arXiv subjects

Haochen Li

Publications and source records attributed to Haochen Li.

At least 37 records · Page 2Linked to original sources

arXiv2026

A Polynomial-Decay and Pinhole-Imaging Whale Optimization Algorithm for UAV Relay Communication Deployment

Unmanned aerial vehicle (UAV) relays deliver flexible, on-demand wireless coverage, but jointly tuning the position, altitude, transmit power and bandwidth of the relay is a non-convex, heavily constrained optimization task that easily traps swarm-based optimizers in poor local optima. We propose PWOA, a Polynomial-decay and Pinhole-imaging Whale Optimization Algorithm with three complementary improvements: (i) a Good Nodes Set (GNS) initialization that spreads the initial population uniformly across the search space; (ii) a polynomial nonlinear schedule for the convergence factor that prolongs early exploration and sharpens late exploitation; and (iii) a stagnation-triggered pinhole-imaging opposition-based learning (POBL) operator paired with an elite Gaussian local search, which together escape local optima while refining the leader. On a five-dimensional UAV relay deployment problem with five inequality constraints ($N{=}30$, $T{=}500$, 30 independent runs), PWOA simultaneously attains the lowest Best, Worst, Mean and standard deviation among PWOA, WOA, SCA and IPSO, cutting the mean by $1.4$--$18.5\%$ and the standard deviation by $15$--$87\%$ over the three baselines, and exhibits the fastest average convergence.

cs.CE↗

arXiv2026

HonestAffinity: Leak-Aware Evaluation of Protein and Pocket Priors for Binding Affinity Prediction

Sequence-based deep learning offers a scalable alternative to structure-based scoring for protein-ligand binding affinity prediction. However, progress is hard to interpret when architectural priors are evaluated on canonical PDBbind-style splits that leak similarity classes across folds. We present HonestAffinity, a compact 1D-input predictor to isolate two priors under a leak-aware protocol: frozen ESM-2 (650M) protein embeddings and a learned binary pocket-position marker. We evaluate a multi-scale convolutional/Transformer template in three variants: HonestAffinity-Pocket, HonestAffinity-NoPocket, and HonestAffinity-Pocket-NoESM. All three train on 11,513 LP-PDBBind complexes in ~3 GPU-hours. We benchmark against five baselines on the LP-PDBBind 3-tier no-leak hold-out, CASF-2016, and a CASF-2016 non-train subset. Our central finding is a split-conditioned reversal rather than a uniformly best prior: HonestAffinity-Pocket achieves the best mean Pearson R on validation and CASF-2016 splits, whereas HonestAffinity-Pocket-NoESM achieves the best mean Pearson R on every strict LP no-leak tier (test_cl1-cl3). Both the pocket marker and ESM-2 input improve performance on familiar splits but reduce Pearson R on strict no-leak tiers. We argue models should report paired canonical and leak-proof ablations, and that deployment-regime-matched variants better describe these reversals than a single default. Code and scripts are linked in the footnote; checkpoints will be released upon acceptance.

cs.CE↗

arXiv2026

Benchmarking Inductive Biases for Multivariate Time-Series Anomaly Detection with a Robust Multi-View Channel-Graph Detector

We present a unified experiment, analysis, and benchmark study of multivariate time-series (MTS) anomaly detection. Ten family-representative detectors -- spanning statistical, reconstruction, association, frequency, and generic-transformer families -- are evaluated on five datasets (SMD, MSL, SMAP, PSM, and MSDS) under effectiveness, efficiency, robustness, and cross-dataset generalisation. All methods share the same windowing, scoring, hardware, and metric protocols. Effectiveness, ablation, and robustness use three random seeds; cross-dataset transfer uses seed~0 because each extra seed requires $250$ source-target evaluations. The benchmark yields three method-independent findings: no single-bias baseline dominates; absolute perturbation VUS-ROC is more informative than retention ratios; and MSDS behaves as an event-dense deployment workload rather than a sparse point-anomaly benchmark. Under this protocol we also introduce \ours{}, an adaptive detector family combining a NOTEARS-constrained directed channel-graph view with optional patch-attention and temporal-association views. \ours{} achieves the best macro-average VUS-ROC ($0.675$, $+5.1$~pt over the second-best LSTM-AE), ranks first overall, and reaches the top-3 on all five datasets. Its wins on MSL and MSDS are narrow, while its average and robustness gains are larger: under the same three-seed robustness protocol for every method, it obtains the strongest absolute VUS-ROC across noise, channel dropout, and time-shift perturbations. We release the MSDS preprocessing protocol, configurations, scripts, and seed-level metric dumps.

cs.LG↗

arXiv2026

AeroTSBoost: Temporal-Statistical Boosting for Real-World UAV Telemetry Anomaly Mining

Mining anomalies from unmanned aerial vehicle (UAV) state-estimation logs is challenging because failures are sparse, temporally structured, and distributed across heterogeneous PX4 telemetry streams with variable sensor availability and missing values. We present AeroTSBoost, a temporal-statistical boosting framework for real-world UAV telemetry anomaly mining. AeroTSBoost aligns multivariate flight logs, converts each window into deterministic descriptors that capture distributional shifts, quantile structure, endpoint drift, local dynamics, and lag correlation, and trains a class-balanced LightGBM detector. On UAV-SEAD, AeroTSBoost achieves the strongest AUPRC among evaluated classical, supervised tabular, neural reconstruction, recurrent, Granger-causality-based, and frequency-domain baselines. Across five seeds, it reaches $0.7516\pm0.0043$ AUPRC and $0.5342\pm0.0108$ threshold-swept event F1, improving AUPRC by 5.79 absolute points over the strongest non-AeroTSBoost baseline. Under purged chronological and leave-log-out protocols, it remains the best AUPRC method, reaching $0.6066\pm0.0193$ and $0.6388\pm0.0315$, respectively. On related ALFA fixed-wing UAV fault logs, AeroTSBoost reaches $0.9259\pm0.0076$ leave-sequence-out AUPRC, ahead of RandomForest ($0.8835\pm0.0797$) and moments-only ($0.8700\pm0.0481$). These results show that deterministic temporal-statistical representations remain highly competitive for sparse anomaly mining in operational cyber-physical telemetry.

cs.CE↗

arXiv2026

Pinching Antenna Systems (PASS) for Cell-Free Communications

A pinching antenna system (PASS) assisted cell-free communication system is proposed. A sum rate maximization problem under the BS power budget constraint and PA deployment constraint is formulated. To tackle the proposed non-convex optimization problem, an alternating optimization (AO) algorithm is developed. In particular, the digital beamforming sub-problem is solved using the weighted minimum mean square error (WMMSE) method, whereas the pinching beamforming sub-problem is handled via a penalty based approach combined with element-wise optimization. Simulation results demonstrate that: 1) the PASS assisted cell-free systems achieve superior performance over benchmark schemes; 2) increasing the number of PAs per waveguides can improve the advantage of PASS assisted cell-free systems; and 3) the cell-free architecture mitigates the average user rate degradation as the number of users increases.

eess.SP↗

arXiv2026

KIO-planner: Attention-Guided Single-Stage Motion Planning with Dual Mapping for UAV Navigation

Autonomous UAV flight in confined, wall-dense environments requires low-latency and reliable motion planning under strict safety constraints. Traditional optimization-based planners suffer from mapping latency and easily fall into local minima when navigating through dense structural obstacles. Meanwhile, existing end-to-end learning methods struggle to extract fine-grained geometric features from raw depth images and lack hard kinodynamic constraints, leading to unpredictable collisions near walls. To address these issues, we propose KIO-planner, an attention-guided single-stage trajectory planning framework. First, we integrate a Convolutional Block Attention Module (CBAM) into the perception backbone to adaptively focus on critical structural edges and traversable space. Second, we introduce a novel Dual Mapping mechanism--comprising physical bounds activation and a deterministic Geometric Safety Shield in the depth-pixel space--to enforce kinodynamic feasibility and collision-free flight without global map fusion. Extensive high-fidelity simulated experiments demonstrate that KIO-planner enables highly agile navigation at speeds up to 3.0 m/s. Compared to the state-of-the-art baseline, KIO-planner achieves lower inference latency (approximately 24 ms) and generates significantly smoother trajectories, reducing control cost by 28.4%. Most notably, our Dual Mapping substantially increases the worst-case safety margin, measured by minimum distance to obstacles, from 0.48 m to 0.76 m, ensuring fast, smooth, and safer navigation in highly constrained environments.

cs.RO↗

arXiv2026

Landscape-Aware Bandit Hyper-Heuristics for Online Operator Selection in UAV Inspection Routing

UAV multi-site inspection often reduces to choosing a high-quality visiting order after target sites have been extracted from a map. This paper develops LA-BHH, a landscape-aware bandit hyper-heuristic that learns an operator-selection policy online for this routing layer. LA-BHH treats 2-opt, swap, relocate, and Or-opt moves as low-level arms, builds context from static landscape descriptors and online search-state features, and updates a LinUCB controller from improvement rewards during the same run. Experimental results on 45 generated Euclidean TSP instances show that LA-BHH achieves the best mean final gap and convergence AUC, with 0.0223 and 0.0389 respectively. It reduces final gap by 17.6\% over UCB-HH, 22.6\% over Random-HH, and 68.2\% over nearest-neighbor construction. Ablation results further show that contextual credit assignment, 2-opt repair, and stagnation-aware state use are the main contributors.

cs.CE↗

arXiv2026

WASHH: An Anchor-Aware Whale-Guided Selection Hyper-Heuristic for Continuous Optimization and SVC Configuration

Learning-assisted algorithm design often has to make reliable search decisions under small evaluation budgets, where committing to a single metaheuristic can be unreliable. We propose WASHH, a Whale-guided Adaptive Selection Hyper-Heuristic for continuous black-box optimization. WASHH uses WOA as the main exploitation backbone, but treats PSO-style memory, GWO-style leader averaging, DE-style variation, local coordinate search, and anchor-guided refinement as selectable search behaviors. An online reward controller allocates evaluations according to observed improvements, while anchor refinement exploits inexpensive reference configurations such as box centers or default model settings without bypassing black-box evaluation. On ten 30-dimensional benchmark functions with 10 independent runs and 12,000 evaluations, WASHH achieves the best average rank, 1.10, and is best or tied best on all ten functions. It strictly improves over WOA on eight functions and ties WOA at the numerical optimum on Rastrigin and Griewank. We further study SVC hyperparameter configuration for breast cancer diagnosis under a 300-evaluation budget. WASHH obtains the lowest mean validation log loss among the compared optimizers, suggesting that anchor-aware selection hyper-heuristics are a practical lightweight direction for LEAD systems.

cs.NE↗

arXiv2026

GLM-5V-Turbo: Toward a Native Foundation Model for Multimodal Agents

We present GLM-5V-Turbo, a step toward native foundation models for multimodal agents. As foundation models are increasingly deployed in real environments, agentic capability depends not only on language reasoning, but also on the ability to perceive, interpret, and act over heterogeneous contexts such as images, videos, webpages, documents, GUIs. GLM-5V-Turbo is built around this objective: multimodal perception is integrated as a core component of reasoning, planning, tool use, and execution, rather than as an auxiliary interface to a language model. This report summarizes the main improvements behind GLM-5V-Turbo across model design, multimodal training, reinforcement learning, toolchain expansion, and integration with agent frameworks. These developments lead to strong performance in multimodal coding, visual tool use, and framework-based agentic tasks, while preserving competitive text-only coding capability. More importantly, our development process offers practical insights for building multimodal agents, highlighting the central role of multimodal perception, hierarchical optimization, and reliable end-to-end verification.

cs.CV↗

arXiv2026

Low-Cost Labels, Reliable Choices: Rollout-Calibrated Hyper-Heuristics for Job Shop Scheduling

Learning-assisted hyper-heuristics can select among dispatching rules while preserving the feasibility and interpretability of constructive Job Shop Scheduling Problem (JSSP) heuristics. Their main computational cost lies in label generation rather than model fitting, since each supervised label usually requires rolling out candidate rules from a partial schedule. We study this label-cost problem together with a reliability problem: a learned selector should not switch away from a strong default rule unless the predicted gain is credible. The proposed selector uses regret-normalized rollout labels, a contextual KNN uncertainty estimate, and a gate that acts only when the predicted improvement exceeds an uncertainty-adjusted margin. We also vary rollout depth and breadth to measure the cost-quality trade-off. On synthetic JSSP instances, the gated selector achieves the lowest mean RPD among learned selectors, remains close to the best fixed dispatching rule, and reduces Random-HH mean RPD by more than an order of magnitude.

cs.AI↗

arXiv2026

SAGA: A Robust Self-Attention and Goal-Aware Anchor-based Planner for Safe UAV Autonomous Navigation

Agile unmanned aerial vehicle (UAV) navigation in cluttered environments demands a planning architecture that is both computationally efficient and structurally expressive enough to reason over multiple feasible motions. This paper presents SAGA, a robust self-attention and goal-aware anchor-based planner for safe UAV autonomous navigation. SAGA formulates local planning as a one-stage joint regression-and-ranking problem over a fixed lattice of motion anchors. Given a depth image and a body-frame motion state, the planner predicts refined terminal states and planning scores for all anchors in a single forward pass, after which the best candidate is decoded into a dynamically feasible trajectory. The key idea of SAGA is to transform anchor-aligned features into geometry-aware tokens and perform cross-anchor global reasoning with self-attention. To preserve directional structure in the token space, we further introduce a polar positional encoding derived from anchor yaw and pitch. In addition, a goal-aware modulation module injects velocity, acceleration, and target information into the token representation before final score prediction. Experiments in cluttered pillar-map environments under maximum speed settings of 2.0, 3.0, and 4.0~m/s show that SAGA consistently achieves a 100\% success rate, while YOPO drops from 90.91\% to 62.50\%, Ego-planner from 71.43\% to 52.63\%, and Fast-planner from 52.63\% to 38.46\%. Under the 4.0~m/s maximum speed setting, SAGA also improves average safety from 1.9843~m to 2.3888~m and minimum safety from 0.4390~m to 0.7576~m over YOPO, while reducing total flight time from 40.4631~s to 27.4901~s. The comparison with SAGA w/o PPE further shows that explicit polar positional encoding is critical for stable cross-anchor reasoning and safe passage selection in cluttered scenes.

cs.RO↗

arXiv2026

Beamforming Design for Pinching Antenna Systems Enabled Cognitive Radio Systems

A pinching antenna system (PASS) assisted cognitive radio (CR) system is proposed. A secondary system sum rate maximization problem is formulated by jointly considering the base station (BS) power budget, the pinching antenna (PA) deployment constraints, and the interference tolerance requirements of primary users. To address the resulting non-convex problem, a tractable reformulation based on the weighted minimum mean-square error (WMMSE) approach is adopted, followed by the development of an alternating optimization (AO) algorithm. Within this framework, the auxiliary variables are updated in closed form, enabling an efficient transformation of the digital beamforming subproblem to a convex form, while the PA deployment is refined through a tailored element-wise optimization strategy. Numerical results validate the effectiveness of the proposed design and show consistent performance gains compared with conventional benchmark schemes.

eess.SP↗

arXiv2026

DA-Mamba: Learning Domain-Aware State Space Model for Global-Local Alignment in Domain Adaptive Object Detection

Domain Adaptive Object Detection (DAOD) aims to transfer detectors from a labeled source domain to an unlabeled target domain. Existing DAOD methods employ multi-granularity feature alignment to learn domain-invariant representations. However, the local connectivity of their CNN-based backbone and detection head restricts alignment to local regions, failing to extract global domain-invariant features. Although transformer-based DAOD methods capture global dependencies via attention mechanisms, their quadratic computational cost hinders practical deployment. To solve this, we propose DA-Mamba, a hybrid CNN-State Space Models (SSMs) architecture that combines the efficiency of CNNs with the linear-time long-range modeling capability of State Space Models (SSMs) to capture both global and local domain-invariant features. Specifically, we introduce two novel modules: Image-Aware SSM (IA-SSM) and Object-Aware SSM (OA-SSM). IA-SSM is integrated into the backbone to enhance global domain awareness, enabling image-level global and local alignment. OA-SSM is inserted into the detection head to model spatial and semantic dependencies among objects, enhancing instance-level alignment. Comprehensive experiments demonstrate that the proposed method can efficiently improve the cross-domain performance of the object detector.

cs.CV↗

arXiv2026

CICDWOA: A Collective Cognitive Sharing Whale Optimization Algorithm with Cauchy Inverse Cumulative Distribution for 2D/3D Path Planning and Engineering Design Problems

The Whale Optimization Algorithm (WOA) has shown strong optimization ability but still suffers from premature convergence and weak search diversity. To address these issues, this paper proposes an enhanced WOA variant called CICDWOA. The proposed algorithm introduces a Good Nodes Set (GNS) method for uniform population initialization, a Collective Cognitive Sharing (CCS) mechanism to enhance group collaboration, and an Enhanced Spiral Updating strategy based on the Cauchy Inverse Cumulative Distribution (CICD) to strengthen global exploration and local exploitation balance. In addition, a nonlinear convergence factor and a Hybrid Gaussian-Cauchy mutation based on Differential Evolution (DE) further improve convergence efficiency and population diversity. CICDWOA was evaluated on 23 benchmark functions, 2D robot path planning problems, 3D UAV path planning tasks and 10 engineering design problems. Statistical experiment results show that CICDWOA achieves faster convergence, higher accuracy, and better robustness than classical WOA and other advanced metaheuristic algorithms. CICDWOA gained average Friedman value of 1.6790, ranking first among the SOTA algorithms. And the results of engineering simulations confirm that CICDWOA provides an effective and general framework for solving complex optimization and engineering problems. The code of CICDWOA are available on \href{URL}{https://github.com/JunhaoWei-mpu/ROBIS-Lab/tree/CICDWOA}.

cs.CE↗

arXiv2026

MORE-R1: Guiding LVLM for Multimodal Object-Entity Relation Extraction via Stepwise Reasoning with Reinforcement Learning

Multimodal Object-Entity Relation Extraction (MORE) is a challenging task in information extraction research. It aims to identify relations between visual objects and textual entities, requiring complex multimodal understanding and cross-modal reasoning abilities. Existing methods, mainly classification-based or generation-based without reasoning, struggle to handle complex extraction scenarios in the MORE task and suffer from limited scalability and intermediate reasoning transparency. To address these challenges, we propose MORE-R1, a novel model that introduces explicit stepwise reasoning with Reinforcement Learning (RL) to enable Large Vision-Language Model (LVLM) to address the MORE task effectively. MORE-R1 integrates a two-stage training process, including an initial cold-start training stage with Supervised Fine-Tuning (SFT) and a subsequent RL stage for reasoning ability optimization. In the initial stage, we design an efficient way to automatically construct a high-quality SFT dataset containing fine-grained stepwise reasoning tailored to the MORE task, enabling the model to learn an effective reasoning paradigm. In the subsequent stage, we employ the Group Relative Policy Optimization (GRPO) RL algorithm with a Progressive Sample-Mixing Strategy to stabilize training and further enhance model's reasoning ability on hard samples. Comprehensive experiments on the MORE benchmark demonstrate that MORE-R1 achieves state-of-the-art performance with significant improvement over baselines.

cs.MM↗

arXiv2026

Understand Then Memory: A Cognitive Gist-Driven RAG Framework with Global Semantic Diffusion

Retrieval-Augmented Generation (RAG) effectively mitigates hallucinations in LLMs by incorporating external knowledge. However, the inherent discrete representation of text in existing frameworks often results in a loss of semantic integrity, leading to retrieval deviations. Inspired by the human episodic memory mechanism, we propose CogitoRAG, a RAG framework that simulates human cognitive memory processes. The core of this framework lies in the extraction and evolution of the Semantic Gist. During the offline indexing stage, CogitoRAG first deduces unstructured corpora into gist memory corpora, which are then transformed into a multi-dimensional knowledge graph integrating entities, relational facts, and memory nodes. In the online retrieval stage, the framework handles complex queries via Query Decomposition Module that breaks them into comprehensive sub-queries, mimicking the cognitive decomposition humans employ for complex information. Subsequently, Entity Diffusion Module performs associative retrieval across the graph, guided by structural relevance and an entity-frequency reward mechanism. Furthermore, we propose the CogniRank algorithm, which precisely reranks candidate passages by fusing diffusion-derived scores with semantic similarity. The final evidence is delivered to the generator in a passage-memory pairing format, providing high-density information support. Experimental results across five mainstream QA benchmarks and multi-task generation on GraphBench demonstrate that CogitoRAG significantly outperforms state-of-the-art RAG methods, showcasing superior capabilities in complex knowledge integration and reasoning.

cs.CL↗

arXiv2026

Searth Transformer: A Transformer Architecture Incorporating Earth's Geospheric Physical Priors for Global Mid-Range Weather Forecasting

Accurate global medium-range weather forecasting is fundamental to Earth system science. Most existing Transformer-based forecasting models adopt vision-centric architectures that neglect the Earth's spherical geometry and zonal periodicity. In addition, conventional autoregressive training is computationally expensive and limits forecast horizons due to error accumulation. To address these challenges, we propose the Shifted Earth Transformer (Searth Transformer), a physics-informed architecture that incorporates zonal periodicity and meridional boundaries into window-based self-attention for physically consistent global information exchange. We further introduce a Relay Autoregressive (RAR) fine-tuning strategy that enables learning long-range atmospheric evolution under constrained memory and computational budgets. Based on these methods, we develop YanTian, a global medium-range weather forecasting model. YanTian achieves higher accuracy than the high-resolution forecast of the European Centre for Medium-Range Weather Forecasts and performs competitively with state-of-the-art AI models at one-degree resolution, while requiring roughly 200 times lower computational cost than standard autoregressive fine-tuning. Furthermore, YanTian attains a longer skillful forecast lead time for Z500 (10.3 days) than HRES (9 days). Beyond weather forecasting, this work establishes a robust algorithmic foundation for predictive modeling of complex global-scale geophysical circulation systems, offering new pathways for Earth system science.

cs.LG↗

arXiv2026

GLM-4.5V and GLM-4.1V-Thinking: Towards Versatile Multimodal Reasoning with Scalable Reinforcement Learning

We present GLM-4.1V-Thinking, GLM-4.5V, and GLM-4.6V, a family of vision-language models (VLMs) designed to advance general-purpose multimodal understanding and reasoning. In this report, we share our key findings in the development of the reasoning-centric training framework. We first develop a capable vision foundation model with significant potential through large-scale pre-training, which arguably sets the upper bound for the final performance. We then propose Reinforcement Learning with Curriculum Sampling (RLCS) to unlock the full potential of the model, leading to comprehensive capability enhancement across a diverse range of tasks, including STEM problem solving, video understanding, content recognition, coding, grounding, GUI-based agents, and long document interpretation. In a comprehensive evaluation across 42 public benchmarks, GLM-4.5V achieves state-of-the-art performance on nearly all tasks among open-source models of similar size, and demonstrates competitive or even superior results compared to closed-source models such as Gemini-2.5-Flash on challenging tasks including Coding and GUI Agents. Meanwhile, the smaller GLM-4.1V-9B-Thinking remains highly competitive-achieving superior results to the much larger Qwen2.5-VL-72B on 29 benchmarks. We open-source both GLM-4.1V-9B-Thinking and GLM-4.5V. We further introduce the GLM-4.6V series, open-source multimodal models with native tool use and a 128K context window. A brief overview is available at https://z.ai/blog/glm-4.6v. Code, models and more information are released at https://github.com/zai-org/GLM-V.

cs.CV↗