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Han Zhao

Publications and source records attributed to Han Zhao.

At least 19 recordsLinked to original sources
arXiv2026

LESSViT: Robust Hyperspectral Representation Learning under Spectral Configuration Shift

Modeling hyperspectral imagery (HSI) across different sensors presents a fundamental challenge due to variations in wavelength coverage, band sampling, and channel dimensionality. As a result, models trained under a fixed spectral configuration often fail to generalize to other sensors. Existing Vision Transformer (ViT) approaches either rely on implicit spectral modeling with fixed channel assumptions or adopt explicit spatial-spectral attention with prohibitive computational cost, leading to a fundamental trade-off between efficiency and expressiveness. In this work, we introduce Low-rank Efficient Spatial-Spectral ViT (LESSViT), a sensor-flexible architecture for cross-spectral generalization. LESSViT is built on LESS Attention, a structured low-rank factorization that models joint spatial-spectral interactions through separable spatial and spectral components, reducing the complexity of full spatial-spectral attention from $\mathcal{O}(N^2 C^2)$ to $\mathcal{O}(rNC)$, where $N$ is the number of spatial tokens, $C$ is the number of spectral channels, and $r$ is the rank of the low-rank approximation. We further incorporate channel-agnostic patch embedding and wavelength-aware positional encoding to support flexible spectral inputs. To enable efficient and robust pretraining, we introduce a hyperspectral masked autoencoder (HyperMAE) with decoupled spatial-spectral masking and hierarchical channel sampling. We evaluate LESSViT under a cross-spectral generalization setting that simulates cross-sensor variability. Experiments on the SpectralEarth benchmark demonstrate that LESSViT improves robustness under spectral shifts while remaining competitive in-distribution, and explicit and efficient spatial-spectral modeling is essential for scalable and generalizable hyperspectral representation learning. The code is available through the project page: https://uiuctml.github.io/LESSViT/

cs.CV↗
arXiv2026

RL-IF: Tracking Non-local Training Data Influence for Online Reinforcement Learning

Online reinforcement learning (RL) has achieved significant success in decision-making tasks, but modern online RL remains highly sensitive to the quality of training experience. Understanding the contribution of individual training instances is therefore central to data-centric RL, with applications ranging from experience selection to policy interpretation. Existing data attribution methods for online RL primarily focus on local influence within a single training round, overlooking the non-local data influence across multiple training rounds. In this work, we formalize data attribution in online RL through a trajectory-level leave-one-out quantity, RL-LOO, which measures how one training sample influences a downstream target after subsequent online updates have taken place. We then derive RL-IF, a first-order estimator that propagates data influence through both optimization effects and policy-induced sampling effects, and provide theoretical guarantees on its approximation accuracy under smoothness assumptions. Our analysis further disentangles these two effects and shows both theoretically and empirically that the full RL-IF estimator can often be well approximated using the optimization effect alone. Building on this observation, we develop RINSE, a practical data filtering method for online RL. Experiments on standard control benchmarks and an RLHF-style toxicity-mitigation setting show that RINSE improves training efficiency and final performance over standard PPO and local attribution baselines. These results suggest that RL-IF provides a practical and principled framework for understanding and improving online RL.

cs.LG↗
arXiv2026

NeuroAct: Advancing EEG Analysis and Decoding via Dual-Loop Autonomous Research

EEG analysis and decoding underpin brain-computer interfaces, cognitive assessment, and sleep monitoring. Fixed pipelines and reward-driven search do not explicitly determine how signal structure, representations, predictor behavior, and training dynamics contribute to performance or generalization gaps, leaving intervention choice underdetermined. We introduce NeuroAct, an autonomous research agent framework for EEG analysis and decoding. NeuroAct implements dual-loop autonomous research across EEG foundation models, task-specific predictors, and model combinations. In an inner loop, research, development, and review roles use evidence on signal structure, representations, predictor behavior, and training dynamics to test hypotheses, select analyses or interventions, and refine candidates using performance, stability, and cost feedback. An outer loop distills outcomes into conditional, testable recommendations with task and model conditions, then validates and revises them on subsequent tasks.We evaluate four settings: (A) EEG General Analysis, (B) Cross-task Model Optimization, (C) Single-task Open Research, and (D) Collaborative Prediction. In Setting A, NeuroAct's 80.88 macro-average exceeds BrainAgent's 63.13 by 17.75 points. In Setting B, NeuroAct raises EEGPT's mean balanced accuracy (BA) by 7.34 points and HBN Pearson's (r) from 0.6894 to 0.7362; in Setting C, it improves ADFTD BA by 16.33 points; and in Setting D, it raises Workload BA from 79.69% to 85.02%. Experience reuse raises BCIC-IV-2a BA from 34.66% to 50.81% while reducing LLM tokens by 64.02%, indicating recommendations improve cross-task performance. NeuroAct enables evidence-guided EEG research improved by cross-task experience.

cs.LG↗
arXiv2026

RogueMerge: Robust and Unified Attacks against LLM Model Merging

Model merging composes specialized capabilities into a single LLM by aggregating task-specific LLMs sourced from unverified public platforms, exposing a critical supply-chain attack surface: Because any malicious behavior can be encoded into a task vector, and merging grants third-party vectors direct write access to model weights, an attacker-provided task vector can enable or amplify diverse downstream threats. Prior work only examines backdoor attacks against model merging for classifiers using static arithmetic heuristics, which fail to effectively achieve diverse attacks on generative LLMs for three reasons: (i) LLMs rely on autoregressive decoding, where even a minor parameter drift introduced by merging compounds across tokens and rapidly degrades the attack. (ii) Attackers have no knowledge of the victim's merging configurations, causing a static attack vector optimized in isolation to be easily diluted or neutralized. (iii) Practical threat induction must generalize to attack prompts unseen during optimization, which static vectors cannot adequately encode. In light of these gaps, we present RogueMerge, the first unified attack framework addressing all three challenges. To handle autoregressive generation, we replace static arithmetic with a joint optimization that explicitly enforces attack success after merging. To better simulate unknown merging settings, we formulate attack injection as a stochastic min-max optimization problem and solve it via meta-gradient descent. To generalize across heterogeneous attack prompts, we employ distributionally robust optimization and derive a tractable first-order Taylor approximation at LLM scale, with a provable error bound. Across four threats, six merging algorithms, and over 170 merged LLMs, RogueMerge consistently outperforms prior attacks. It also remains stable across diverse merging settings and resists standard defenses.

cs.CR↗
arXiv2026

EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation

Scaling robotic foundation models requires diverse training data and reliable evaluation environments. Simulation offers a scalable solution, yet existing generation pipelines remain constrained by predefined assets and skills, a disconnect between scene generation and task generation, and limited support for complex embodiments and physics. We introduce EmbodiedSmith, a framework for scalable embodied data generation through recursive self-improvement (RSI). EmbodiedSmith unifies asset, scene, and task generation in a pipeline that supports autonomous creation and language-driven customization. Its core is an agentic refinement loop: scene generation anticipates downstream task requirements, while task generation guides targeted scene edits, allowing scenes and tasks to iteratively improve one another. This joint refinement improves task generation success, including for long-horizon tasks. The framework further supports mobile manipulators, humanoids, and dexterous hands, as well as interactions involving deformable objects and fluids, broadening the range of behaviors and physical phenomena represented in generated data. Together, these capabilities provide a flexible simulation engine for both robot pretraining and evaluation. Extensive experiments validate the quality, diversity, and generation efficiency of the resulting data, while downstream policy experiments demonstrate that increased data diversity improves generalization.

cs.CV↗
arXiv2026

From Overloaded to Guaranteed: High-Throughput Multi-SLO Enforcement for LoRA-Assisted On-Premise LLM Deployment

As Large Language Models (LLMs) become essential in privacy-sensitive sectors like hospitals and government agencies, the on-premise LLM servers offer a cost-effective and secure alternative to public cloud services. However, these resource-constrained servers struggle to guarantee heterogeneous Service Level Objectives (SLOs) when serving multiple LoRA-adapted services simultaneously. Existing serving frameworks suffer from severe SLO violations due to the computational overhead of LoRA layers and the rigid nature of batch scheduling. To address this, we propose HALO, a scheduling method tailored for LoRA-assisted on-premise LLM deployment. HALO introduces two key innovations: a spatial multiplexing strategy that overlaps Base and LoRA computations by partitioning GPU Streaming Multiprocessors (SMs), and an SLO-aware scheduler that decouples request execution based on "request-level slack." By prioritizing urgent tasks and utilizing idle budget for traffic shaping, HALO significantly mitigates resource contention. Our evaluation demonstrates that HALO minimizes SLO violations while improving throughput compared to state-of-the-art baselines.

cs.CL↗
arXiv2026

ByteSplat: Efficient Distributed 3D Gaussian Splatting Training via Intra- and Inter-GPU communication reduction

3D Gaussian Splatting (3DGS) enables photorealistic scene reconstruction, but training large-scale scenes requires substantial memory and computation. Distributing training across multiple GPUs increases available memory capacity, yet its performance is strictly constrained by data movement. We identify two dominant bottlenecks: repeated off-chip memory accesses during forward and backward rasterization, and inter-GPU communication of partial Gaussian gradients. To address these bottlenecks, we present ByteSplat, a distributed 3DGS training framework that jointly reduces intra- and inter-GPU data movement. First, ByteSplat fuses forward rasterization and backward rasterization into a single GPU kernel, retaining intermediate results on-chip to eliminate redundant off-chip transfers. Second, to alleviate the increased on-chip storage by fused rasterization, ByteSplat introduces hardware-aware pruning that considers both rendering quality and per-tile shared-memory constraints, increasing the overall performance of fused execution. Lastly, ByteSplat exploits gradient sparsity to eliminate zero partial gradients from inter-GPU communication. GPU-efficient encoder and decoder kernels compact the remaining records and directly aggregate the received gradients on their owner GPUs, reducing both communication volume and local aggregation overhead. We evaluate ByteSplat across six datasets. Compared with the baseline, ByteSplat reduces intra-GPU off-chip traffic and backward inter-GPU communication volume by 63.4% and 65.8%, respectively. On eight GPUs, ByteSplat achieves up to 6.1$\times$ training speedup while preserving reconstruction quality.

cs.DC↗
arXiv2026

Auto-Formalizing Neuro-Symbolic Predictors

Neuro-Symbolic (NeSy) predictors incorporate prior knowledge into the prediction process of neural networks, ensuring that outputs satisfy specified constraints, making them particularly suitable for high-stakes applications where compliance with domain knowledge is essential. A key bottleneck in this paradigm is the acquisition of symbolic constraints: encoding domain knowledge into logical formulas remains a manual and expert-intensive process. In this work, we investigate the extent to which auto-formalization via LLMs can systematically translate textual knowledge into symbolic knowledge that can be plugged into NeSy predictors. To this end, we introduce auto-nesy-bench, a new benchmark for evaluating constraint formalization and its impact on downstream accuracy of NeSy predictors. Through an extensive evaluation across several domains, we find that LLMs can formalize constraints to a meaningful extent, generating formulas that are often similar to those provided by human experts. Moreover, when the generated formulas are syntactically valid, they can lead to high-quality downstream predictions. The code and benchmark are available at https://unitn-sml.github.io/auto-nesy-bench/.

cs.LG↗
arXiv2026

Discrete Forcing: Infusing Discrete Guidance into Continuous Denoising for Few-Step Action Experts

Efficient action generation in vision-language-action (VLA) models requires capturing both coarse action structure and fine-grained details. Discrete action tokens provide compact structural representations but sacrifice precision, while continuous action tokens offer high precision but often require multiple denoising steps. We introduce Discrete Forcing, a flow-matching framework that combines these representations through an explicit coarse-to-fine generation process. It first predicts discrete action tokens to establish a coarse action structure, then uses them to guide continuous action refinement. The discrete and continuous components share a common diffusion transformer backbone with specialized branches, maintaining a parameter count comparable to a conventional single-branch model while requiring only one forward pass per branch. Extensive evaluations across multiple benchmarks demonstrate improved performance and faster inference over a parameter-matched continuous action expert, with consistent performance gains as model capacity increases. Real-world experiments further demonstrate improvements on high-precision and dynamic manipulation tasks.

cs.RO↗
arXiv2026

Dissecting How Die Scaling Breaks GPU Fine-grained Scheduling

Modern GPUs are no longer physically symmetric. Die scaling leads to both manufacturing-driven floorsweeping and cache and memory partitioning. The former creates chip-specific compute topologies, while the latter causes non-uniform memory access. These asymmetries are substantial. Topology-oblivious compute unit allocation can lead to up to 1.33x performance variation, while remote accesses increase HBM latency by up to 67% and nearly double L2 latency. However, these asymmetries are hidden behind the GPU's logical resource abstractions and can vary across chips. We develop lightweight characterization methods to uncover per-chip compute topology and memory affinity. We then use the discovered information to make existing fine-grained scheduling asymmetry-aware, considering not only how many resources are allocated but also which physical resources are assigned. Across full-GPU kernel execution, intra-application multiplexing, and inter-application co-location, asymmetry-aware scheduling improves mainstream kernels by up to 1.22x, multiplexed LLM inference by up to 14.3%, and avoids up to 1.33x performance variation.

cs.AR↗
arXiv2026

MiCRo: Mixture Modeling and Context-aware Routing for Personalized Preference Learning

Reward modeling is a key step in building safe foundation models when applying reinforcement learning from human feedback (RLHF) to align Large Language Models (LLMs). However, reward modeling based on the Bradley-Terry (BT) model assumes a global reward function, failing to capture the inherently diverse and heterogeneous human preferences. Hence, such oversimplification limits LLMs from supporting personalization and pluralistic alignment. Theoretically, we show that when human preferences follow a mixture distribution of diverse subgroups, a single BT model has an irreducible error. While existing solutions, such as multi-objective learning with fine-grained annotations, help address this issue, they are costly and constrained by predefined attributes, failing to fully capture the richness of human values. In this work, we introduce MiCRo, a two-stage framework that enhances personalized preference learning by leveraging large-scale binary preference datasets without requiring explicit fine-grained annotations. In the first stage, MiCRo introduces context-aware mixture modeling approach to capture diverse human preferences. In the second stage, MiCRo integrates an online routing strategy that dynamically adapts mixture weights based on specific context to resolve ambiguity, allowing for efficient and scalable preference adaptation with minimal additional supervision. Experiments on multiple preference datasets demonstrate that MiCRo effectively captures diverse human preferences and significantly improves downstream personalization.

cs.AI↗
arXiv2026

The Evolving Bottleneck in Speech Generation: Interface Co-design and Staged Alignment from CosyVoice to Qwen-Audio-3.0-TTS

Speech synthesis systems are commonly narrated as a sequence of larger models, better tokenizers, and broader data. This technical retrospective offers a different account of the CosyVoice lineage, from CosyVoice through CosyVoice 2 and CosyVoice 3 to Qwen-Audio-3.0-TTS: progress came from repeatedly relocating the system's dominant bottleneck. Across the lineage, a stable decomposition separates an autoregressive language model that plans speech from a flow-matching model that renders acoustics. What changes is the contract between them. CosyVoice establishes supervised semantic tokens as a content-aligned interface; CosyVoice 2 makes that interface causally available for streaming and removes the utterance-level speaker embedding from the language model; CosyVoice 3 improves the learnability and coverage of the interface through multitask supervision, scaling, and differentiable reward optimization; and Qwen-Audio-3.0-TTS reduces token rate, conditions its renderer on continuous language-model hidden states instead of token embeddings, and progressively aligns the coupled system. We formalize this history through four interface dimensions---representation, ownership, availability, and gradient reach---and separate within-paper evidence from cross-paper comparison. The resulting synthesis connects discrete autoregressive, continuous non-autoregressive, hybrid, and continuous autoregressive speech-generation paradigms, and yields practical principles for diagnosing and training modular speech generators.

eess.AS↗
arXiv2026

Semantic Refinement of Universal Audio Representations through Audio-Description Alignment

Universal audio representations must preserve acoustic detail while making high-level concepts accessible across speech, music, environmental sound, and downstream models of different capacities. We study semantic refinement of an acoustically pretrained encoder by adding audio-description alignment to a foundation of BEST-RQ, reconstruction, and CTC. We compare matched control, shuffled-description, and correctly paired trajectories to distinguish correct correspondence from an extra contrastive objective. Each endpoint is frozen and evaluated with a temporal-mean linear probe and a sequence-aware LLM readout, testing whether the refined information is directly accessible and remains useful to a stronger model. Across three paired seeds, correct alignment improves domain-balanced classification by 4.66 points with the linear probe and 2.59 points with the sequence-aware LLM, with positive changes in every domain. Correct pairing accounts for 87% of the linear-probe gain, while the LLM shows its clearest correspondence-specific benefit in captioning. Dense acoustic objectives provide complementary gains under both readouts. A separate 24-layer continuation remains competitive with leading public encoders under the shared evaluator, supporting the recipe beyond the controlled study.

eess.AS↗
arXiv2026

Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands out as a fundamental yet intricate problem, requiring the seamless integration of perception, planning, and control to enable interaction within diverse and unstructured environments. This survey presents a comprehensive overview of robotic manipulation, encompassing foundational background, task-organized benchmarks and datasets, and a unified taxonomy of existing methods. We extend the classical division between high-level planning and low-level control by broadening high-level planning to include language, code, motion, affordance, and 3D representations, while introducing a new taxonomy of low-level learning-based control grounded in training paradigms such as input modeling, latent learning, and policy learning. Furthermore, we provide the first dedicated taxonomy of key bottlenecks, focusing on data collection, utilization, and generalization, and conclude with an extensive review of real-world applications. Compared with prior surveys, our work offers both a broader scope and deeper insight, serving as an accessible roadmap for newcomers and a structured reference for experienced researchers. All related resources, including research papers, open-source datasets, and projects, are curated for the community at https://github.com/BaiShuanghao/Awesome-Robotics-Manipulation.

cs.RO↗
arXiv2026

Embodied Robot Manipulation in the Era of Foundation Models: Planning and Learning Perspectives

Recent advances in vision, language, and multimodal learning have significantly accelerated progress in robotic foundation models, with robotic manipulation remaining one of the most challenging embodied tasks. Its difficulty lies in integrating perception, semantic understanding, task reasoning, physically grounded action generation, and reliable execution. This survey examines robotic manipulation from an algorithmic perspective and organizes recent learning-based approaches through a unified abstraction of high-level planning and low-level action modeling. At the high level, we extend the classical notion of task planning to include reasoning over language, code, affordances, geometric constraints, and 3D representations. At the low level, we present a learning-paradigm-oriented taxonomy of learning-based action models, covering input modeling, latent learning, and policy learning. Within this abstraction, foundation models contribute either by generating structured planning artifacts that are instantiated as constraints or latent inputs for downstream action generation, or by directly modeling executable actions and trajectories. Finally, we summarize open challenges and future directions related to scalability, generalization, data efficiency, multimodal physical interaction, and safety. Together, this survey provides a structured view of the design space and emerging trends in foundation models for robotic manipulation.

cs.RO↗
arXiv2026

OH Line Detections in Southern Galaxies of the IRAS Revised Bright Galaxy Sample

We present a systematic study of OH main-line emission and absorption in 186 southern galaxies from the IRAS Revised Bright Galaxy Sample, using archival MeerKAT snapshot data. OH features are detected in 38 galaxies, including eight with OH maser emission (three new) and 30 showing OH absorption, mostly unreported previously. Four absorption systems exhibit weak OH emission superposed on strong absorption. OH-emitting regions are generally more compact than the associated radio continuum. Most absorption profiles are well fit by two Gaussian components (1667 and 1665 MHz), with an average integrated line ratio of $\sim$1.5. LIRGs show an OH emission detection rate of ~13\%, versus significantly lower rates in non-LIRGs. For sources with radio continuum flux densities >20 mJy, OH absorption detection rates reach ~36\% (LIRGs) and ~27\% (non-LIRGs), while no OH absorption features were detected among sources with lower radio continuum flux densities. This suggests that sufficient background continuum is likely an important factor for the detection of OH absorption. Detected OH emitters follow the empirical $L_{\rm OH}$--$L_{\rm FIR}$ relation, consistent with far-infrared pumping, while non-detections show upper limits below the relation. No significant differences are found between OH absorbers and non-detections in infrared luminosity or radio continuum compactness. Stacked spectra of non-detections reveal no significant OH features, suggesting that sensitivity and orientation alone do not fully explain the absence of absorption. In contrast, mid-infrared colors (e.g., W2--W3) and q_TIR differ between the two populations. OH absorption galaxies occupy an intermediate regime in L_HCN/L_CO between OH megamasers and non-detections, implying that OH absorption detectability is linked to dense molecular gas conditions, with extreme star formation potentially suppressing its occurrence.

astro-ph.GA↗
arXiv2026

Beyond Reconstruction: Full-Context Generative DiT for Music Generation

Hybrid music generators combine the long-range planning of an autoregressive language model with the fidelity of a diffusion- or flow-based acoustic renderer. Yet renderers are trained with clean, target-derived codec tokens but deployed with imperfect language-model predictions, creating codecinterface exposure bias. Rather than treating rendering as a simple reconstruction task,we formulate it as full-context generation from an imperfect discrete plan. We introduce FullDiT, a conditional DiT that fuses eight frame-aligned RVQ streams with independently encoded captions and lyrics and uses non-causal self-attention over the complete acoustic latent sequence. During training, Error-Matched Distractor Conditioning (EMDC) matches per-codebook replacement rates to teacher-forced top-1 error rates and samples near-miss tokens from cosine-KNN neighborhoods without changing the acoustic target. At inference, four-way classifier-free guidance (4-CFG) independently scales codec, lyric, and caption guidance increments. Matched ablations show that EMDC improves ViSQOL by 0.77 under synthetic corruption and is clearly preferred in non-tied comparisons with fixed languagemodel tokens. Further ablations show gains from full-song context and renderer-side text conditioning. The complete system outperforms five commercial systems on 15 of 18 automatic metrics and ranks among the top three on the Artificial Analysis Music with Vocals Leaderboard. The demo page is available at https://selinacloudl.github.io/fulldit-demo/.

eess.AS↗
arXiv2026

MMaDA-VLA: Large Diffusion Vision-Language-Action Model with Unified Multi-Modal Instruction and Generation

Vision-Language-Action (VLA) models map visual observations and natural-language instructions to robot actions; however, hierarchical and autoregressive paradigms often incur architectural overhead, accumulate long-horizon errors, and require auxiliary modules to capture environment dynamics. To this end, we present MMaDA-VLA, a fully native, pretrained discrete diffusion VLA that unifies multi-modal understanding and generation. Specifically, MMaDA-VLA uses a shared discrete token space to jointly denoise a future goal observation and an action chunk, grounding actions in predicted visual outcomes without an auxiliary world model. In this way, parallel, order-free refinement improves long-horizon consistency. Extensive experiments and comprehensive analyses demonstrate that MMaDA-VLA achieves an average success rate of 98.0\% on LIBERO and an average successful sequence length of 4.78 on CALVIN, while performing strongly in real-world settings. The project page is available at https://yliu-cs.github.io/MMaDA-VLA.

cs.RO↗