arXiv subjects

Fan Gao

Publications and source records attributed to Fan Gao.

At least 19 recordsLinked to original sources

arXiv2026

From Prediction to Decision: World-Model-Guided Action Selection for Continuous Pile Excavation

Wheel-loader excavation is a sequential decision problem in which every scoop changes the terrain available to subsequent actions. A practical world model must predict action consequences accurately, rank candidates in real time, and operate inside the closed loop of a full-size machine. We present the World-Action Model (WAM), which proposes multiple scoops, rejects geometrically inadmissible candidates, jointly predicts signed terrain change and loaded volume, executes the candidate with the largest predicted load, and replans from the newly observed terrain. On 32 geometry-disjoint MinSlope test episodes, adding world-model ranking to matched diffusion proposals reduces the mean scoop count from 651.8 to 540.6 (17.1%), preserves 32/32 completion, and improves every paired episode. In a complete-system comparison, WAM completes 32/32 episodes versus 29/32 for an independently trained soft actor-critic policy. Comparisons of input representations, spatial support, and five architectures identify an accurate and efficient physics-structured predictor. We further evaluate the interface on event-disjoint full-size-loader data and deploy the complete perception-proposal-prediction-selection-execution loop for autonomous excavation. The ROS2/TensorRT implementation processes five candidates in 72.4 ms on a Jetson AGX Orin. The simulation results establish decision-level gains, while the physical experiments demonstrate real-world closed-loop feasibility.

cs.RO↗

arXiv2026

AnyGS2Mesh: Feed-Forward Mesh Reconstruction from 3D Gaussian Splatting with Arbitrary-Resolution Views

Existing 3D mesh reconstruction methods from Gaussian scene representations predominantly rely on iterative optimization, resulting in slow inference and limited scalability to high-resolution inputs. In this paper, we present AnyGS2Mesh, the first feed-forward framework for directly reconstructing 3D meshes from 3D Gaussian Splatting representations with support for arbitrary input image resolutions. Our approach incorporates a Gaussian-Guided Transformer architecture that exploits explicit 3D geometric priors for efficient mesh generation. We introduce three key components: (1) a Gaussian-Guided Spatial Reasoning Transformer represents Gaussian primitives as structured 3D tokens and jointly reasons over Gaussian and image features; (2) a Streaming and Patchwise Geometry Encoder processes native-resolution views sequentially and aggregates information across variable-length view sets; (3) a Scale-Aligned Hybrid Depth Refiner uses a PatchFusion-style encoder--decoder to fuse RGB-conditioned predicted depth with Gaussian-rendered metric depth, combining fine local structures with globally consistent metric scale. The refined depth maps are integrated through TSDF fusion, followed by Marching Cubes for deterministic mesh extraction. Extensive experiments show that AnyGS2Mesh achieves state-of-the-art reconstruction quality while significantly reducing inference time compared with optimization-based baselines, enabling near-real-time, high-quality mesh reconstruction. Our results demonstrate the potential of combining Gaussian representations and feed-forward Transformer architectures for scalable 3D geometry reconstruction. The code will be made publicly available upon acceptance.

cs.CG↗

arXiv2026

HealMed: Multilingual Evaluation of Large Language Models in Medicine

We present HealMed, an expert-reviewed benchmark for multilingual evaluation of large language models in medicine. HealMed contains 1,000 examples in each of nine languages, drawn from nine datasets and covering three task formats: MCQA, NLI and open-ended QA. The benchmark was developed over two years by 23 physicians and medical experts based across nine countries and regions. Each translation was evaluated and revised by two experts fluent in English and the corresponding target language. On HealMed, performance declined most in low-resource languages, although the size of the gap varied markedly across languages and models. The strongest proprietary models were the most stable across languages, whereas many open-source and medically specialized models showed larger and less consistent gaps. Medical specialization alone did not ensure multilingual robustness. Furthermore, expert revision could either raise or lower measured performance, indicating that translation quality materially affects cross-language evaluation results.

cs.CL↗

arXiv2026

PoseAdapter: Dual-Stream 2.5D Controllable Image Generation for Complex Multi-Object Scenes

While Text-to-Image (T2I) diffusion models have achieved remarkable success, precise spatial and orientational control in multi-object scenes remains a persistent challenge. Existing methods either rely on computationally expensive dense 3D maps or suffer from severe attribute leakage and "cut-and-paste" artifacts. To address these limitations, we propose PoseAdapter, a lightweight framework for high-fidelity 2.5D controllable image generation. Instead of dense spatial maps, it establishes precise spatial-angular anchors using an efficient condition layout: individual object captions, 2D bounding boxes, and 3D angles. To resolve the generative trade-off between strict instance isolation and global coherence, we introduce a Context-Aware Dual-Stream Representation. By injecting local object tokens and relation-enriched scene tokens into the visual stream of modern MM-DiT architectures via parallel masked and unmasked pathways, PoseAdapter eliminates attribute leakage while preserving natural inter-object relationships and scene-level coherence. To support this paradigm, we construct OrientLayout, a high-quality dataset featuring standardized 2.5D annotations and instance-level decoupled semantics. Extensive experiments demonstrate that PoseAdapter outperforms state-of-the-art baselines in spatial accuracy, orientational precision, and multi-object visual fidelity. Code and dataset will be available at https://github.com/cyf23/PoseAdapter.

cs.CV↗

arXiv2026

Low-Latency Generative Semantic Communication via Channel-Realization Flow Matching

Generative semantic communication receivers deliver high perceptual quality but suffer from prohibitive decoding latency. This bottleneck arises because diffusion receivers rely on stochastic iterative decoding, while existing flow matching receivers employ independent endpoint coupling that ignores the physical source--channel link, yielding unnecessarily long and curved sampling trajectories. In this paper, we reformulate receiver-side recovery as a realization-coupled bridge flow matching problem under explicit bandwidth and power constraints. Specifically, we propose Realization-Coupled Bridge Flow Matching (RC-BFM), where the decoder initializes from a channel-induced semantic state rather than isotropic noise. Crucially, training pairs are linked via a realization-coupled entropic optimal transport (RC-OT) plan that preserves the physical channel realization of each transmission while maintaining robustness to stochastic fading. Furthermore, we identify independent coupling as the fundamental source of a conditional train--test distribution shift in conditional flow matching-based receivers, and derive an end-to-end distortion bound whose discretization error decays as $O(K^{-2})$. Experiments on CIFAR-10 and FFHQ-64$\times$64 over AWGN and Rayleigh fading channels demonstrate that RC-BFM achieves a superior fidelity--perception trade-off, reducing decoding latency by over 10$\times$ compared to diffusion-based receivers.

cs.IT↗

arXiv2026

Domain-Generalized Adaptive Semantic Communication for Collaborative Perception

We propose RSTA, a domain-generalized semantic communication framework enabling source-free V2X collaborative perception under both observation-domain shift and unseen wireless channel conditions. In V2X, received semantic tokens suffer coupled degradation from pre-transmission domain drift and in-transit channel corruption; existing methods address only one source, leaving adaptation misled by tokens that are simultaneously off-domain and physically degraded. RSTA trains a pre-deployment semantic encoder for transmission stability via cross-domain prototype alignment and cross-channel gradient consistency, and updates a lightweight in-deployment decoder adapter through reliability-gated entropy minimization that restricts gradients to tokens ranked high in both semantic relevance and channel fidelity. A theoretical task robustness decomposition links each loss term to a distinct degradation source, grounding each algorithmic component in a measurable error mode. Trained on AWGN and tested on unseen Rayleigh fading, RSTA achieves +7.2 AP@0.7 over pre-deployment domain generalization on cross-weather tasks and +5.5 on cross-dataset tasks across four V2X benchmarks, updating only 0.21\% of parameters in-deployment with zero inter-agent synchronization overhead.

eess.SP↗

arXiv2026

CardioLens: Revealing the Clinical Reality Gap of MLLMs via Multi-Sequence Cardiac MRI Evaluations

Multimodal Large Language Models (MLLMs) have shown strong performance on public medical benchmarks, yet existing evaluations often remain weak proxies for clinical use, relying on isolated inputs and simplified recognition-style tasks. We introduce CardioLens, a leakage-resistant evaluation testbed for multi-sequence Cardiovascular Magnetic Resonance (CMR), constructed from private hospital archives through a rigorous report-to-QA construction and verification pipeline. CardioLens contains 473,896 slices and 13,494 verified QA pairs across 4D Cine, LGE, perfusion, and T2-weighted imaging, and evaluates three stages of CMR interpretation: image understanding, report generation, and disease diagnosis. Across 24 state-of-the-art MLLMs, CardioLens reveals a substantial clinical reality gap: models perform poorly overall, with performance degrading along the real CMR workflow. Confusion analysis further shows a category-collapse failure mode, where models default to frequent abnormal categories rather than distinguishing clinically distinct findings. To rule out MLLM-compatible input construction as the primary cause, we compare random, clinically motivated, and data-driven slice selection protocols under different slice budgets; performance changes only marginally, typically by about 1%. Explicit reasoning prompts also fail to rescue performance, often making models more conservative rather than improving visual evidence use. These results show that current MLLMs remain far from reliable CMR interpretation, where clinical decisions require integrating distributed evidence across sequences, views, and temporal phases. CardioLens provides a clinically grounded testbed for developing next-generation MLLMs toward real-world clinical deployment.

cs.CV↗

arXiv2026

TFD: A Comprehensive Structured Tibetan Foundation Dataset for Low-Resource Language Processing and Large-Scale Modeling

Large Language Models (LLMs) have achieved remarkable success in high-resource languages, yet progress in Tibetan remains severely constrained. While recent efforts have begun to address pre-training data scarcity for Tibetan, a more fundamental gap persists: no existing resource supports the complete LLM development pipeline, spanning pre-training, instruction tuning, safety alignment, preference optimization, and reasoning supervision. We introduce the Tibetan Foundation Dataset (TFD), the first structured, large-scale, and expert-curated dataset covering all key stages of Tibetan large language modeling. TFD comprises TIBSTC, a unified corpus of over 11 billion tokens with curated sub-datasets for instruction tuning, safety alignment, and preference optimization, and TIBSTC-CoT, the first large-scale Tibetan chain-of-thought dataset. We demonstrate its utility by training the Sun-Shine family of Tibetan LLMs, achieving substantial improvements over strong baselines on understanding, safety, reasoning, and generation benchmarks. These results underscore that advancing low-resource language modeling requires not only scale, but a structurally complete data ecosystem. We release TFD to facilitate reproducible research and the development of robust, culturally aligned Tibetan LLMs. Code and data are available at https://github.com/Vicentvankor/sun-shine.

cs.CL↗

arXiv2026

Med-CoReasoner: Reducing Language Disparities in Medical Reasoning via Language-Informed Co-Reasoning

While reasoning-enhanced large language models perform strongly on English medical tasks, a persistent multilingual gap remains, with substantially weaker reasoning in local languages, limiting equitable global medical deployment. To bridge this gap, we introduce Med-CoReasoner, a language-informed co-reasoning framework that elicits parallel English and local-language reasoning, abstracts them into structured concepts, and integrates local clinical knowledge into an English logical scaffold via concept-level alignment and retrieval. This design combines the structural robustness of English reasoning with the practice-grounded expertise encoded in local languages. To evaluate multilingual medical reasoning beyond multiple-choice settings, we construct MultiMed-X, a benchmark covering seven languages with expert-annotated long-form question answering and natural language inference tasks, comprising 350 instances per language. Experiments across three benchmarks show that Med-CoReasoner improves multilingual reasoning performance by an average of 5%, with particularly substantial gains in low-resource languages. Moreover, model distillation and expert evaluation analysis further confirm that Med-CoReasoner produces clinically sound and culturally grounded reasoning traces.

cs.CL↗

arXiv2026

3DGS$^3$: Joint Super Sampling and Frame Interpolation for Real-Time Large-Scale 3DGS Rendering

3D Gaussian Splatting (3DGS) enables high-quality real-time 3D rendering but faces challenges in efficiently scaling to ultra-dense scenes and high-resolution due to computational bottlenecks that limit its use in latency-sensitive applications. Instead of optimizing the splatting pipeline itself, we propose \textbf{3DGS$^3$}, a unified post-rendering framework that jointly performs super sampling and frame interpolation through differentiable processing of low-resolution outputs to achieve both high-resolution and high-frame-rate rendering. Our \textbf{Gradient\- \-Aware Super Sampling (GASS)} module leverages the continuous differentiability of 3DGS to extract image gradients that guide a GRU-based refinement network to enable high-fidelity super sampling. Furthermore, a \textbf{Lightweight Temporal Frame Interpolation (LTFI)} module based on a compact U-Net-like backbone fuses temporal and differentiable spatial cues from consecutive frames to synthesize temporally coherent intermediate frames. Experiments on public datasets demonstrate that 3DGS$^3$ achieves superior rendering efficiency and visual quality when compared with state-of-the-art methods and remains compatible with existing 3DGS acceleration techniques. The code will be publicly released upon acceptance.

cs.GR↗

arXiv2026

FMSD-TTS: Few-shot Multi-Speaker Multi-Dialect Text-to-Speech Synthesis for Ü-Tsang, Amdo and Kham Speech Dataset Generation

Tibetan is a low-resource language with minimal parallel speech corpora spanning its three major dialects-Ü-Tsang, Amdo, and Kham-limiting progress in speech modeling. To address this issue, we propose FMSD-TTS, a few-shot, multi-speaker, multi-dialect text-to-speech framework that synthesizes parallel dialectal speech from limited reference audio and explicit dialect labels. Our method features a novel speaker-dialect fusion module and a Dialect-Specialized Dynamic Routing Network (DSDR-Net) to capture fine-grained acoustic and linguistic variations across dialects while preserving speaker identity. Extensive objective and subjective evaluations demonstrate that FMSD-TTS significantly outperforms baselines in both dialectal expressiveness and speaker similarity. We further validate the quality and utility of the synthesized speech through a challenging speech-to-speech dialect conversion task. Our contributions include: (1) a novel few-shot TTS system tailored for Tibetan multi-dialect speech synthesis, (2) the public release of a large-scale synthetic Tibetan speech corpus generated by FMSD-TTS, and (3) an open-source evaluation toolkit for standardized assessment of speaker similarity, dialect consistency, and audio quality.

cs.SD↗

arXiv2026

Wavefront sets for genuine representations of $\rm GL$-covers of Kazhdan--Patterson or Savin types

First, we consider general Brylinski--Deligne covers of the $p$-adic general linear groups, and discuss the theory of Bernstein--Zelevinsky derivatives. We also recall the Zelevinsky-type classification of the irreducible genuine spectrum for the Kazhdan--Patterson and Savin covers. Following this, for these two special families of covers, we determine the wavefront sets of their irreducible genuine representations, expressed in terms of the iterated degrees of the highest Bernstein--Zelevinsky derivatives. Finally, for Kazhdan--Patterson covers, we reinterpret this result on the wavefront set using a version of the local Langlands correspondence and the covering Barbasch--Vogan duality.

math.RT↗

arXiv2026

See2Refine: Vision-Language Feedback Improves LLM-Based eHMI Action Designers

Automated vehicles lack natural communication channels with other road users, making external Human-Machine Interfaces (eHMIs) essential for conveying intent and maintaining trust in shared environments. However, most eHMI studies rely on developer-crafted message-action pairs, which are difficult to adapt to diverse and dynamic traffic contexts. A promising alternative is to use Large Language Models (LLMs) as action designers that generate context-conditioned eHMI actions, yet such designers lack perceptual verification and typically depend on fixed prompts or costly human-annotated feedback for improvement. We present See2Refine, a human-free, closed-loop framework that uses vision-language model (VLM) perceptual evaluation as automated visual feedback to improve an LLM-based eHMI action designer. Given a driving context and a candidate eHMI action, the VLM evaluates the perceived appropriateness of the action, and this feedback is used to iteratively revise the designer's outputs, enabling systematic refinement without human supervision. We evaluate our framework across three eHMI modalities (lightbar, eyes, and arm) and multiple LLM model sizes. Across settings, our framework consistently outperforms prompt-only LLM designers and manually specified baselines in both VLM-based metrics and human-subject evaluations. Results further indicate that the improvements generalize across modalities and that VLM evaluations are well aligned with human preferences, supporting the robustness and effectiveness of See2Refine for scalable action design.

cs.HC↗

arXiv2026

TMD-TTS: A Unified Tibetan Multi-Dialect Text-to-Speech Framework for Ü-Tsang, Amdo and Kham Speech Dataset Generation

Tibetan is a low-resource language with limited parallel speech corpora spanning its three major dialects (Ü-Tsang, Amdo, and Kham), limiting progress in speech modeling. To address this issue, we propose TMD-TTS, a unified Tibetan multi-dialect text-to-speech (TTS) framework that synthesizes parallel dialectal speech from explicit dialect labels. Our method features a dialect fusion module and a Dialect-Specialized Dynamic Routing Network (DSDR-Net) to capture fine-grained acoustic and linguistic variations across dialects. Extensive objective and subjective evaluations demonstrate that TMD-TTS significantly outperforms baselines in dialectal expressiveness. We further validate the quality and utility of the synthesized speech through a challenging Speech-to-Speech Dialect Conversion (S2SDC) task.

cs.CL↗

arXiv2026

Covering Barbasch-Vogan duality and wavefront sets of genuine representations

In this paper, we start by defining a covering Barbasch-Vogan duality and prove some of its properties. Then, for genuine representations of $p$-adic covering groups we formulate an upper bound conjecture for their wavefront sets using this covering Barbasch-Vogan duality and reduce it to anti-discrete representations. The formulation generalizes that of Ciubotaru-Kim and Hazeltine-Liu-Lo-Shahidi for linear algebraic groups. We prove this upper bound conjecture for Kazhdan-Patterson coverings of general linear groups.

math.RT↗

arXiv2026

Geometric wavefront sets of genuine Iwahori-spherical representations

For Iwahori-spherical genuine representations of central covers with positive real Satake parameters, we prove the upper bound inequality for their geometric wavefront sets, formulated for general genuine representations in an earlier work by Gao--Liu--Lo--Shahidi. Meanwhile, we show the equality is attained for covers of type A groups and for some representations of covers of the exceptional groups. We also verify the equality for certain Iwahori-spherical representations occurring in regular unramified principal series; this uses and generalizes the earlier work of Karasiewicz--Okada--Wang on theta representations. Lastly, we determine the leading coefficients in the Harish-Chandra character expansion of a theta representation when its geometric wavefront set is of a special type.

math.RT↗

arXiv2026

Two-sided cells of Weyl groups and certain splitting Whittaker polynomials

Consider the subset of a Weyl group with a fixed descent set. For Weyl groups of classical types, we determine the number of two-sided cells this subset intersect. Moreover, we apply this result to prove that certain rational Whittaker polynomials associated with covering groups split over the field of rational numbers.

math.RT↗

arXiv2025

TIBSTC-CoT: A Multi-Domain Instruction Dataset for Chain-of-Thought Reasoning in Language Models

To address the severe data scarcity in Tibetan, a low-resource language spoken by over six million people, we introduce TIBSTC-CoT, the large-scale, multi-domain Tibetan dataset automatically constructed via chain-of-thought prompting with large language models (LLMs). TIBSTC-CoT establishes a scalable and reproducible framework for dataset creation in low-resource settings, covering diverse domains and reasoning patterns essential for language understanding and generation. Building on this dataset, we develop the Sunshine-thinking LLM family, a series of Tibetan-centric LLMs equipped with chain-of-thought capabilities. Trained entirely on TIBSTC-CoT, Sunshine-thinking has demonstrated strong reasoning and generation performance, comparable to state-of-the-art (SOTA) multilingual LLMs. Our work marks a significant step toward inclusive AI by enabling high-quality Tibetan language processing through both resource creation and model innovation. All data are available: https://github.com/Vicentvankor/sun-shine.

cs.CL↗