which restrict their generalization. Therefore, this study proposes the Multi-Channel Vegetation Indices Saturation Aware Net (MCVI-SANet), a lightweight semi-supervised vision model. The model incorporates a newly designed Vegetation Index Saturation-Aware Block (VI-SABlock) for adaptive channel-spatial feature enhancement. It also integrates a VICReg-based semi-supervised strategy to further improve generalization. Datasets were partitioned using a vegetation height-informed strategy to maintain representativeness across growth stages. Experiments over 10 repeated runs demonstrate that MCVI-SANet achieves state-of-the-art accuracy. The model attains an average R2 of 0.8123 and RMSE of 0.4796 for LAI, and an average R2 of 0.6846 and RMSE of 2.4222 for SPAD. This performance surpasses the best-performing baselines, with improvements of 8.95% in average LAI R2 and 8.17% in average SPAD R2. Moreover, MCVI-SANet maintains high inference speed with only 0.10M parameters. Overall, the integration of semi-supervised learning with agronomic priors provides a promising approach for enhancing remote sensing-based precision agriculture.

cs.CV↗