arXiv subjects

Hao Luo

Publications and source records attributed to Hao Luo.

At least 19 recordsLinked to original sources

arXiv2026

TactoHand: Learning Geometry-Based Dense Hand-Surface Interaction Fields from Video

Understanding how humans interact with the world requires a representation of physical interactions at the hand surface. Tactile sensing captures these interactions, but collecting tactile data at scale requires specialized hardware. We introduce TactoHand, a model that predicts three dense hand-surface interaction fields---contact, proximity, and 3D force---from monocular video. We derive geometry-based contact and proximity labels and motion-derived force labels from eligible training data within a curated collection spanning approximately 50 million source frames. TactoHand uses a temporal transformer to aggregate visual evidence across frames, while three learned queries decode the corresponding hand-surface fields. A differentiable physics layer further constrains force predictions using observed object motion. Across in-domain and out-of-domain benchmarks, TactoHand improves contact and proximity estimation over prior methods. In addition, physics supervision reduces position and rotation errors in motion rollouts, and the predicted contact and proximity fields improve downstream hand-object reconstruction. Together, these results show a scalable, low-cost path to learning hand-surface interaction fields without collecting tactile measurements. Code will be released at https://github.com/zhenqis123/Tactohand.

cs.CV↗

arXiv2026

Deep Holes and Aperture: Sign Laws for the Empirical Correlation of Lattice-Sampled Random Wave Fields

A Gaussian random wave field is sampled on a lattice within a bounded aperture. After displacement, re-indexing leaves a residual in the Voronoi cell. We study whether the empirical lag correlation has positive real part throughout the cell. For each realization in a single-output reciprocal link with noiseless over-the-air return, this is equivalent to the negative returned gradient being a descent direction for all residuals and differentiable losses with nonzero error signals. Return noise is treated exactly. For isotropic fields, ball-shaped apertures, unshifted lattice points, and dilations approaching the critical covering radius, every minimizer is a deep hole except with exponentially small probability. A Gaussian vector on the deep holes determines the limiting failure probability, with explicit covariance and lattice-independent limiting normalization. Square, hexagonal, simple cubic, and body-centered cubic lattices have two, three, four, and twelve sign classes. At fixed target failure probabilities below the critical limiting value, this covariance determines the exact leading aperture constant. When the margin and target failure probability vanish jointly, that constant is common to lattice shapes within each dimension. A cubic correction yields vanishing relative tail error in a moderate-deviation regime. A non-asymptotic two-sided aperture law has explicit constants. With a Rayleigh-faded specular path and positive diffuse margin, a failure floor occurs at every positive path power exactly when the cosine of its phase change is negative somewhere in the cell. The floor vanishes for all directions exactly when the covering radius is at most a quarter wavelength.

cs.IT↗

arXiv2026

Negative Results for Reciprocity-Based Over-the-Air Split Learning Under Channel Aging: Stability, Alignment, and Geometry

In reciprocity-based over-the-air split learning, channel aging rotates and attenuates the derivative signal returned to the transmitter. Seven case studies combine numerical forecasts, mechanism checks, and competing predictions. Near the correlation zero, an archived SGD comparison finds truncated inversion 0.000813 lower in cross-entropy than polar correction, with a paired 95% interval for the difference from -0.001853 to 0.000060, and a retained-mode quadratic proxy slightly favors truncation. Selecting the return port with the largest received power falls short of the predicted five-point alignment advantage over random selection at both tested spacings, gaining at most 0.97 points, while the local inverse relation between amplitude and phase gradient is supported. Seven specified interference-induced accuracy-collapse predictions are rejected, and independent zero-mean interference preserves the conditional mean under a fixed linear chain. Per-subcarrier correction and spherical-wavefront compensation do not deliver their predicted accuracy gains. Focusing leaves both methods near chance in a single-mode model and adds no observed gain in a model with a line-of-sight component plus scattering. A successful port assignment under nonsymmetric motion refutes an exact-symmetry requirement. The competing positioning-error prediction is supported. Gaussian rail jitter with a standard deviation of 0.383 wavelengths yields high terminal test accuracy, whereas a fixed bias of the same magnitude yields near-chance accuracy. These cases distinguish valid local physical relations from unsupported training forecasts through task support, noise injection, and update moments.

eess.SP↗

arXiv2026

Accelerated Primal-Dual Proximal Gradient Splitting Methods for Convex-Concave Saddle-Point Problems

In this paper, based a novel primal-dual dynamical model with adaptive scaling parameters and Bregman divergences, we propose new accelerated primal-dual proximal gradient splitting methods for solving bilinear saddle-point problems with optimal nonergodic convergence rates. For the first, using the spectral analysis, we show that a naive extension of acceleration to a quadratic game is unstable. Motivated by this, we present an accelerated primal-dual gradient flow which combines acceleration with careful velocity correction. To work with non-Euclidean distances, we also equip our continuous model with general Bregman divergences and prove the exponential decay of a Lyapunov function. Then, new primal-dual splitting methods are developed based on proper semi-implicit Euler schemes of the continuous model, and the theoretical convergence rates are nonergodic and optimal with respect to the matrix norms, Lipschitz constants and convexity parameters. Moreover, we introduce efficient restart variants to further improve the proposed methods and provide some numerical results to validate the practical performance.

math.OC↗

arXiv2026

Watch the Model Think: On-Policy Extraction of Activation Steering Vectors

When a model solves a problem on one attempt and fails it on the next, what separates the two is rarely the final answer token; it is the trajectory that reached it. Contrastive activation steering leaves that signal unused: CAA, SADI, RepE and ITI build their direction from experimenter-supplied text, recorded while the model reads rather than reasons. That choice also caps what the vector can express, since polarity must be written into the text, and a task judged only by outcome offers nothing to write it with. ROAST makes the trajectory itself the contrast: sample rollouts, let an outcome verifier split them into successes and failures, and contrast the reasoning that worked against the reasoning that did not. A matched teacher-forced control---rollouts, labels, answer text and pair counts held fixed, the trajectory alone stripped---points to the trajectory as what matters: on GSM8K at 0.6B the pairs alone buy +0.12 points while restoring the trajectories buys +6.05, the larger and only seed-robust step. Replacing the trajectory with an equal-length neutral prefix or another question's reasoning falls below no intervention. The two corpora are also far apart geometrically, a median 70+ degrees apart at both Qwen3 scales probed, beyond what a split-half null explains. Reading from rollouts calls for two corrections---keeping the full difference vector rather than Top-10% masking, and giving each question one vote rather than one per pair---and only grouped aggregation beats the unsteered baseline under 20% verifier noise. On parser-free benchmarks (GSM8K, MATH500, IFEval), ROAST is best in all six cells over two models, by up to +9.7, at +6.4% wall-clock and no added context; it also leads on six parser-scored benchmarks across three models. Across nine models (0.6B--122B, four families), ROAST improves on the unsteered model at every scale. Code: https://github.com/TomySu404/ORBIT

cs.LG↗

arXiv2026

EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy

A robot's effective ``mind'' need not reside in a single policy. It can emerge when specialized components perceive, reason, predict, act, verify, and remember within a shared orchestration process. EMERGE-Policy turns this perspective into a graph-structured agentic framework that coordinates both capability invocation and information exchange. A Main Agent retains task-level state within an active context window, while role-specific Sub Agents process perception, execution monitoring, verification, and memory consolidation in isolated contexts and return structured, task-relevant evidence. Role-specific contexts control information load by exposing only decision-relevant evidence to the Main Agent, while the functional Skill interface composes heterogeneous backends as Operational, Imagination, and Evaluation Skills. Criterion-grounded verification, textual failure diagnosis, and Branch Stack recovery provide localized correction, with token-aware external memory preserving task-relevant state. Together, their closed-loop interaction realizes the system-level policy captured by the name EMERGE-Policy. Without additional fine-tuning, we achieved outstanding performance on several public benchmark that have had a wide-reaching impact, and conducted a series of real robot experiments. These system-level results suggest that through the division of different functional sub-tasks among multiple agents and their concurrent collaboration, as well as the technical paradigm where the model is regarded as a skill and called within the framework, EMERGE-Policy can extend the robust robot policies beyond isolated runs.

cs.RO↗

arXiv2026

MedGround: Bridging the Evidence Gap in Medical Vision-Language Models with Verified Grounding Data

Vision-Language Models (VLMs) can generate convincing clinical narratives, yet frequently struggle to visually ground their statements. We posit that this limitation arises from the scarcity of high-quality, large-scale clinical referring-localization pairs. To address this, we introduce MedGround, an automated pipeline that transforms segmentation resources into high-quality medical referring grounding data. Leveraging expert masks as spatial anchors, MedGround precisely derives localization targets, extracts shape and spatial cues, and guides VLMs to synthesize natural, clinically grounded queries that reflect morphology and location. To ensure data rigor, a multi-stage verification system integrates strict formatting checks, geometry- and medical-prior rules, and image-based visual judging to filter out ambiguous or visually unsupported samples. Finally, we present MedGround-35K, a novel multimodal medical dataset. Extensive experiments demonstrate that VLMs trained with MedGround-35K consistently achieve improved referring grounding performance, enhance multi-object semantic disambiguation, and exhibit strong generalization to unseen grounding settings. This work highlights MedGround as a scalable, data-driven approach to anchor medical language to verifiable visual evidence.

cs.CV↗

arXiv2026

On the Design of Qwen3.8-Next Architecture: Evaluation, Efficiency, and Training Stability

We describe the architecture and ablations of Qwen3.8-Flash-Next, a sparse mixture-of-experts model with 125B parameters, 6B activated per token, and additional 51B parameters of n-gram embedding tables held off the accelerator. On fourteen pre-training benchmarks the model leads the 397B-A17B predecessor on eight and trails it on the rest by at most 2.6 points, at 1/3 the activated parameters, 1/3 the training tokens, and roughly 1/9 the training FLOPs. Token mixing uses a layer-wise hybrid of Gated DeltaNet (GDN) and global attention, with one full-attention layer in every four; at continued-pretraining time those full-attention layers are replaced by Qwen Sparse Attention (QSA), which scores context at micro-block granularity with a compressed lightweight indexer. The residual stream is widened to four branches and read through an elementwise gate, a design we call the Gated Residual (GR). Capacity is added outside the backbone by a single n-gram embedding layer whose tables are prefetched from host memory. We evaluate every candidate change along three axes: loss together with downstream benchmarks; the cost of the change in training, prefill and decode; and its effect on the optimal hyperparameters and training stability. Loss and downstream accuracy do not always move together: enlarging the n-gram vocabulary lowers loss monotonically while downstream accuracy saturates. The architecture and the Muon optimizer together shift the optimal learning rate and batch size upwards, render batch-size warmup unnecessary, and substantially improve stability under stress tests. Loss, benchmarks, efficiency and stability form one design problem. Solved jointly, they yield a recipe that is simultaneously more efficient, more capable and more stable.

cs.CL↗

arXiv2026

Group-Shared Low-Rank Approximation for Mobile-Efficient Pointwise Convolutions in Large-Kernel CNNs

Large-kernel Convolutional Neural Networks (CNNs) deliver remarkable performance in vision tasks by significantly expanding receptive fields, yet their quadratic parameter growth critically impedes storage-efficient edge deployment. While existing efficient architectures adopt parameter-efficient depthwise separable convolution backbones that leverage techniques like low-rank approximation and weight sharing to compress depthwise convolutions, we identify a critical oversight: pointwise convolutions dominate parameter volume (>87% in models like RepLKNet-31B) and constitute the primary deployment bottleneck on resource-constrained edge devices. This results in prohibitive storage costs and severe memory-loading constraints on resource-limited devices (e.g., smartphones with 4-12 GB Random Access Memory (RAM)). To overcome this, we propose Channel Group-Shared (CGS) low-rank approximation, a novel Singular Value Decomposition (SVD)-based parameter-sharing strategy. CGS constructs a structured low-rank paradigm isomorphic to SVD decomposition, comprising shared (high-parameter-cost) down/up-projection matrices across channel groups within a layer and channel-group-specific (low-parameter-cost) scalable diagonal matrices. This group-sharing design achieves significant parameter reduction. Extensive experiments demonstrate that large-kernel CNNs (RepLKNet, ConvNeXt, SLaK) enhanced with CGS strike an empirically favorable balance between competitive performance and substantially reduced storage costs. Crucially, by alleviating storage constraints, reducing memory bandwidth pressure during loading, and minimizing model loading latency, CGS enables the feasible deployment of pre-trained large-kernel CNN models on edge devices, thereby bridging the gap between high-performance vision models and practical edge deployment.

cs.LG↗

arXiv2026

Quantum Information Fusion and Correction under the Transferable Belief Model

The transferable belief model (TBM), developed within Dempster-Shafer theory, represents ambiguity and partial ignorance through set-valued belief masses. Its classical operations, however, can grow combinatorially over the power set. We formulate TBM reasoning on quantum circuits using the mass function quantum state (MFQS). The resulting framework covers belief representation, credal-level fusion and correction, product-space operations, and the generalized Bayesian theorem. For prepared MFQS inputs, CCR and the entire $α$-junction use element-wise gate modules whose logical counts are linear in the number of frame elements. These circuits avoid explicit operation-stage updates over all $2^n$ focal-set coordinates. A noisy multi-domain classifier-fusion example further demonstrates interpretable source fusion and improved robustness to gate-control noise. The results establish Dempster-Shafer structures as a semantic layer for quantum information processing beyond singleton-probability representations.

cs.AI↗

arXiv2026

How Significant Are the Real Performance Gains? An Unbiased Evaluation Framework for GraphRAG

By retrieving contexts from knowledge graphs, graph-based retrieval-augmented generation (GraphRAG) enhances large language models (LLMs) to generate quality answers for user questions. Many GraphRAG methods have been proposed and reported inspiring performance in answer quality. However, we observe that the current answer evaluation framework for GraphRAG has two critical flaws, i.e., unrelated questions and evaluation biases, which may lead to biased or even wrong conclusions on performance. To tackle the two flaws, we propose an unbiased evaluation framework that uses graph-text-grounded question generation to produce questions that are more related to the underlying dataset and an unbiased evaluation procedure to eliminate the biases in LLM-based answer assessment. We apply our unbiased framework to evaluate 3 representative GraphRAG methods and find that their performance gains are much more moderate than reported previously. Although our evaluation framework may still have flaws, it calls for scientific evaluations to lay solid foundations for GraphRAG research.

cs.CL↗

arXiv2026

SynBoost: A Synergistic Framework for Fast Sampling of Diffusion Models

Diffusion probabilistic models (DPMs) have demonstrated remarkable success in visual generation. However, their iterative sampling mechanism results in slow inference speeds. While reducing sampling steps offers an intuitive acceleration strategy, it introduces significant discretization error. Existing fast samplers have made substantial progress in mitigating this error through high-order solvers, yet further optimization appears constrained. This limitation prompts a critical question: can sampling efficiency be advanced beyond current paradigms? In this work, we re-examine the composition of sampling errors and identify two distinct components: the well-studied discretization error and the under-explored approximation error. By implementing a dual-error disentanglement strategy, we elucidate the dynamic interplay between these error types across sampling steps. Building on this empirical analysis, we propose SynBoost, a unified and training-free acceleration framework that simultaneously addresses both error sources to minimize total sampling error. Concretely, it mitigates approximation error by blending the current noise estimation with a more accurate prediction from a larger timestep. SynBoost seamlessly integrates with existing samplers, substantially enhancing their speed and output quality, particularly in regimes with extremely few steps. We validate our framework through extensive experiments across unconditional and conditional generation tasks, encompassing both pixel-space and latent-space DPMs.

cs.CV↗

arXiv2026

Astra: a generalizable report generation foundation model for 3D computed tomography

Interpreting computed tomography (CT) requires review of hundreds of volumetric slices and remains time-intensive and expertise-dependent. Automated CT report generation offers a promising route to improving clinical efficiency, yet the field still lacks a generalizable CT report generation foundation model that supports multi-region reporting and remains robust across external real-world cohorts. Intrinsic inconsistencies in reporting style and diagnostic terminology across cohorts make naive joint training difficult. Here we present Astra, a generalizable CT report generation foundation model developed on 90,678 thoracoabdominal CT-report pairs collected from five sites worldwide (CTRgDB), comprising 353,671 abnormalities spanning eight organ systems. By harmonizing report style and further refining diagnostic consistency via reinforcement learning, Astra achieves style-consistent and diagnostically accurate report generation across diverse anatomical regions and institutions. Evaluated on CTRgDB and six external cohorts, Astra achieves state-of-the-art performance with a 38.4% average improvement in fine-grained diagnostic metrics (P<0.001). Deployed at external clinical sites without any site-specific fine-tuning, Astra accelerated chest report drafting by 29.6% and improved abdominal report completeness by 11.3% among junior and mid-level radiologists (P<0.001). Furthermore, Astra demonstrates broad utility as a foundation for CT AI development, improving downstream diagnostic performance and scaling vision-language pretrain through high-quality report synthesis. Overall, Astra serves as a broadly accessible clinical assistant and a pivotal infrastructure for the next generation of AI-powered healthcare. The code for Astra is publicly available at https://github.com/zh-Wang-Med/Astra.

cs.CV↗

arXiv2026

Transport Discrepancy as a Reliability Signal for Vision-Language-Action Models

Vision-language-action (VLA) models that generate continuous action chunks via flow matching lack an internal signal for judging whether a given prediction is reliable. Distribution shift and long-horizon rollouts can push backbone representations away from the region the action head decodes reliably, yet the policy has no mechanism to detect or react to this drift. We observe that the cost of transporting observation features to the action representation in a shared feature space rises precisely when such drift occurs, providing a per-step reliability estimate without extra supervision. Building on this observation, we propose DiG (Discrepancy Gate), a lightweight plug-in module for flow-matching VLA policies. DiG computes a sliced Wasserstein transport cost between backbone features and the action expert's own input projection, maps it through an exponential gate, and uses the gate to modulate both a residual feature refinement and the training loss. At inference time, the gate enables DiG-Refinefine, an iterative refinement process that corrects action chunks before execution. Experiments on both simulation and real-world scenarios show that DiG consistently improves success rates, with the largest gains under distribution shift and on long-horizon tasks.

cs.RO↗

arXiv2026

Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation

As an essential modality for dexterous and contact-rich tasks, tactile sensing provides precise force feedback that cannot be reliably inferred from vision. However, limited by hardware and data collection systems, existing datasets with tactility remain small in scale and narrow in contact coverage. Meanwhile, Vision-Language-Action (VLA) models with tactile modality are constrained on dynamics-agnostic post-training, which limits the performance ceiling on downstream tasks. In this paper, we present H-Tac, a large-scale tactile-action dataset with 160-hour egocentric human videos containing more than 300 tasks and 135k episodes. Building upon this, we propose Transferable Tactile Pre-Training (TTP), a system of tactile-based pre-training on human data for fine-grained robotic tasks. To bridge the gap between humans and robots, we use unified tactile and action spaces throughout the pre-training and post-training phases, preserving prior knowledge during human-to-robot transfer. By leveraging a tactile expert for future tactile prediction, our framework explicitly models the contact dynamics and precise physical interactions. Extensive experiments in simulation and on real robots demonstrate that our model achieves superior performance, exhibiting robust generalization and fine-grained manipulation capabilities. TTP paves the way for scalable tactile pre-training via human-to-robot transfer.

cs.RO↗

arXiv2026

UniGP: Taming Diffusion Transformer for Prior-Preserved Unified Generation and Perception

Recent advances in diffusion models have shown impressive performance in controllable image generation and dense prediction tasks. However, existing approaches typically treat diffusion-based controllable generation and dense prediction as separate tasks, overlooking the potential benefits of jointly modeling the heterogeneous distributions. In this work, we introduce UniGP, a framework built upon MMDiT, which unifies controllable generation and dense prediction through simple joint training, without the need for complex task-specific designs or losses, while preserving the backbone's versatile priors. By learning controllable generation and prediction under different conditions, our model effectively captures the joint distribution of image-geometry pairs. UniGP is capable of versatile controllable generation, dense prediction, and joint generation. Specifically, the proposed UniGP consists of DUGP and a unified dataset training strategy. The former, following the principle of Occam's razor, uses only a copied image branch of MMDiT to model dense distributions beyond RGB, while the latter integrates heterogeneous datasets into a unified training framework to jointly model generation and perception tasks. Extensive experiments demonstrate that our unified model surpasses prior unified approaches and performs on par with specialized methods. Furthermore, we demonstrate that multi-task joint training provides complementary benefits: generative priors enrich perceptual details, while perceptual learning improves structural alignment in generation.

cs.CV↗

arXiv2026

Erase-then-Delta Attention: Decoupling Erase and Write Addresses in Delta-Rule Linear Attention

Delta-rule linear attention improves recurrent memory updates by correcting what is already stored at the current write address before writing new content. However, the active correction is still anchored to that same write address. As a result, stale information stored at a different address cannot be actively removed before new content is written elsewhere. We propose Erase-then-Delta Attention (EDA), a memory update rule that decouples where to erase from where to write. The key insight is that recurrent memory models should not only correct the current write, but also selectively suppress outdated memory at an independently chosen address. Concretely, our method first applies a targeted erase step along a learned erase direction, and then performs the standard delta-style corrective write along the current write direction. This preserves the corrective behavior of delta-rule updates while expanding their memory-management capacity. Language-model pretraining experiments across dense 2.5B and MoE 25B-A2.8B model families show that EDA performs best in both settings. The gain persists after 80B-token long-context midtraining of the MoE models, where EDA also performs best in long-context evaluations from 4k to 128k contexts. A compact update analysis and memory-state probes suggest why: EDA keeps the delta-rule corrective write intact while allocating an additional cleanup path most strongly when passive decay is weak. These results suggest that recurrent memory models should decide not only what to write, but also what stale information to erase and where.

cs.CL↗

arXiv2026

Shigatse Astronomical Site Testing. I. Cloud-cover Climatology and Selected Local Meteorological Conditions

As the first paper in a Shigatse astronomical site-testing series, we present a multi-source assessment of cloud cover and selected local meteorological conditions at the Shigatse 40 m site on the southern Tibetan Plateau. The study combines CALIPSO-GOCCP active-lidar climatology, ISCCP HXG passive-satellite cloud fields, conventional total-cloud-amount observations from the Shigatse Meteorological Station, and on-site Weather Station measurements. Together, these records characterize Shigatse as a southern-plateau monsoon-transition cloud regime: the active-lidar climatology gives a moderate-to-low annual cloud fraction, and the cloudier months are concentrated in the June--September monsoon interval. In GOCCP, the annual mean cloud fraction is 42.1%, while the October--May low-cloud season has a mean cloud fraction of 26.3%, compared with 73.7% during the June--September monsoon interval. ISCCP gives higher absolute cloud fractions but supports the same seasonal phase and local spatial placement. The aligned 1988--2013 meteorological-station record gives a total-cloud-amount <=40% fraction of 80.7% during October--May, rising to 90.7% in the November--January core, and decreasing to 39.9% during June--September. The 2024--2025 Weather Station archive further shows high fractions of valid samples satisfying the adopted meteorological criteria during the low-cloud months: 92.6% for the October--May night-time proxy and 94.6% for the corresponding 24 h samples. These results identify Shigatse as a measured lower-latitude southern-plateau cloud-cover reference within China's site-testing network, with a well-defined October--May low-cloud observing period and a Shigatse--Ali low-cloud corridor for subsequent regional site testing.

astro-ph.IM↗