arXiv subjects

Jie Peng

Publications and source records attributed to Jie Peng.

At least 37 records · Page 2Linked to original sources

arXiv2026

Pocket-SLAM: Rendering-Area-Aware Pruning for Memory-Efficient 3DGS-SLAM

3D Gaussian Splatting (3DGS) has garnered significant attention in Simultaneous Localization and Mapping (SLAM) due to its advances in capturing fine-grained geometry features and synthesizing novel views. For SLAM in large-scale scenes, such as autonomous driving, 3DGS-SLAM faces a critical limitation: memory consumption increases continuously over time as Gaussian points accumulate, leading to poor memory efficiency and limiting its applicability. In this work, we propose a rendering-area-aware pruning strategy that selectively removes Gaussians based on their contribution to the effective rendering area, rather than solely relying on Gaussian-level heuristics such as opacity or gradient magnitude. This perspective directly targets the sources of memory redundancy, effectively reducing the peak memory footprint of 3DGS-SLAM during runtime. Evaluations on the EuRoC and KITTI datasets demonstrate that our method consistently outperforms existing pruning approaches in large-scale outdoor scenes, achieving over 60% memory reduction and more than 2 times FPS improvement while preserving localization and mapping accuracy. These results highlight rendering-area-aware pruning as a promising direction for scaling 3DGS-SLAM to real-world autonomous driving scenarios. Our code is publicly available at https://github.com/UMN-ZhaoLab/Pocket-SLAM.git.

cs.CV↗

arXiv2026

DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models

Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promising for coordinating heterogeneous multi-robot systems in long-horizon tasks. Despite this potential, several challenges remain underexplored: (1) Centralized LLM schedulers scale poorly as team size and environmental complexity increase. A single model must process excessive contextual information, and long-context approximation may degrade reasoning quality; (2) Existing task formulations insufficiently consider dynamic settings, while robust adaptation to evolving task conditions is essential for real-world deployment; (3) Domain-specific data scarcity limits specialized robotic reasoning, making proprietary general-purpose models inefficient for expert tasks. To address these limitations, we propose DynaHMRC, a decentralized framework in which each robot acts as a role-aware LLM agent. This design mitigates the single-model context bottleneck and supports flexible collaboration across heterogeneous team configurations. DynaHMRC organizes collaboration as a four-stage closed-loop process: self-description, task allocation with leadership bidding, leader election, and reflective execution, supported by executable robot interfaces. We further develop a benchmark covering three task families, four dynamic variations, and six team configurations to systematically study dynamic task modeling. In addition, we conduct an empirical analysis to guide the construction of domain-specific expert datasets and fine-tune pretrained LLMs to improve specialized competence. Experiments show that DynaHMRC achieves higher success rates than strong baselines with fewer action and communication steps, while demonstrating promising scalability trends as team size grows within the evaluated settings.

cs.RO↗

arXiv2026

Estimating Spatially-Smoothed Fiber Orientation Distribution from Diffusion-MRI Experiments

Diffusion-weighted magnetic resonance imaging (D-MRI) is a noninvasive in vivo technique for probing the microstructural architecture of biological tissues. At each voxel, the fiber orientation distribution (FOD) characterizes local fiber configurations and orientations and is therefore a central object of estimation in D-MRI analysis. We propose the Nearest-Neighbor Adaptive Regression Model (NARM), a spatially adaptive framework for FOD estimation that performs weighted local likelihood estimation over nested spatial neighborhoods, where the weights jointly encode spatial proximity and similarity among neighboring FODs, measured by either the optimal transport or Hellinger distance. To prevent over-smoothing while preserving structural heterogeneity, we introduce a voxel-wise rescaling scheme and a data-driven stopping rule based on minimum nearest-neighbor dissimilarity. We further develop a configuration-aware strategy for selecting the similarity-smoothing parameter, allowing the smoothing strength to adapt to local fiber complexity. Simulation studies demonstrate that NARM improves FOD estimation accuracy relative to voxel-wise methods and the existing spatial smoothing approach PMARM. Application to test-retest data from the Human Connectome Project additionally shows that NARM yields more reproducible FOD estimates. Implementation details and scripts for the simulation and real data analyses are available at https://github.com/jie108/NARM

stat.AP↗

arXiv2026

TIDFormer: Exploiting Temporal and Interactive Dynamics Makes A Great Dynamic Graph Transformer

Due to the proficiency of self-attention mechanisms (SAMs) in capturing dependencies in sequence modeling, several existing dynamic graph neural networks (DGNNs) utilize Transformer architectures with various encoding designs to capture sequential evolutions of dynamic graphs. However, the effectiveness and efficiency of these Transformer-based DGNNs vary significantly, highlighting the importance of properly defining the SAM on dynamic graphs and comprehensively encoding temporal and interactive dynamics without extra complex modules. In this work, we propose TIDFormer, a dynamic graph TransFormer that fully exploits Temporal and Interactive Dynamics in an efficient manner. We clarify and verify the interpretability of our proposed SAM, addressing the open problem of its uninterpretable definitions on dynamic graphs in previous works. To model the temporal and interactive dynamics, respectively, we utilize the calendar-based time partitioning information and extract informative interaction embeddings for both bipartite and non-bipartite graphs using merely the sampled first-order neighbors. In addition, we jointly model temporal and interactive features by capturing potential changes in historical interaction patterns through a simple decomposition. We conduct extensive experiments on several dynamic graph datasets to verify the effectiveness and efficiency of TIDFormer. The experimental results demonstrate that TIDFormer excels, outperforming state-of-the-art models across most datasets and experimental settings. Furthermore, TIDFormer exhibits significant efficiency advantages compared to previous Transformer-based methods.

cs.LG↗

arXiv2026

Mind-Omni: A Unified Multi-Task Framework for Brain-Vision-Language Modeling via Discrete Diffusion

Modeling the interplay between external stimuli and internal neural representations is a pivotal research area for Brain-Computer Interfaces (BCIs). A major limitation of prior work is the prevailing paradigm of specialized, single-task models, which curtails versatility and neglects inter-task synergies. To address this, we propose Mind-Omni, the first versatile framework that unifies seven distinct encoding and decoding tasks through a discrete diffusion paradigm. At its core is a novel Brain Tokenizer that transforms heterogeneous, continuous brain signals into standardized, discrete tokens. This enables direct, token-level interactions for mutual understanding and generation between any two or more modalities within a shared semantic space. To unlock advanced reasoning capabilities, we further curate a specialized Brain Question Answering (BQA) instruction-tuning dataset. Our model not only establishes a new state-of-the-art among multi-task unified frameworks but also provides strong evidence for multi-task synergy. By demonstrating performance competitive with, and at times superior to, larger specialized models, our work offers a powerful new paradigm for neural modeling and paves the way for foundation models of neural activity. The code is publicly available at https://github.com/ReedOnePeck/Mind-Omni.

cs.AI↗

arXiv2026

GRACE-MoE: Grouping and Replication with Locality-Aware Routing for Efficient Distributed MoE Inference

Sparse Mixture of Experts (SMoE) enables scalable parameter growth in large language models (LLMs) by selectively activating a subset of experts, and its large parameter count necessitates distributed deployment for inference. However, distributed inference faces a critical dilemma: although communication overhead constitutes the primary bottleneck, reducing it often exacerbates computational load imbalance, leading to resource waste. In this paper, we present GRACE-MoE, which stands for Grouping and Replication with Locality-Aware Routing for SMoE inference. GRACE-MoE is a lossless co-optimization framework that integrates expert grouping to reduce communication and dynamic replication to correct load skew, together with locality-aware routing to resolve replica selection. To underpin this coordinated optimization in multi-node settings, GRACE-MoE adopts a hierarchical sparse communication design that reduces cross-node traffic while implicitly aligning execution across nodes, thereby mitigating synchronization overhead. Experiments on diverse models and multi-node, multi-GPU environments demonstrate that GRACE-MoE efficiently reduces end-to-end inference latency, achieving up to 4.66x speedup over existing systems, and the code will be released upon acceptance.

cs.DC↗

arXiv2026

General phase diagram features of superradiant phase transitions

Various light-matter interactions lead to diverse phase diagram structures in superradiant phase transition (SPT) studies. Such systems consist of multiqubit and multimode with anisotropic couplings, one- and two-photon interactions, Stark shifts, inter-cavity hoppings, qubit-qubit interactions and so on. We find a general phase diagram feature that the origin is in normal phase (NP) and SPT happens only once along the radial direction of a chosen coupling parameter vector with the mean-field method at finite temperature. We can calculate the phase boundary and SPT properties by a concise method. We illustrate it with specific models and find SPT can be achieved in strong coupling regime by means of multimode collective behavior. We also find the disorder will shift the phase boundary. These general features facilitate SPT studies and their diverse applications.

quant-ph↗

arXiv2026

Graph-of-Agents: A Graph-based Framework for Multi-Agent LLM Collaboration

With an ever-growing zoo of LLMs and benchmarks, the need to orchestrate multiple models for improved task performance has never been more pressing. While frameworks like Mixture-of-Agents (MoA) attempt to coordinate LLMs, they often fall short in terms of (1) selecting relevant agents, (2) facilitating effective intra-agent communication, and (3) integrating responses efficiently. In this work, we propose Graph-of-Agents (GoA), a new graph-based framework for modeling multi-agent LLM communication. Our approach begins with node sampling, selecting only the most relevant agents by leveraging model cards that summarize each model's domain, task specialization, and other characteristics. Next, we construct edges between the selected agents by evaluating their responses against one another to determine relevance ordering. Directed message passing is then performed from highly relevant agents to less relevant ones to enhance their responses, followed by reverse message passing to refine the original responses of the more relevant agents. Finally, the updated responses are aggregated via graph-based pooling (e.g., max or mean pooling) to produce a single, unified answer. We evaluate GoA on diverse multi-domain benchmarks (MMLU, MMLU-Pro, GPQA) and domain-specific benchmarks (MATH, HumanEval, MedMCQA), with an agent pool of 6 LLMs spanning multiple domains. Surprisingly, GoA achieves superior performance using only 3 selected agents, outperforming recent multi-agent LLM baselines that utilize all 6 agents simultaneously. By adopting a graph structure, GoA offers both scalability and effectiveness through structured message passing-positioning it as a strong candidate for navigating the challenges of the ever-growing LLM zoo. Code is available at: https://github.com/UNITES-Lab/GoA.

cs.AI↗

arXiv2026

PRIME: Prototype-Driven Multimodal Pretraining for Cancer Prognosis with Missing Modalities

Multimodal self-supervised pretraining offers a promising route to cancer prognosis by integrating histopathology whole-slide images, gene expression, and pathology reports, yet most existing approaches require fully paired and complete inputs. In practice, clinical cohorts are fragmented and often miss one or more modalities, limiting both supervised fusion and scalable multimodal pretraining. We propose PRIME, a missing-aware multimodal self-supervised pretraining framework that learns robust and transferable representations from partially observed cohorts. PRIME maps heterogeneous modality embeddings into a unified token space and introduces a shared prototype memory bank for latent-space semantic imputation via patient-level consensus retrieval, producing structurally aligned tokens without reconstructing raw signals. Two complementary pretraining objectives: inter-modality alignment and post-fusion consistency under structured missingness augmentation, jointly learn representations that remain predictive under arbitrary modality subsets. We evaluate PRIME on The Cancer Genome Atlas with label-free pretraining on 32 cancer types and downstream 5-fold evaluation on five cohorts across overall survival prediction, 3-year mortality classification, and 3-year recurrence classification. PRIME achieves the best macro-average performance among all compared methods, reaching 0.653 C-index, 0.689 AUROC, and 0.637 AUROC on the three tasks, respectively, while improving robustness under test-time missingness and supporting parameter-efficient and label-efficient adaptation. These results support missing-aware multimodal pretraining as a practical strategy for prognosis modeling in fragmented clinical data settings.

cs.LG↗

arXiv2026

Understanding the Role of Hallucination in Reinforcement Post-Training of Multimodal Reasoning Models

The recent success of reinforcement learning (RL) in large reasoning models has inspired the growing adoption of RL for post-training Multimodal Large Language Models (MLLMs) to enhance their visual reasoning capabilities. Although many studies have reported improved performance, it remains unclear whether RL training truly enables models to learn from visual information. In this work, we propose the Hallucination-as-Cue Framework, an analytical framework designed to investigate the effects of RL-based post-training on multimodal reasoning models from the perspective of model hallucination. Specifically, we introduce hallucination-inductive, modality-specific corruptions that remove or replace essential information required to derive correct answers, thereby forcing the model to reason by hallucination. By applying these corruptions during both training and evaluation, our framework provides a unique perspective for diagnosing RL training dynamics and understanding the intrinsic properties of datasets. Through extensive experiments and analyses across multiple multimodal reasoning benchmarks, we reveal that the role of model hallucination for RL-training is more significant than previously recognized. For instance, we find that RL post-training under purely hallucination-inductive settings can still significantly improve models' reasoning performance, and in some cases even outperform standard training. These findings challenge prevailing assumptions about MLLM reasoning training and motivate the development of more modality-aware RL-based training designs.

cs.LG↗

arXiv2026

Mozart: Modularized and Efficient MoE Training on 3.5D Wafer-Scale Chiplet Architectures

Mixture-of-Experts (MoE) architecture offers enhanced efficiency for Large Language Models (LLMs) with modularized computation, yet its inherent sparsity poses significant hardware deployment challenges, including memory locality issues, communication overhead, and inefficient computing resource utilization. Inspired by the modular organization of the human brain, we propose Mozart, a novel algorithm-hardware co-design framework tailored for efficient training of MoE-based LLMs on 3.5D wafer-scale chiplet architectures. On the algorithm side, Mozart exploits the inherent modularity of chiplets and introduces: (1) an expert allocation strategy that enables efficient on-package all-to-all communication, and (2) a fine-grained scheduling mechanism that improves communication-computation overlap through streaming tokens and experts. On the architecture side, Mozart adaptively co-locates heterogeneous modules on specialized chiplets with a 2.5D NoP-Tree topology and hierarchical memory structure. Evaluation across three popular MoE models demonstrates significant efficiency gains, enabling more effective parallelization and resource utilization for large-scale modularized MoE-LLMs.

cs.AR↗

arXiv2026

Dialogue is Better Than Monologue: Instructing Medical LLMs via Strategical Conversations

Current medical AI systems often fail to replicate real-world clinical reasoning, as they are predominantly trained and evaluated on static text and question-answer tasks. These tuning methods and benchmarks overlook critical aspects like evidence-based reasoning and handling distracting information. To bridge this gap, we introduce a novel benchmark that simulates real-world diagnostic scenarios, integrating noise and difficulty levels aligned with USMLE standards. Moreover, we explore dialogue-based fine-tuning, which transforms static datasets into conversational formats to better capture iterative reasoning processes. Experiments show that dialogue-tuned models outperform traditional methods, with improvements of $9.64\%$ in multi-round reasoning scenarios and $6.18\%$ in accuracy in a noisy environment. Our findings highlight dialogue tuning as a promising approach for advancing clinically aligned and robust medical AI systems.

cs.CL↗

arXiv2026

GDGB: A Benchmark for Generative Dynamic Text-Attributed Graph Learning

Dynamic Text-Attributed Graphs (DyTAGs), which intricately integrate structural, temporal, and textual attributes, are crucial for modeling complex real-world systems. However, most existing DyTAG datasets exhibit poor textual quality, which severely limits their utility for generative DyTAG tasks requiring semantically rich inputs. Additionally, prior work mainly focuses on discriminative tasks on DyTAGs, resulting in a lack of standardized task formulations and evaluation protocols tailored for DyTAG generation. To address these critical issues, we propose Generative DyTAG Benchmark (GDGB), which comprises eight meticulously curated DyTAG datasets with high-quality textual features for both nodes and edges, overcoming limitations of prior datasets. Building on GDGB, we define two novel DyTAG generation tasks: Transductive Dynamic Graph Generation (TDGG) and Inductive Dynamic Graph Generation (IDGG). TDGG transductively generates a target DyTAG based on the given source and destination node sets, while the more challenging IDGG introduces new node generation to inductively model the dynamic expansion of real-world graph data. To enable holistic evaluation, we design multifaceted metrics that assess the structural, temporal, and textual quality of the generated DyTAGs. We further propose GAG-General, an LLM-based multi-agent generative framework tailored for reproducible and robust benchmarking of DyTAG generation. Experimental results demonstrate that GDGB enables rigorous evaluation of TDGG and IDGG, with key insights revealing the critical interplay of structural and textual features in DyTAG generation. These findings establish GDGB as a foundational resource for advancing generative DyTAG research and unlocking further practical applications in DyTAG generation. The dataset and source code are available at https://github.com/Lucas-PJ/GDGB-ALGO.

cs.AI↗

arXiv2026

NeuroCanvas: VLLM-Powered Robust Seizure Detection by Reformulating Multichannel EEG as Image

Accurate and timely seizure detection from Electroencephalography (EEG) is critical for clinical intervention, yet manual review of long-term recordings is labor-intensive. Recent efforts to encode EEG signals into large language models (LLMs) show promise in handling neural signals across diverse patients, but two significant challenges remain: (1) multi-channel heterogeneity, as seizure-relevant information varies substantially across EEG channels, and (2) computing inefficiency, as the EEG signals need to be encoded into a massive number of tokens for the prediction. To address these issues, we draw the EEG signal and propose the novel NeuroCanvas framework. Specifically, NeuroCanvas consists of two modules: (i) The Entropy-guided Channel Selector (ECS) selects the seizure-relevant channels input to LLM and (ii) the following Canvas of Neuron Signal (CNS) converts selected multi-channel heterogeneous EEG signals into structured visual representations. The ECS module alleviates the multi-channel heterogeneity issue, and the CNS uses compact visual tokens to represent the EEG signals that improve the computing efficiency. We evaluate NeuroCanvas across multiple seizure detection datasets, demonstrating a significant improvement of 20% in F1 score and reductions of 88% in inference latency. These results highlight NeuroCanvas as a scalable and effective solution for real-time and resource-efficient seizure detection in clinical practice.

cs.LG↗

arXiv2026

Topology-Independent Robustness of the Weighted Mean under Label Poisoning Attacks in Heterogeneous Decentralized Learning

Robustness to malicious attacks is crucial for practical decentralized signal processing and machine learning systems. A typical example of such attacks is label poisoning, meaning that some agents possess corrupted local labels and share models trained on these poisoned data. To defend against malicious attacks, existing works often focus on designing robust aggregators; meanwhile, the weighted mean aggregator is typically considered a simple, vulnerable baseline. This paper analyzes the robustness of decentralized gradient descent under label poisoning attacks, considering both robust and weighted mean aggregators. Theoretical results reveal that the learning errors of robust aggregators depend on the network topology, whereas the performance of weighted mean aggregator is topology-independent. Remarkably, the weighted mean aggregator, although often considered vulnerable, can outperform robust aggregators under sufficient heterogeneity, particularly when: (i) the global contamination rate (i.e., the fraction of poisoned agents for the entire network) is smaller than the local contamination rate (i.e., the maximal fraction of poisoned neighbors for the regular agents); (ii) the network of regular agents is disconnected; or (iii) the network of regular agents is sparse and the local contamination rate is high. Empirical results support our theoretical findings, highlighting the important role of network topology in the robustness to label poisoning attacks.

cs.LG↗

arXiv2026

Strain effects on the binding and diffusion energies of Au adatoms and CeO2 admolcules on Au, CeO2, MgO and SrTiO3 surfaces

First-principles density functional theory (DFT) calculations were used to study the effects of elastic strains on the binding and diffusion activation energies of Au adatom and CeO2 admolecule on Au (001), Ce-terminated CeO2 (001), MgO (001), SrO- and TiO2-terminationed SrTiO3 (001) surfaces. In preparation for computing these energies, normal and shear strains within the range 0.15% were applied in the plane of the surface of the supercell prior to placing the adsorbed species on the surface. Our study shows that the dependence of binding energies and diffusion barriers of adatoms and molecules on the strain varies significantly among surfaces. The strain was found to alter the symmetry of surface diffusion pathways causing anisotropy of the diffusion barriers. This strain-induced anisotropy depends on the orientation of the applied strains relative to the in-plane crystallographic directions of the free surface. The binding and diffusion activation energies were fit linearly in terms of strain components in the range 0.15% and the extrapolated values compared favorably to DFT computed values up to 0.5%. The scheme presented here for the computation and fitting of the binding and diffusion energies in terms of strain can be used to inform models of surface diffusion, clustering and growth of multi-component and multi-phase thin films and investigate the effect of strain on the self-organization in such systems.

cond-mat.mtrl-sci↗

arXiv2025

Vulnerability-Aware Robust Multimodal Adversarial Training

Multimodal learning has shown significant superiority on various tasks by integrating multiple modalities. However, the interdependencies among modalities increase the susceptibility of multimodal models to adversarial attacks. Existing methods mainly focus on attacks on specific modalities or indiscriminately attack all modalities. In this paper, we find that these approaches ignore the differences between modalities in their contribution to final robustness, resulting in suboptimal robustness performance. To bridge this gap, we introduce Vulnerability-Aware Robust Multimodal Adversarial Training (VARMAT), a probe-in-training adversarial training method that improves multimodal robustness by identifying the vulnerability of each modality. To be specific, VARMAT first explicitly quantifies the vulnerability of each modality, grounded in a first-order approximation of the attack objective (Probe). Then, we propose a targeted regularization term that penalizes modalities with high vulnerability, guiding robust learning while maintaining task accuracy (Training). We demonstrate the enhanced robustness of our method across multiple multimodal datasets involving diverse modalities. Finally, we achieve {12.73%, 22.21%, 11.19%} robustness improvement on three multimodal datasets, revealing a significant blind spot in multimodal adversarial training.

cs.LG↗

arXiv2025

Ground-state properties of finite nuclei in relativistic Hartree-Bogoliubov theory with an improved quark mass density-dependent model

A relativistic Hartree-Bogoliubov (RHB) model based on quark-meson coupling is developed, with a new parametrization derived from experimental observables. Using this model, we systematically investigate the ground-state properties of even-even nuclei spanning $8\leq Z\leq118$, including binding energies, quadrupole deformations, root-mean-square (rms) charge radii, two-nucleon separation energies, two-nucleon shell gaps, and $α$-decay energies. Comparisons with available experimental data demonstrate that this subnucleon-based RHB model reliably describes the ground-state properties of finite nuclei.

nucl-th↗