arXiv subjects

Hongyu Zhou

Publications and source records attributed to Hongyu Zhou.

At least 19 recordsLinked to original sources

arXiv2026

GatedV: Self-Gated Values for Transformer Language Models

Standard attention forms query (Q), key (K), and value (V) matrices through learned linear projections of input hidden states. Architectures such as GAU and Mega incorporate nonlinear transformations into attention. In this paper, we propose GatedV, a simple attention variant that applies SiLU only to V before aggregation without introducing additional trainable parameters. We evaluate GatedV against a standard decoder-only Transformer using matched parameter counts, paired initializations, and equal training-token budgets. At 2.33M parameters, GatedV reduces mean held-out perplexity from 59.1 to 57.9 (2.0%), with improvements across all five paired seeds. At 26.16M parameters, following an equal-budget learning-rate search, mean held-out perplexity falls from 20.2 to 19.7 (2.4%), with improvements across all three paired seeds. Small-model ablations show that the tested affine rescaling of values does not fully reproduce GatedV's gains. A short interleaved benchmark on NVIDIA DGX Spark measures approximately 0.7% higher full-context forward latency for the larger model, based on synchronized wall-clock timings. These findings suggest that value-only self-gating can improve language modeling performance without increasing parameter count or redesigning the attention-weighting mechanism.

cs.CL↗

arXiv2026

Comparative Evaluation of LLM-Based Review Paradigms for Academic Paper Quality Assessment

Growing submission volumes have renewed interest in using large language models (LLMs) to support peer review. It remains unclear how such evaluation should be structured, how much the model matters, and whether LLM scores predict research impact. We evaluate five paradigms across three input representations and three LLMs on 232 stratified ICLR 2025 submissions. Direct absolute rating matches comparative ranking on rank correlation with human scores, yet compresses most predictions above the accept threshold, flagging almost none of the papers reviewers scored below it. A base-rate-matched recalibration control locates the cause: comparative ranking supplies placement, not better ordering, and after recalibration Direct Rating reaches higher agreement than Elo while making 24% as many API calls. Abstract-only input beats full-paper summarization, and model choice matters as much as paradigm choice. Replicating on all 11,513 scored submissions reproduces these patterns, shows absolute agreement depends on the evaluated set's score spread, and finds none beating an always-reject baseline in accuracy. Human scores track citations better than any paradigm, with one exception: Group Rating retains its citation correlation after controlling for human scores, and alone ranks within the accepted pool. Ranking quality alone cannot assess review quality; calibration, thresholds, model, and target outcome all matter.

cs.CL↗

arXiv2026

A GPU-Parallel Framework for Heterogeneous Multi-Task Reinforcement Learning

GPU-parallel simulation provides abundant robot interaction, but existing benchmarks rarely combine this scale with heterogeneous manipulation tasks and standardized multi-task RL evaluation. We introduce Hebero (Heterogeneous Benchmark for Robot Learning), a GPU-parallel Isaac Lab benchmark that enables efficient joint training and evaluation of a single policy across all 40 heterogeneous tasks. Scaling experiments show that increasing parallel replicas per task improves success under a fixed wall-clock budget. To support learning with sparse rewards and limited demonstrations, we propose Demonstration-Guided Policy Optimization (DGPO), which reuses demonstrations for dense tracking rewards and asymmetric value learning. Its shared stack supports controlled comparisons of learner-specific demonstration interfaces within PPO. Within DGPO framework, we introduce IW-ABC, which uses a lightweight per-task learning progress signal to coordinate adaptive behavior cloning (ABC), relaxing demonstration guidance with task progress, and importance weighting (IW), emphasizing lagging tasks in PPO updates. With 50 demonstrations per task, IW-ABC achieves 90.1% state-input mean success, outperforming the strongest baseline FAMO-ABC by 7.8 percentage points. Its visual counterpart reaches 93.5% mean success. Real-world experiments further demonstrate that a single multi-task policy trained in simulation can successfully perform four tasks on a physical Piper robot. The project page is available at https://hebero-rl.github.io/.

cs.RO↗

arXiv2026

Confidence matters: Leveraging Multi-view Geometric Priors for GS-based Reconstruction

3D Gaussian splatting (3DGS) has emerged as a widely-used tool for novel view synthesis, offering real-time rendering in a sparse representation. However, the method's reliance on structure-from-motion initialization and photometric optimization can lead to suboptimal geometric reconstruction, particularly for objects with high specularity. In this work, we investigate the integration of geometric priors, in the form of predicted normal and depth maps, into the 3DGS framework to improve the reconstruction quality. We analyze the effect of incorporating these priors into GS-based methods and our evaluation reveals that multi-view predictions, as they are done by the recent visual geometry grounded transformer (VGGT), outperform single-view alternatives. A major factor is the existence of a confidence map for the estimations, which comes as a by-product of multi-view models and which can significantly improve the effectiveness of priors by weighting each prediction appropriately. Extensive experiments on standard benchmarks show consistent improvement in reconstruction quality and significant gains in complex scenes including specular objects.

cs.CV↗

arXiv2026

MorphQuad: Morphable Quadrotor for Superhuman Maneuverability, Manipulation, and Resiliency

Infrastructure maintenance, contact-based inspection, and emergency response can benefit from aerial vehicles that act as a flying human hand with extreme maneuverability, manipulation, and resiliency (MMR): maneuverability to fly in arbitrary orientations to reach remote and tight locations; manipulation to point sensors, turn valves, and press tools at arbitrary orientations; resiliency to maintain accurate motion and force control despite disturbances from arbitrary directions, such as wind, ground effects, and friction. Realizing MMR on aerial vehicles requires not only omnidirectional flight; it also requires (I) vectoring of maximum thrust in any direction, to maximize capacity for contact-force application and disturbance rejection, (II) global stability, to enable control over any orientation/position, and (III) compact, standard designs that build upon platforms such as quadrotors to inherit technological know-how. No current aerial vehicle simultaneously enables I--III, due to structural and control limitations that constrain actuation. We present MorphQuad: a morphable quadrotor that enjoys MMR. Key to our approach is a hardware and control co-design: on hardware, we independently articulate each of the four rotor systems via two-axis gimbals; on control, we introduce globally-stable control, and energy-optimal thrust allocation that permits inter-rotor thrust cancellations only to avoid downwash interference and gimbal lock. With fully-onboard autonomy, MorphQuad demonstrates multi-revolution rotation while translating or hovering, for pipe inspection and target tracking (maneuverability); valve turning, perching, and object pressing and pushing with human-level strengths (manipulation); and wind rejection from any direction, even directed to a single rotor, and push-pull recovery (resiliency).

cs.RO↗

arXiv2026

Self-Adaptive Learning and Model Predictive Control for Tracking Unknown Dynamics with No Regret

We propose a self-adaptive online learning for control method for tracking unknown target dynamics. The target dynamics can exhibit switching behavior, particularly, a mixture of structured, random, and/or adversarial motion. Such challenging target tracking scenarios arise in applications of dynamic mapping, traffic control, and pursuit evasion, where robots need to track, pursue, or avoid collision with moving landmarks, objects, humans, etc., whose dynamics are unknown. Our method simultaneously learns multiple predictors from scratch, via self-supervised, one-shot, and computationally efficient learning, and adaptively selects the best one to match the observed target behavior. The method enjoys finite-time near-optimality guarantees in expectation, characterized as a function of the learning error of the target dynamics and the frequency that the target dynamics switch. In the absence of both error and switching, the method asymptotically matches the optimal non-causal control policy that knows a priori the target dynamics, i.e., the method enjoys no regret in expectation. In the presence of learning errors and switching, the method degrades gracefully, \eg when there are errors and no switching, the average regret is proportional to the average learning error and switching times. To prove these guarantees, a novel technical approach is required compared to the existing works that employ RFF-based online learning. We validate our method in Crazyflie simulations and hardware experiments, across target trajectories that vary from structured to random to adversarial, in comparison to non-stochastic, kernel-based, and neural-network-based methods for online learning.

cs.RO↗

arXiv2026

Efficient Domain-Adaptive Policy Learning via Kernel Representation with Application to Quadrotor Control under Non-Stationary Disturbances

We present an algorithm for efficient domain-adaptive policy learning via kernel representations. Learning domain-adaptive policies is challenging since it requires an environment representation that is both sufficiently expressive to model complex sim-to-real gaps during offline training, and computationally efficient enough to support rapid online adaptation during deployment. For instance, a quadrotor may encounter time-varying, non-stationary disturbances, such as sudden gusts of wind, payload shifts, or transitions between distinct flight regimes with and without ground effects. To address these challenges, we model unknown disturbances using a differentiable kernel approximation based on random Fourier features. During the offline training phase, we randomly sample kernel coefficients and bandwidth parameters to generate a rich diversity of disturbance profiles. We then optimize the control policy via differentiable simulation with analytical gradients, a process that takes only 50 seconds of training time on an RTX 4090 GPU. During hardware deployment, the policy adapts to non-stationary environments in real time by updating both the kernel coefficients and bandwidth through online least-squares estimation. We evaluate our method on quadrotor trajectory tracking tasks across high-fidelity numerical simulations and hardware experiments using Crazyflie, subjected to various disturbances, including complex aerodynamic effects, wind, ground effects, and payload fluctuations.

cs.RO↗

arXiv2026

GARDEN: Gravity-Aligned Reconstruction of Disentangled ENvironments from RGB images

Converting multi-view RGB observations into simulation-ready 3D environments remains challenging because current reconstruction pipelines produce monolithic scene representations without explicit physical structure. They are typically defined up to an arbitrary global rotation and entangle rigid foreground objects with background geometry, which hinders stable physical interaction. Existing solutions often recover interactivity by replacing reconstructed objects with retrieved CAD assets, but this introduces a slow retrieval-and-replacement stage and weakens scene-specific geometric fidelity. We propose GARDEN, an RGB-only framework that reformulates reconstruction as physically-grounded scene factorization and outputs a structured hybrid scene representation. The key idea is to use gravity as a universal physical prior: we first align the reconstruction to a unified Gravity-View frame to resolve gauge ambiguity, then recover object-centric rigid meshes with accurate 6-DoF placement, and finally remove duplicate object geometry from the background through conditional 3D point classification. The resulting representation combines explicit rigid bodies with a decoupled background, enabling direct physics simulation while preserving visual realism. Experiments on both simulated and real multi-view scenes show that GARDEN improves object placement reliability, disentanglement quality, and rendering-simulation efficiency compared with retrieval-based baselines. Project page: https://sunjiahaovo.github.io/garden/

cs.CV↗

arXiv2026

HRIBench: Benchmarking Interaction-Centric Human-Robot Collaboration

Current vision-language-action (VLA) benchmarks primarily evaluate isolated manipulation skills while leaving human-robot interaction structure largely unmodeled. However, real-world collaboration fundamentally requires coordination under shared agency, including intent understanding, temporal synchronization, protocol adherence, and safe interaction in dynamic environments. To address this gap, we introduce HRIBench, a diagnostic benchmark for intent-aware human-robot collaboration based on executable interaction scenarios. HRIBench represents collaborative tasks as structured scenario scripts that explicitly model agent roles, temporal dependencies, coordination constraints, and human behavior distributions. Building on this abstraction, HRIBench defines three representative interaction roles: Instructor, Collaborator, and Intruder, covering intent communication, joint coordination, and robustness under human intervention. The benchmark contains 13 role-conditioned tasks with over 650 evaluation episodes generated from diverse interaction trajectories and scene variations. Beyond binary task success, HRIBench introduces interpretable interaction-centric metrics spanning synchronization, responsiveness, protocol compliance, and safety. We evaluate adapted policies based on GR00T, pi0.5, and ACT under a unified protocol. Results show that current foundation robot policies struggle substantially in collaborative settings despite strong manipulation ability, revealing major limitations in temporal coordination and intent-aware behavior. Fine-tuning on HRIBench consistently improves collaborative performance. In a real-world adaptation study, simulation data generated by HRIBench improves GR00T N1.5's physical-task success rate from 0.10 to 0.43, demonstrating the benchmark's value for advancing interaction-centric robot learning.

cs.RO↗

arXiv2026

MentalThink: Shaping Thoughts in Mental SVG World

We introduce MentalThink, a visual-symbolic reasoning paradigm that equips Multimodal LLMs (MLLMs) with an executable mechanism for "mental" visualization. The core of MentalThink is a think-with-SVG pipeline, where the model learns to generate, render, and interpret scalable vector graphics (SVG) code as an intermediate visual representation for multi-turn reasoning. By creating structured vector sketches, the model can externalize spatial hypotheses, inspect them through deterministic rendering, and reason within a constrained geometric space, effectively mimicking the human process of mental imagery. We instantiate this paradigm through a two-stage training framework, combining Supervised Fine-Tuning (SFT) for SVG syntactic alignment with multi-turn Reinforcement Learning (RL) to encourage iterative inspection, revision, and refinement of intermediate visual hypotheses. Extensive evaluations demonstrate that MentalThink achieves superior performance on spatial understanding and reasoning benchmarks (e.g., 55.1% on VSIBench, 76.0% on MindCube), showing that executable vector graphics provide a verifiable visual workspace for dynamic perspective taking, visual reflection, and compositional scene construction.

cs.AI↗

arXiv2026

Reading the Same Data Differently: Interpretive Labor Across System Boundaries in Electronic Monitoring

Electronic monitoring (EM) systems are increasingly used in community corrections to enforce spatial, temporal, and behavioral rules through continuous sensing. While prior work has examined EM as a criminal justice tool or as a mechanism for compliance, less is known about how sensed data become meaningful in everyday practice. This poster examines EM as a dual-sided sensing system in which supervised individuals and authorities reason about the same data stream from different positions. Based on semi-structured interviews with 26 supervised individuals and 12 authorities in China's community corrections system, we show that supervised individuals infer system logic from outcomes with limited visibility into how data are interpreted, while authorities reconstruct behavior from ambiguous traces using contextual knowledge, professional experience, and institutional procedures. We call this structural divergence interpretive misalignment. It emerges from asymmetric access to data, context, and reasoning processes, and it shapes behavior through probing, strategic adaptation, over-compliance, disengagement, and contestation. We contribute a CSCW account of continuous sensing as distributed interpretive work and identify design opportunities for making data-to-decision processes more legible, contestable, and accountable across system sides.

cs.HC↗

arXiv2026

Bayesian Optimization by Kernel Regression and Density-based Exploration

Bayesian optimization is highly effective for optimizing expensive-to-evaluate black-box functions, but it faces significant computational challenges due to the cubic per-iteration cost of Gaussian processes, which results in a total time complexity that is quartic with respect to the number of iterations. To address this limitation, we propose a novel algorithm, Bayesian optimization by kernel regression and density-based exploration (BOKE). BOKE uses kernel regression for efficient function approximation, kernel density for exploration, and integrates them into the confidence bound criteria to guide the optimization process, thus reducing computational costs to quadratic. Our theoretical analysis rigorously establishes the global convergence of BOKE under noisy evaluations. Through extensive numerical experiments on both synthetic and real-world optimization tasks, we demonstrate that BOKE not only performs competitively compared to Gaussian process-based methods and several other baseline methods but also exhibits superior computational efficiency. These results highlight BOKE's effectiveness in resource-constrained environments, providing a practical approach for optimization problems in engineering applications.

math.OC↗

arXiv2026

A Differentiable Framework for Full and Phaseless Data Inversion Using Neural Implicit Contrast-Source Representation

In this study, we extend the contrast source inversion to a fully differentiable, unsupervised framework based on a neural implicit representation of the contrast source. Specifically, instead of a pixel-wise discrete representation, the contrast source is parameterized by a lightweight residual multilayer perceptron (ResMLP) as a continuous neural field conditioned on spatial coordinates and transmitter settings. This continuous parameterization provides a more flexible representation of the contrast source and improves reconstruction accuracy and robustness under noisy measurements. Building on this representation, the state equation and data equation are combined with total-variation regularization to form a differentiable objective function. By reformulating the VIE-constrained inversion as an end-to-end differentiable optimization problem, the network parameters and the medium contrast are jointly optimized via automatic differentiation. Within the same framework, both full and phaseless data inversion are accommodated by only modifying the data misfit function. Numerical experiments demonstrate that this scheme yields higher reconstruction accuracy and robustness than conventional CSI across a range of noise levels and measurement settings. The continuous neural field further enables super-resolution inference at resolutions finer than the training grid, decoupling inversion cost from reconstruction fidelity. Ablation studies and comparisons with alternative neural architectures further confirm that the contrast source parameterization and VIE-based formulation are both essential to the observed improvements.

physics.comp-ph↗

arXiv2026

Geometry Gaussians: Decoupling Appearance and Geometry in Gaussian Splatting

After the success of 3D Gaussian Splatting (3DGS) for novel view synthesis, many works have explored how to also use it for geometric surface representation. However, extracting accurate geometric information directly from 3DGS remains challenging and can often reduce the appearance rendering quality. In this work, we show that 3DGS in its default form is inheritedly unsuited to represent texture and geometry at the same time, by training with complete ground-truth texture and geometry information. We also propose a simple solution by applying a single additional geometry opacity parameter to each splat, together with an optional transparency-curated optimization pipeline. Our experiments, both with ground-truth and vision foundation model geometric input, show that this change leads to improved rendering and geometry performance on a wide variety of dataset, and especially complex scenes with transparent objects benefit significantly from our method.

cs.GR↗

arXiv2026

Research on Intra-Chip Fusion Deployment and Optimization of Embodied Intelligence Business Operator NPU

Embodied intelligent computing integrates perception, computation and control. Traditional separate deployment of the three tasks leads to frequent data transmission, high latency and low hardware efficiency, failing to satisfy millisecond-level real-time requirements in dynamic scenarios. Besides, most operator optimization methods rely on foreign GPU platforms, while full-process collaborative optimization for domestic Phytium-Cambricon heterogeneous architectures is insufficient. This paper builds a domestic heterogeneous computing platform with Phytium FT-2000/4 processor and Cambricon MLU370 acceleration card, and proposes an NPU on-chip fusion deployment and full-process operator collaborative optimization strategy for perception, computation and control pipelines. Targeting embodied robot applications, modular optimization is conducted, including MLU hardware adaptation of motion blur correction operators for high-speed imaging, lightweight inference optimization of ViT models, and customized operator development for multi-DOF inverse kinematics solution. An on-chip data closed-loop and pipeline collaboration-based single-card solution is proposed to implement integrated execution of all perception-computation-control tasks on MLU370. Experimental results show that the proposed method achieves a full-process single-frame latency of 18.7 ms and a speedup of 2.89 compared with NVIDIA Jetson AGX Xavier, with 82.6% MLU utilization and comparable accuracy to mainstream platforms. This work offers a practical reference for domestic engineering applications of integrated embodied intelligent computing services.

cs.DC↗

arXiv2026

Effects of laser-plasma parameters on sub-nanosecond evolution of cross-beam energy transfer

Cross-beam energy transfer (CBET) between two lasers is investigated through theoretical analysis and two-dimensional hybrid simulations over sub-nanosecond to nanosecond timescales and millimeter spatial scales. A finite frequency-difference range for CBET development is derived. Ion acoustic wave (IAW) damping is found to broaden this range while reducing the growth rate of stimulated Brillouin scattering (SBS). CBET exhibits distinct nonlinear behaviors across different laser-intensity regimes. Denoting $I_{14}=1\times 10^{14} \mathrm{W/cm^2}$ for a laser wavelength of $351 \mathrm{nm}$, at moderate intensities ($1<I/I_{14}<8$), CBET grows weakly and saturates at a low level due to pump depletion. In the strongly coupled SBS regime ($I/I_{14} \gtrsim 8$), harmonic IAW and nonlinear wave-particle interactions emerge. The generation of harmonic IAW reduces the normal IAW mode, while ion-trapping-induced spectral broadening of normal IAW mode causes frequency mismatch, leading to nonlinear reduction of CBET. After the saturation of harmonic mode, ion trapping broadens harmonic IAW spectrum and weakens it, triggering a secondary growth stage of CBET. After approximately $60 \mathrm{ps}$, CBET approaches quasi-steady-state. The maximum total energy transfer occurs at a frequency difference below the linear matching condition due to the trapping-induced IAW redshift. Based on these two intensity regimes, piecewise scalings of the quasi-saturated total energy transfer rate with $I/I_{14}$ are obtained and shown to be robust against spot size. Speckle effects reduce high-intensity overlap and thus the energy transfer rate. The effects of plasma temperature, density, and flow velocity on CBET are also examined.

physics.plasm-ph↗

arXiv2026

From Fixed to Flexible: Shaping AI Personality in Context-Sensitive Interaction

Conversational agents are increasingly expected to adapt across contexts and evolve their personalities through interactions, yet most remain static once configured. We present an exploratory study of how user expectations form and evolve when agent personality is made dynamically adjustable. To investigate this, we designed a prototype conversational interface that enabled users to adjust an agent's personality along eight research-grounded dimensions across three task contexts: informational, emotional, and appraisal. We conducted an online mixed-methods study with 60 participants, employing latent profile analysis to characterize personality classes and trajectory analysis to trace evolving patterns of personality adjustment. These approaches revealed distinct personality profiles at initial and final configuration stages, and adjustment trajectories, shaped by context-sensitivity. Participants also valued the autonomy, perceived the agent as more anthropomorphic, and reported greater trust. Our findings highlight the importance of designing conversational agents that adapt alongside their users, advancing more responsive and human-centred AI.

cs.HC↗

arXiv2026

Project Imaging-X: A Survey of 1000+ Open-Access Medical Imaging Datasets for Foundation Model Development

Foundation models have demonstrated remarkable success across diverse domains and tasks, primarily due to the thrive of large-scale, diverse, and high-quality datasets. However, in the field of medical imaging, the curation and assembling of such medical datasets are highly challenging due to the reliance on clinical expertise and strict ethical and privacy constraints, resulting in a scarcity of large-scale unified medical datasets and hindering the development of powerful medical foundation models. In this work, we present the largest survey to date of medical image datasets, covering over 1,000 open-access datasets with a systematic catalog of their modalities, tasks, anatomies, annotations, limitations, and potential for integration. Our analysis exposes a landscape that is modest in scale, fragmented across narrowly scoped tasks, and unevenly distributed across organs and modalities, which in turn limits the utility of existing medical image datasets for developing versatile and robust medical foundation models. To turn fragmentation into scale, we propose a metadata-driven fusion paradigm (MDFP) that integrates public datasets with shared modalities or tasks, thereby transforming multiple small data silos into larger, more coherent resources. Building on MDFP, we release an interactive discovery portal that enables end-to-end, automated medical image dataset integration, and compile all surveyed datasets into a unified, structured table that clearly summarizes their key characteristics and provides reference links, offering the community an accessible and comprehensive repository. By charting the current terrain and offering a principled path to dataset consolidation, our survey provides a practical roadmap for scaling medical imaging corpora, supporting faster data discovery, more principled dataset creation, and more capable medical foundation models.

cs.CV↗