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Hao Zhang

Publications and source records attributed to Hao Zhang.

At least 37 records · Page 2Linked to original sources
arXiv2026

JetSpec++: Foresight Parallel Drafting with Self Refinements

Speculative decoding's effectiveness is governed by two quantities: the acceptance rate of drafted tokens and the cost of producing them. We show the two objectives can be co-optimized with algorithm-system co-design, and present JetSpec++, which retains a strong learned draft model while hiding its cost almost entirely. JetSpec++ combines three components: intra-block self refinement, which trains the draft model to iteratively correct its own parallel predictions within a block of tokens; inter-block foresight drafting, which begins the next block before the current one is verified; and pipelined drafting and verification, which overlaps the two stages so drafting's marginal wall-clock cost approaches zero. In comparison with state-of-the-art speculative decoding methods, JetSpec++ attains a wall-clock speedup of up to $7.45\times$ over autoregressive (AR) decoding and $1.54\times$ over DSpark, with up to 1,361 tokens per second for a single request on GB200, and an average acceptance length of 8.94 across seven benchmarks, while preserving the target model's output distribution. Our code and models are available at https://github.com/hao-ai-lab/JetSpec.

cs.CL↗
arXiv2026

ISW-Agent: Integrating LLM-Driven Dialogue with n8n Workflow for Internal Solitary Wave Remote Sensing Image Processing

Internal solitary wave (ISW) remote sensing requires task parameters and spatial information to be transferred across image acquisition, detection, stripe extraction, and propagation prediction. Here, we present ISW-Agent, which integrates large language model (LLM) interpretation with n8n workflows and independent scientific models through structured task constraints, geospatial transformations, and stage-specific output validation. In tests of 120 Chinese instructions per backend, GPT-5.6 Sol and DeepSeek both achieved a strict task-match rate of 94.2%, with all intents and execution decisions matching the reference. Sentinel-1 cases demonstrated continuous processing from dialogue requests to wavefront prediction for the specified scene. Of 50 timed scenes, 39 completed detection, extraction, and prediction with a median turnaround time of 48.04 s; 11 stopped after empty extraction. Across 3,408 controlled fault-injection runs, retries recovered 234 transient-failure conditions and output validation rejected 234 structural defects, while 61 provenance or completeness errors indicated the need for content-consistency checks. Overall, ISW-Agent thus connects natural-language requests to traceable spatial processing chains for multimodel ISW analysis.

cs.AI↗
arXiv2026

Active Visual Perception: Opportunities and Challenges

Active visual perception enables an intelligent system to improve perception by controlling how visual evidence is acquired. However, differences in how active perception is defined and evaluated make approaches difficult to compare across tasks. This review clarifies the field's functional scope by distinguishing active observation acquisition from processing fixed inputs. It then organizes representative literature around four questions about what evidence the task requires, which actions can obtain it, how candidate observations should be valued, and how the next sensing action should be selected and executed. New observations update the perceptual state and guide subsequent decisions, forming a closed loop. To evaluate the benefits of active perception, the review examines datasets, interactive environments, physical platforms, and baseline comparisons, and develops an evaluation framework linking improvements in visual evidence to downstream task outcomes while accounting for acquisition costs and risks. The analysis concludes that predicted observation value does not guarantee that useful evidence can be acquired through feasible actions, while task success alone cannot establish the benefit of active observation selection. Further progress requires reliable value estimation and planning over longer decision sequences under physical and resource constraints. It also requires grounding semantic reasoning in acquired evidence and maintaining effective collaboration under imperfect communication, with these capabilities verified through reproducible evaluation of the complete perception and action loop.

cs.CV↗
arXiv2026

Non-Equivalence of Smooth and Nodal Conformal Block Functors in Logarithmic CFT

Let $\mathbb V$ be an $\mathbb N$-graded, $C_2$-cofinite vertex operator algebra (VOA) admitting a non-lowest generated module in $\mathrm{Mod}(\mathbb V)$ (e.g., the triplet algebras $\mathcal{W}_p$ for $p\in \mathbb{Z}_{\geq 2}$ or the even symplectic fermion VOAs $SF_d^+$ for $d\in \mathbb{Z}_+$). We prove that, unlike in the rational case, for $N\geq 4$ there is no vector bundle on $\overline{\mathcal{M}}_{0,N}$ whose fibers are the spaces of conformal blocks associated to certain $\mathbb{V}$-modules, since the dimensions of these conformal block spaces differ between smooth and nodal curves. Consequently, the sheaf of coinvariants associated to these $\mathbb V$-modules on $\overline{\mathcal{M}}_{0,N}$ is not locally free for $N\geq 4$. It also follows that, unlike in the rational case, the mode transition algebra $\mathfrak A$ introduced by Damiolini-Gibney-Krashen is not isomorphic to the end $\mathbb E=\int_{\mathbb X\in \mathrm{Mod}(\mathbb X)}\mathbb X\otimes \mathbb{X}'$ as an object of $\mathrm{Mod}(\mathbb{V}^{\otimes 2})$.

math.QA↗
arXiv2026

LiFUSE: Frequency-Spatial Unified Self-Supervised Pretraining for Liver Disease Analysis on Non-contrast CT

Given the growing global burden of liver tumors and diffuse liver diseases, non-contrast computed tomography (NCCT) is increasingly used for opportunistic screening because of its low cost and favorable safety profile. However, downstream tasks such as tumor detection and fine-grained disease diagnosis remain challenging due to NCCT's inherently low tissue contrast, lack of hemodynamic enhancement, and complex anatomical background. These limitations make subtle, heterogeneous, and multifocal hepatic lesions difficult to identify. Although large-scale self-supervised pretraining can learn robust representations from unlabeled NCCT scans, conventional voxel-wise reconstruction does not fully exploit the complementary information available in NCCT. Under weak NCCT contrast, low-level intensity patterns become less informative for pathology recognition, limiting the capture of lesion-specific discriminative features. In this paper, we propose the Liver Frequency-Spatial Unified Self-Supervised Pretraining (LiFUSE). The frequency branch applies random band-stop masking and spectrum reconstruction to encourage the model to capture subtle differences between lesions and surrounding tissues, while the spatial branch performs hybrid-granularity masked volumetric reconstruction to accommodate lesions of diverse sizes and morphologies. Finally, a cross-domain consistency scheme couples the spatial and frequency branches, yielding more discriminative representations for hepatic structures and lesions. Extensive experiments on three clinically relevant tasks across internal cohorts and a public target-domain transfer setting show that LiFUSE consistently outperforms strong baselines. These results suggest that unified frequency-spatial learning can improve liver disease analysis on NCCT, highlighting its potential for large-scale screening.

cs.CV↗
arXiv2026

Collaborative Planning for UAV-UGV Teams under Operational Constraints via Masked Error-bounded Neuro-Symbolic Diffusion

Collaborative planning under operational constraints is essential for heterogeneous robot teams in large-scale missions. Unmanned Aerial Vehicles (UAVs) provide rapid area coverage but are limited by onboard energy, while Unmanned Ground Vehicles (UGVs) can serve as mobile recharging stations yet are constrained by road-network traversability. Effective collaboration must enforce operational constraints during execution while enabling parallel, coordinated actions. Masked Diffusion Models (MDMs) have shown promise through token unmasking but have two key limitations: entropy-guided scheduling assumes distributional alignment and reliance on differentiable constraints for diffusion-time optimization. We propose Masked Error-bounded Neuro-Symbolic Diffusion (MEND), which formulates collaborative planning as a conditional masked generative process to generate context-aware action sequences for UAV-UGV teams. MEND introduces a neuro-symbolic diffusion paradigm that constrains conditional masked diffusion policies at execution by reweighting the learned action distribution with a logic-induced admissibility indicator, thereby enforcing compliance with operational constraints. MEND introduces an error-bounded inference scheduling at execution that constructs the unmasking schedule by selecting positions with minimal predictive entropy over the constraint-aware action distribution, enhancing collaborative planning optimality under operational constraints. Extensive experimental results in simulation, on real-world maps, and with physical robot teams demonstrate that MEND advances UAV-UGV collaborative planning under operational constraints.

cs.RO↗
arXiv2026

The Endpoint Fractional Riesz Estimate on the Hamming Cube

Let $1<p<2$ and $D_j$ be the discrete partial derivative on the Hamming cube $Ω_n = \{ -1, 1\}^n$. Let $Δ=\sum_{j=1}^nD_j$ be the discrete Laplacian. We prove the endpoint inequality \[ \left\|\left(\sum_{j=1}^n|D_jf|^2\right)^{1/2}\right\|_{p} \lesssim_p\|Δ^{1/p}f\|_{p}, \quad \forall f:Ω_n \to \mathbb C. \] This result answers the conjecture proposed by Naor, Eskenazis and Ivanisvili (see [BenEfraimLustPiquard, IvanisviliVolberg] or [Remark 45, EskenazisIvanisvili]). The proof relies heavily on the noncommutative semigroup BMO theory [JungeMei].

math.FA↗
arXiv2026

Beyond Fixed Visual History: Learning Motion-Adaptive Temporal Receptive Fields for Complex-Terrain Quadruped Locomotion

Versatile quadruped locomotion depends on a tight coupling between what the robot perceives and what its body can execute. Yet existing visual controllers typically organize depth history using fixed temporal patterns, overlooking that the same temporal span corresponds to different spatial ranges as the robot's speed, posture, and gait phase change. Consequently, the same visual history may be insufficient in one motion state but outdated or misaligned in another. To address this limitation, we propose TempoLoco, a body-aware dynamic visual perception framework that organizes visual memory according to the robot's current locomotion state. TempoLoco learns multiple complementary temporal views from a long depth buffer, encodes them within a shared feature space, and dynamically aggregates them using proprioceptive history and multi-scale terrain evidence. This enables a single policy to align visual anticipation with the robot's current motion capabilities across complex terrains, including stairs, platforms, gaps, discrete obstacles, rough ground, and slopes. From the experiment analysis, TempoLoco achieves a 78.4% success rate, compared with 58.2% for the strongest fixed-history baseline and 62.1% for uniform multi-scale fusion. In separate capability evaluations, it completes 41/45 simulated trials across nine terrain types and 23/25 real-world trials on a Unitree B2 with a fixed arm, demonstrating robust and deployable locomotion through body-aware dynamic visual perception.

cs.RO↗
arXiv2026

Win-Win Fusion: Multi-Modal Image Fusion with Visual-Semantic Collaboration

Existing multi-modal image fusion (MMIF) methods generally face an optimization gap between the visual and semantic domains, limiting the enhancement of perception capabilities. To overcome this long-standing barrier, this work proposes W2F, a new visual-semantic mutual reinforcing paradigm for MMIF. First, we reinforce the foundation for visual-semantic collaboration by amplifying feature complementarity through two targeted designs. Specifically, the segmentation-guided fusion loss introduces object-aware structural guidance into visual fusion, while the embedded information restoration prior strengthens the ability of visual fusion to provide reliable perceptual evidence for the semantic branch under degraded conditions. Then, we introduce a strong multi-modal information interaction mechanism composed of interactive gated mixed attention (IGM-Att) and progressive coupling attention (PC-Att). These modules ensure comprehensive scene representation from both local and global perspectives, providing informational support for visual-semantic collaboration. Finally, we construct a collaborative mechanism to couple visual fusion and semantic fusion. It employs a feature search module to extract complementary key features from both tasks, enriching the representational potential of visual and semantic information. Meanwhile, a gradient correction strategy ensures collaboration from the optimization perspective, enhancing performance for both visual and semantic fusion through consistency learning. Extensive experiments demonstrate that W2F surpasses state-of-the-art methods in both visual appeal and decision accuracy. The code is publicly available at https://github.com/HaoZhang1018/W2F.

cs.CV↗
arXiv2026

AD-SRF: Attack-Defense Semantic Reinforcement for Multi-Modal Image Fusion

Existing image fusion methods struggle to balance visual quality and semantic attributes due to the inherent conflict between their optimization objectives. To address this challenge, we propose an attack-defense semantic reinforcement framework for multi-modal image fusion, termed AD-SRF. By decoupling the optimization of these two aspects and then losslessly reintegrating them, this framework injects rich semantic attributes into the fused image without compromising its visual quality. First, we develop a transformer-based restorative visual fusion network as a strong visual baseline. Equipped with the cross-modal retrieval module and the information restoration-fusion collaborative loss, it produces highly visible fused images even under degraded conditions. Second, we introduce an attack-defense game mechanism to strengthen the semantic attributes of the fused images. The attacker learns perturbation patterns that impair downstream segmentation, whereas the defender restores missing semantics from the original inputs and reintegrates them into the fused image through an imperceptible semantic map. Through iterative adversarial interaction, this mechanism drives the defender to continually strengthen the fused image's semantic attributes, boosting downstream segmentation performance without compromising visual quality. Extensive experiments demonstrate that AD-SRF achieves a win-win performance in both visual quality and semantic attributes. The code is publicly available at https://github.com/HaoZhang1018/AD-SRF.

cs.CV↗
arXiv2026

A Comparison Theorem for $p$-adic GKZ Hypergeometric $\mathcal D$-Modules and Complexes

We compare the $p$-adic GKZ hypergeometric complex with the hypergeometric arithmetic $\mathcal D$-module defined via six functors. Under the $p$-adic semi-nonresonance condition, the natural comparison morphism is a quasi-isomorphism. We prove concentration of the $p$-adic GKZ hypergeometric complex in degree $n$, establish overholonomicity under another non-Liouville hypothesis. When $(q-1)γ\in\mathbb Z^n$, we construct a Frobenius structure on its $n$-th cohomology and prove that its restriction to the nondegenerate locus is an overconvergent $F$-isocrystal of rank $n!\operatorname{vol}(Δ)$.

math.AG↗
arXiv2026

An Interleaved Parallel Dependent Quantization Hardware Architecture for H.266/VVC

While dependent quantization in H.266/VVC delivers a high compression ratio, its strong serial nature and high complexity result in poor real-time performance, making it difficult to deploy in practical scenarios. To improve the real-time performance of dependent quantization with minimal degradation to its compression performance, we propose a interleaved parallel dependent quantization hardware architecture with low BDBR loss, which achieves four-channel parallel dependent quantization by time-division multiplexing most combinational logic. This architecture adopts the proposed intra-CG context simplification scheme and the encoding scheme that skips decAbslevel during rate estimation. The proposed design incurs a BDBR loss of only 0.42% under the All Intra configuration and 0.38% under the Random Access configuration, respectively. Implemented in Verilog HDL, the dependent quantization hardware architecture achieves quantization speeds of 4K@33.2, 91.4, 331.2, and 454.1 fps at QP = 22, 27, 32, and 37, respectively, when implemented on the Xilinx XCZU19 FPGA. When implemented on ASIC using the TSMC 28nm process standard cell library, the corresponding quantization speeds reach 4K@84.0, 231.0, 837.0, and 1147.7 fps.

cs.AR↗
arXiv2026

A Lightweight Hybrid Framework for Acoustic Echo Cancellation and Suppression via Constrained Recursive Training

We propose a hybrid framework that combines deep learning with adaptive filtering for acoustic echo cancellation (AEC) and suppression. It integrates a multi-output neural network to jointly update filter parameters and perform post-processing. A learnable variant of the normalized least mean squares (NLMS) filter is introduced, incorporating a variable step size and a variable transition factor that are recursively updated for dynamic adaptation. In addition, an enhanced near-end speech estimate is generated from the filter output to suppress the residual echoes. To ensure training stability, we propose a constrained recursive training strategy that aligns with the adaptive nature of the filter, where an upper-bound constraint is introduced on the filter output. For efficiency, the framework adopts a lightweight implementation with only 253 k parameters. Experimental results show that the framework outperforms the baselines in terms of both signal quality and speech intelligibility.

eess.AS↗
arXiv2026

Robust Prediction of Internal Wave-Affected Multi-Scale Sound Speed Distribution Using Lightweight Kolmogorov-Arnold Networks with Hybrid Basis Functions

The underwater sound speed distribution directly governs acoustic propagation paths, rendering it critically important for underwater acoustic communication and target localization. Conventional sound speed profile (SSP) prediction methods provide a good way to estimate the underwater sound speed distribution without on-site data measurement, thus breaking through the coverage area constraints of sonar observation equipment and making the model universal in most marine areas. However, underwater sound speed exhibits multi-scale variations, such as diurnal, quarterly, and intermittent fluctuations caused by ocean processes such as internal waves. This makes it difficult for the fixed structure models in existing methods to have good generalization ability for multi-scale sound speed distribution patterns. To tackle this problem, we proposed a lightweight hybrid basis-function empowered Kolmogorov-Arnold network (LHBF-KAN) model for multi-scale sound speed prediction. We aim to construct a multi-branch representation layer in which different basis functions respond to distinct temporal patterns, from slowly varying background trends to rapid fluctuations induced by dynamic ocean processes, allowing the model to naturally accommodate the inherently multi-scale evolution of sound speed at different depths. To prevent the multi-branch structure from increasing model size, a pruning strategy is further introduced to suppress branches with consistently low contribution during training, yielding a compact architecture, suitable for deployment on resource constrained underwater platforms.

eess.SP↗
arXiv2026

TRACE-EVC: Text-Guided Relative Affective Control for Zero-Shot Emotional Voice Conversion

Traditional emotional voice conversion (EVC) conditions generation on explicit target emotions like labels or references, defining the target affective state but omitting the direction or nature of the transition. We introduce instruction-guided relative emotional voice conversion, a task where natural-language instructions specify source-conditioned affective transformations (e.g., "make the speech slightly calmer" or "sound noticeably more confident") instead of fixed targets. To support this task, we construct TRACE-Instruct, a dataset of relative emotion instructions covering categorical transitions, intensity modifications, and open-ended affective changes. We propose TRACE-EVC, a framework built around Emo-Compass, a module that models each conversion as a source-anchored rectified flow. Rather than conditioning on an explicit target, it predicts the direction and degree of the affective change. Experiments demonstrate that TRACE-EVC accurately follows relative emotion instructions while preserving speaker identity, linguistic content, and speech quality, generalizes to unseen speakers, and remains competitive with conventional EVC systems on standard categorical emotion conversion.

eess.AS↗
arXiv2026

Communication-Efficient Relative Pose Estimation with Vision Foundation Models for Ephemeral Collaborative Perception

Relative pose estimation is a fundamental capability for collaborative perception and coordination in multi-robot systems. However, robots encountering each other in real-world environments often operate in short interaction windows and must operate under limited communication bandwidth with intermittent or missing visual overlap caused by occlusions or limited fields of view. Existing approaches typically rely on global reference frames, assume sustained view overlap, or incur prohibitive communication costs, thereby limiting their applicability to ephemeral collaborative perception. To address these challenges, we introduce communication-efficient relative pose estimation (CERPE), a system-level framework that coordinates vision foundation models to jointly estimate ego-motion and inter-robot relative pose. CERPE reduces unnecessary raw-observation exchange by using continuously shared fixed-size descriptors to gate event-triggered raw-image requests independently of pose estimation. Non-overlapping encounters are handled by propagating inter-robot relative poses through metrically scaled ego-motion, thus maintaining relative pose estimates even in the absence of visual overlap. Experiments in simulation and real-world robots show that CERPE improves 6-DoF relative pose estimation over selected baselines in ephemeral collaborative perception.

cs.RO↗
arXiv2026

JPO: Juris Policy Optimization for Structured Legal Reasoning in Criminal Judgment Prediction

Criminal judgment prediction requires models to infer statutory articles, charges, and sentencing outcomes from case facts. Unlike standard classification tasks, it involves a structured reasoning process in which statutes should be matched with facts, charges should be justified by statutes, and sentencing outcomes should remain consistent with charges. Existing approaches optimize final labels, and while some have attempted to evaluate reasoning quality, their evaluations are indirect, often relying on LLM-generated rubrics that reflect model-internal preferences rather than the inherent logical structure of legal adjudication. We propose Juris Policy Optimization (JPO), a post-training framework for structured legal reasoning in Chinese criminal judgment prediction. JPO first uses teacher-generated rationales to supervise a standardized four-step reasoning process, and then applies reinforcement learning with a composite reward over legal prediction quality, reasoning structure completeness, and cross-step consistency. JPO further introduces token-level advantage reweighting and adaptive clipping for legally salient reasoning segments. Experiments on multiple open-source language models and three Chinese legal benchmarks show that JPO consistently improves both judgment prediction and reasoning quality over supervised fine-tuning and reinforcement learning baselines.

cs.CL↗
arXiv2026

RF-Agent: Hierarchical Language-Agent Control for Instruction-Conditioned Active Spectrum Sensing

Active radio-frequency (RF) sensing must acquire evidence under receiver limits while following confirmation, recovery, and stopping instructions. \newhl{We propose RF-Agent, a closed-loop architecture combining language supervision, episode memory, deterministic RF execution, perception feedback, and evidence-based reporting.} An independent auditor checks trajectory compliance. We derive acquisition and supervisory-request bounds, characterize full-history token complexity, and bound joint success by output validity and evidence capacity. \newhl{ActiveRF-AD tests instruction changes at fixed states and evaluates joint success, requiring compliance and RF correctness in the same episode.} \newhl{Training on different instructions at shared sensing states raises counterfactual-pair accuracy from 24.03\% to 96.22\% and Core joint success from 65.13\% to 72.12\%. Of the 6.99-point joint-success gain, 6.73 points reflect a decrease in the fraction of all episodes that are RF-correct but noncompliant.} \newhl{At Core budget three, paired-training hierarchical control achieves 66.60\% joint success versus 9.17\% for direct-action control.} \newhl{In a separate comparison at the same budget, RF-Agent improves joint success by 2.31 points and reduces RF acquisitions by 12.3\% relative to an initial-state planner, at increased inference cost.} Cross-backbone diagnostics cover three model families. These results show how instruction-responsive control improves task completion beyond what RF accuracy alone reveals.

eess.SP↗