Search arXiv⌕ Search

arXiv subjects

Jie Zhang

Publications and source records attributed to Jie Zhang.

At least 163 records · Page 9Linked to original sources
arXiv2026

Qwen-RobotWorld Technical Report: Unifying Embodied World Modeling through Language-Conditioned Video Generation

We introduce Qwen-RobotWorld, a language-conditioned video world model for embodied intelligence. With natural language as a unified action interface, it predicts physically grounded future visual trajectories from current observations across robotic manipulation, autonomous driving, indoor navigation, and human-to-robot transfer. This unified formulation provides three promising application directions: synthetic data generation for policy training augmentation, scalable virtual environments for policy evaluation, and language-guided planning signals for downstream robot control. This is achieved through a three-part design: a) Double-Stream MMDiT with MLLM Action Encoding, where a 60-layer double-stream diffusion transformer couples frozen Qwen2.5-VL semantics with video-VAE latents through layer-wise joint attention; b) Embodied World Knowledge (EWK), an 8.6M video-text corpus (200M+ frames) with action-language mapping over 20+ embodiments and 500+ action categories; and c) General+Expert Progressive Curriculum, a two-stage training strategy that first learns general visual priors and then injects embodied specialization under a shared language interface. Extensive results show strong competitiveness: ranks 1st overall on EWMBench and DreamGen Bench, outperforms all open-source models on WorldModelBench and PBench. Additional zero-shot analyses on RoboTwin-IF benchmark further support robust generalization and multi-view consistency.

cs.CV↗
arXiv2026

Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models

Foundation models in language and multimodality achieve strong generalization by aligning heterogeneous data under a unified formulation and training at scale. In this report, we investigate whether this scaling recipe can be applied to robotic manipulation to achieve genuine generalization. This is challenging because, unlike text, manipulation data is heterogeneous by nature, expensive to collect, and narrow in diversity, making alignment and scale simultaneously difficult. We present Qwen-RobotManip, a generalizable Vision-Language-Action foundation model built on Qwen-VL. Qwen-RobotManip introduces a unified alignment framework across the representation, motion, and behavioral dimensions of manipulation, making large-scale multi-source training coherent rather than conflicting. This alignment capability in turn enables Qwen-RobotManip to absorb manipulation data at a scale that prior training regimes could not sustain. A human-to-robot synthesis pipeline converts egocentric hand demonstrations into robot trajectories across 15 platforms, and a rigorous curation pipeline harmonizes heterogeneous datasets. Using only open-source datasets and human videos without proprietary data collection, Qwen-RobotManip constructs a ~38,100-hour pretraining corpus and exhibits emergent generalization capabilities, including zero-shot instruction following, robustness to perturbations, reactive error recovery, and cross-embodiment transfer. We find that standard benchmarks fail to capture pretraining quality and instead adopt OOD settings including RoboCasa365, LIBERO-Plus, EBench, RoboTwin-Clean2Rand, RoboTwin-IF, and RoboTwin-XE. Qwen-RobotManip substantially outperforms prior state-of-the-art models, including $π$0.5, across all OOD settings, ranks 1st in RoboChallenge with a 20% relative improvement, and is validated on real-robot platforms including AgileX ALOHA, Franka, UR, and ARX.

cs.RO↗
arXiv2026

GDGU: A Gradient Difference-based Graph Unlearning Method for Cyberattack Localization in Electric Vehicle Charging Networks

Electric vehicle charging stations (EVCSs) can expose distribution feeders to cyberattacks. While machine learning methods, including graph neural networks, can localize which bus is compromised, significant challenges remain in data sharing and model training. For example, privacy regulations grant EVCS owners the right to delete their training data from a deployed model, yet retraining from scratch on every request is computationally prohibitive. To address this, we study graph unlearning (GU) for EVCS cyberattack localization, formulated as a feature-level unlearning problem on a graph-level multi-label classification task. Specifically, we propose gradient difference-based graph unlearning (GDGU), which removes the influence of the requested deletion data through a first-order parameter correction. The correction is computed from the gradient difference between the original training data and a modified dataset in which only the charging power features at the requested EVCS buses are unlearned. Then, a batch-normalization recalibration and a brief recovery fine-tuning step are applied to restore localization utility. We benchmark GDGU against two second-order GU baselines on the IEEE 34-bus, 123-bus, and 8500-node distribution networks across three graph neural network backbones and cumulative unlearning scenarios. GDGU matches the strongest baseline on localization utility and reaches forgetting fidelity close to full-retraining, while unlearning 10 to 12 times faster than retraining from scratch and using far less memory than the second-order GU baselines.

eess.SY↗
arXiv2026

AgentCyberRange: Benchmarking Frontier AI Systems in Realistic Cyber Ranges

Frontier AI systems are increasingly capable of cybersecurity tasks, including codebase inspection, vulnerability detection, and exploitation. However, evaluating their offensive capabilities remains constrained by limited access to open, reproducible, multi-host cyber ranges. Existing public benchmarks capture isolated skills such as CTF solving, vulnerability reproduction, and exploit generation, but often abstract away realistic intrusion workflows: discovering exposed services, gaining a foothold, collecting internal information, and expanding compromise across hosts. This gap makes it difficult to observe emerging risks early, because frontier AI systems are rarely evaluated under realistic attack conditions. We introduce AgentCyberRange, the first open, multi-range infrastructure for measuring autonomous cyber attack capability in realistic cyber ranges. It combines 110 vulnerabilities across 15 real web applications and 8 enterprise-like cyber ranges with 156 internal hosts, plus Cage, a toolchain for execution, orchestration, result collection, and verification. The benchmark covers two core stages: web exploitation, where agents explore exposed applications and validate vulnerabilities, and post exploitation, where agents turn an initial foothold into broader internal compromise. We evaluate six frontier AI systems under matched prompts and budgets. GPT-5.5 with Codex performs best, solving 16.1% of web exploitation tasks and 31.7% of post-exploitation tasks; with more concrete hints, these rates increase to 33.0% and 46.3%. We also observe out-of-benchmark findings, including unknown vulnerabilities in popular projects, and payload mutation that bypasses host defenses. These results show that open cyber-range evaluation is necessary for observing emerging offensive capabilities under realistic and reproducible conditions.

cs.CR↗
arXiv2026

Ultralow shot noise limited giant passive resonant gyroscope for Earth rotation measurement

Optical gyroscopes directly measure the Earth's rotation and are promising instruments for real-time geophysical observations and Earth orientation parameter (EOP) determination requiring both high precision and high temporal resolution. Large-scale ring laser gyroscopes (RLGs) currently reach rotational resolutions around $10^{-11}\,\mathrm{(rad/s)/\sqrt{Hz}}$, but their quantum noise limits make it challenging to meet the requirements of future high-temporal-resolution EOP measurements. Passive resonant gyroscopes (PRGs), on the other hand, offer a potentially lower photon shot noise limit and more flexible power scaling, even if their demonstrated rotational resolutions are still about two orders of magnitude below those of leading RLGs. Here we demonstrate a $64\,\mathrm{m^{2}}$ giant passive resonant gyroscope HUST-2, and develop with an extremely low shot noise level. We experimentally obtain a shot noise limited of $5.7(1)\times10^{-13}\,\mathrm{(rad/s)/\sqrt{Hz}}$ at $1\,\mathrm{mW}$ incident optical power, following the characteristic $1/\sqrt{P}$ scaling. Through systematic suppression of dominant technical noise sources, HUST-2 further achieves a measured rotational resolution of $3\times10^{-11}\,\mathrm{(rad/s)/\sqrt{Hz}}$, bringing PRGs into the performance regime of leading large-scale RLGs for the first time. The gap between the present demonstrated rotational resolution and the shot noise limit indicates nearly two orders of magnitude further improvement potential. Reaching this limit would enable high-precision length-of-day (LOD) measurements with $10$-$100\,\mathrm{s}$ temporal resolution and lays the foundation for future large-scale gyroscope networks dedicated to real-time EOP determination.

physics.optics↗
arXiv2026

Learning to Inject: Automated Prompt Injection via Reinforcement Learning

Prompt injection is a critical vulnerability in LLM agents, yet the strongest methods still rely on human red-teamers and hand-crafted prompts. Adapting automated jailbreak optimizers does not close this gap: jailbreaks shape models toward generic compliance, while prompt injection requires emitting specific tool calls with correct parameters. The success signal is binary, and randomly sampled suffixes almost never trigger it, so standard optimizers have no gradient to follow. We present AutoInject, a black-box reinforcement learning (RL) framework that learns adversarial suffixes for prompt injection. A learned comparison-based reward scores each candidate against the best suffix seen so far, turning the binary signal into a dense reward suitable for RL optimization. The framework supports both online query-based attacks and offline-trained transferable suffixes that need no utility access at deployment, and incorporates a utility objective when task-completion feedback is available. On AgentDojo, AutoInject outperforms template attacks, GCG, TAP, and adaptive attack across production models, with statistically significant improvements under McNemar's test with p<0.05. Suffixes learned by AutoInject also break Meta-SecAlign-70B, a model fine-tuned specifically to resist prompt injection, where template attacks fail outright. The results establish an automated baseline for prompt injection and expose a gap between preference-based defenses and adaptive optimization-based attackers.

cs.LG↗
arXiv2026

PriME-Deal: Privacy-Preserving Bilateral Data Trading with Efficient Matchmaking and Auditable Fair Exchange on Blockchain

Bilateral attribute-based access control for data trading must hide policies, provide cryptographic fairness, and avoid trusted third parties. Existing solutions either leak policy information, incur super-linear costs, or rely on trusted dispute resolution. We present PriME-Deal, a non-interactive protocol that simultaneously achieves policy-hiding bilateral matching, efficient threshold access control, and auditable fair exchange on public blockchains. The seller embeds a secret token under the buyer policy into an oblivious key-value store with pseudorandom masking; the buyer reconstructs the token locally via tag-based probing, eliminating combinatorial enumeration, and proves correctness in zero-knowledge. Fair exchange is enforced through a collateralized on-chain reveal with a cryptographic audit that penalizes misbehaviour without trusted parties. We prove security in the Universal Composability framework under standard assumptions. Compared with the state-of-the-art threshold fuzzy IB-ME scheme, the seller's publishing time is reduced by two orders of magnitude (e.g., 8.76s vs. 690s for a policy of 500 attributes). For a typical configuration of (200,20,5), the buyer completes token reconstruction and proof generation in 8.9s, with the zero-knowledge proof taking under 0.6s and remaining constant across all parameter scales. The on-chain cost is approximately 28.6M gas, well within Ethereum's block limit. PriME-Deal thus delivers the first practical privacy-preserving data trading protocol that combines linear seller overhead, bilateral policy hiding, and auditable fairness.

cs.CR↗
arXiv2026

Contrastive Spectral Rectification: Test-Time Defense towards Zero-shot Adversarial Robustness of CLIP

Vision-language models (VLMs) such as CLIP have demonstrated remarkable zero-shot generalization, yet remain highly vulnerable to adversarial examples (AEs). While test-time defenses are promising, existing methods fail to provide sufficient robustness against strong attacks and are often hampered by high inference latency and task-specific applicability. To address these limitations, we start by investigating the intrinsic properties of AEs, which reveals that AEs exhibit severe feature inconsistency under progressive frequency attenuation. We further attribute this to the model's inherent spectral bias. Leveraging this insight, we propose an efficient test-time defense named Contrastive Spectral Rectification (CSR). CSR optimizes a rectification perturbation to realign the input with the natural manifold under a spectral-guided contrastive objective, which is applied input-adaptively. Extensive experiments across 16 classification benchmarks demonstrate that CSR outperforms the SOTA by an average of 18.1% against strong APGD with modest inference overhead. Furthermore, CSR exhibits broad applicability across diverse visual tasks. Code is available at https://github.com/Summu77/CSR.

cs.CV↗
arXiv2026

Mitigating Bias in Low-SNR Financial Reinforcement Learning via Quantum Representations

The financial market is a typical low signal-to-noise ratio (SNR) setting, which often destabilizes off-policy maximum-entropy methods like Soft Actor-Critic (SAC). Specifically, noisy state representations may produce unreliable Q-value estimates, and bootstrapping amplifies these errors, forming a failure mode we call the "Financial Entropy Trap". In this paper, we propose FPQC-SAC, an efficient and plug-and-play SAC variant that places a compact and bounded Parameterized Quantum Circuit (PQC) before the actor and critic networks to constrain feature propagation at the representation level, rather than filtering raw inputs or regularizing Q-values after bootstrapping. Notably, FPQC-SAC reduces the impact of extreme market fluctuations on Bellman target estimation, while trainable quantum entanglement preserves flexible cross-asset interactions. Empirical evaluations on real-world portfolio management tasks demonstrate that FPQC-SAC substantially enhances out-of-sample stability and cumulative returns by achieving a 66.89% relative gain in cumulative return over standard unconstrained SAC and outperforms the best continuous-control deep reinforcement learning baseline by approximately 27%. Open-source code is available at https://github.com/ZeyuLIU-UST/FPQC-SAC-main.

cs.LG↗
arXiv2026

MAVIS: Multi-Agent Video Retrieval via Structured Video Understanding

The dominant paradigm in video retrieval relies on embedding-based full-corpus scanning, which suffers from inherent computational inefficiency and the semantic asymmetry between information-dense videos and sparse textual queries. To bridge this gap, we introduce \textbf{MAVIS}, a novel multi-agent framework that rethinks retrieval as cooperative reasoning rather than brute-force search. MAVIS first bridges the granularity mismatch by parsing raw videos into a \textbf{Structured Semantic Library}, enabling explicit attribute-level indexing. During retrieval, a planner decomposes complex user intents into atomic sub-tasks, dispatching specialized agents to independently nominate candidates. Crucially, MAVIS employs a \textbf{Logic-aware Debate} mechanism with a strict veto protocol, where agents collaboratively prune logical mismatches to identify a compact set of ``controversial'' candidates for fine-grained verification. This agentic workflow effectively bypasses the inefficiency of full-library traversal. Extensive experiments on MSR-VTT, MSVD, and ActivityNet demonstrate that MAVIS achieves competitive performance without task-specific fine-tuning, offering a scalable and interpretable alternative to traditional dual-encoder approaches.

cs.CV↗
arXiv2026

Rise regimes of freely rising droplets with a moderate viscosity ratio

The dynamics of buoyant droplets rising freely in a large body of an immiscible liquid is investigated numerically for a moderate drop-to-fluid viscosity ratio $μ^\ast$. We focus on toluene droplets rising in clean water, for which $μ^\ast=0.62$, and vary the radius over $0.5\,\text{mm}\leq R\leq3.0\,\text{mm}$. Direct numerical simulations are performed in imposed axisymmetric and fully three-dimensional configurations. As $R$ increases, the system displays a rich sequence of rise regimes. Starting from steady vertical rise with an axisymmetric disturbance flow, it first undergoes an internal flow instability associated with an azimuthal mode $m=2$, leading to a biplanar-symmetric wake and reduced terminal speed. This state is followed by a steady oblique regime, in which the $m=1$ mode also becomes unstable and coexists with the $m=2$ mode. At larger radii, the path becomes nearly vertical again before the flow enters an $m=2$ rotating-wave regime, where the wake drifts azimuthally at an approximately constant angular velocity. For still larger droplets, persistent shape oscillations and vortex shedding lead to fully three-dimensional chaotic paths. Simulations initialised from finite-amplitude asymmetric states further reveal several multistable size ranges, in which distinct terminal states coexist depending on the initial condition. Taken together, these findings show that the path instability of moderate-viscosity-ratio droplets differs fundamentally from that of bubbles and solid particles: in most regimes encountered here, axisymmetry breaking is initiated within the droplet, highlighting the central role of the internal flow instability in shaping the subsequent wake structure, rise speed and droplet dynamics.

physics.flu-dyn↗
arXiv2026

CRAFT: A Unified Counterfactual Reasoning Framework for Tabular Question Answering and Fact Verification

Table reasoning remains challenging for large language models (LLMs), particularly in tasks that require multi-step inference over long and structured tables. Existing approaches predominantly rely on single-direction reasoning, which limits their ability to explore alternative hypotheses across tasks. In this work, we propose CRAFT, a unified Counterfactual Reasoning Framework that reformulates Tabular question answering and fact verification into a general bidirectional verification process. Our method explicitly constructs both declarative statements and their counterfactual variants. Evidence is then extracted from reasoning along both the original and counterfactual paths, and integrated via a weighted mechanism to arrive at the final answer. Experimental results show that our approach consistently surpasses representative baselines on table reasoning datasets such as WikiTQ and TabFact, achieving especially large improvements on complex question answering. Our framework also significantly mitigates performance gaps between different backbone LLMs. This indicates that counterfactual reasoning effectively overcomes the limitations of single-direction inference, guiding LLMs toward more discerning reasoning and establishing a more principled paradigm for structured reasoning tasks. Our code will be made publicly available upon acceptance.

cs.CL↗
arXiv2026

AdaTok: Self-Budgeting Image Tokenization with Quality-Preserving Dynamic Tokens

Image tokenizers, from 2D grids to recent 1D sequences, typically encode every image with the same fixed number of tokens. Yet visual complexity is highly heterogeneous, so a uniform budget overspends on simple inputs and underserves complex ones. Existing elastic tokenizers expose variable-length reconstructions, but often leave token length as a deployment-time operating point, a search target, or an external prediction rather than an output of the tokenizer itself. In this work, we ask whether a discrete visual tokenizer can budget itself in one pass. Our central finding is that actionable elasticity requires a representation--allocation co-design: prefixes must remain decodable across budgets, and the tokenizer must learn which prefix each image needs. We propose AdaTok, a self-budgeting discrete 1D tokenizer. AdaTok combines Prioritized Representation Learning, which orders tokens with nested tail masking and resolves budget-dependent semantic shift through Multi-Head LoRA decoder heads, with Adaptive Token Allocation, which trains a lightweight deterministic-group GRPO policy over candidate budgets. Dynamic Pareto Weighting balances fidelity and efficiency during policy training without manual trade-off sweeps. On ImageNet-1K, AdaTok-Full reaches rFID 1.31 at 256 tokens, while AdaTok-Adaptive attains rFID 1.50 using only ~118 tokens on average, outperforming discrete 1D baselines at comparable budgets. In autoregressive image generation, the shorter adaptive representation yields ~2.1x throughput over a fixed 256-token decode, suggesting that visual token count can be learned as a content-conditioned output rather than set as a fixed hyperparameter.

cs.CV↗
arXiv2026

GNStor: Design of GPU-Native High-Performance Remote All-Flash Array

GPU has become the leading computing device for a wide range of data-intensive applications, which tightly collaborates with remote all-flash array (AFA) to accommodate ever-expanding datasets, facilitate multi-client data sharing, and guarantee fault tolerance. Although GPU is the center of computation, all I/O processes in existing GPU-AFA systems are still CPU-centric. CPU orchestrates remote I/O requests and executes a centralized AFA engine to take charge of AFA-level functionalities (e.g., access control and metadata persistence). This design disparity suffers from substantial CPU-GPU interaction overhead and I/O traffic amplification, compromising end-to-end I/O performance. In this work, we present \emph{GNStor}, a GPU-native AFA system that enables GPU to directly access remote AFA without CPU intervention in the I/O path, thereby fully exploiting the performance of AFA. Specifically, GNStor first proposes a GPU-centric NVMe over RDMA (NoR) software stack (named \emph{GNoR}), paving a fast path for GPUs to directly initiate NoR I/O requests to SSDs within remote AFA. GNoR employs an atomic-operation-based I/O orchestration design and follows the single-instruction-multiple-thread (SIMT) execution model of GPU, fully exploiting the massive parallelism of GPU architectures. To facilitate essential AFA functionalities in a CPU-bypass I/O path, GNStor further designs \emph{deEngine}, a decentralized AFA engine that seamlessly decomposes and integrates AFA-level tasks into each SSD firmware, thereby achieving efficient AFA access at low cost. Evaluation results show that GNStor achieves 3.2$\times$ higher I/O throughput and reduces application execution time by 31.1\%, compared to state-of-the-art AFA systems.

cs.OS↗
arXiv2026

Position: Adversarial ML for LLMs Is Not Making Any Progress

In the past decade, considerable research effort has been devoted to securing machine learning (ML) models that operate in adversarial settings. Yet, progress has been slow even for simple "toy" problems (e.g., robustness to small adversarial perturbations) and is often hindered by non-rigorous evaluations. Today, adversarial ML research has shifted towards studying larger, general-purpose language models. In this position paper, we argue that the situation is now even worse: in the era of LLMs, the field of adversarial ML studies problems that are (1) less clearly defined, (2) harder to solve, and (3) even more challenging to evaluate. As a result, we caution that yet another decade of work on adversarial ML may be failing to produce meaningful progress.

cs.LG↗
arXiv2026

Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments

Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments. In this work, we study whether heterogeneous embodied decision-making problems can be unified within a single vision-language-action model. We present Qwen-VLA, a unified embodied foundation model that extends Qwen's vision-language modeling stack from perception, understanding, and reasoning to continuous action and trajectory generation through a DiT-based action decoder. Qwen-VLA is trained with a large-scale joint pretraining recipe over diverse data sources, including robotics manipulation trajectories, human egocentric demonstrations, synthetic simulation data, vision-and-language navigation data, trajectory-centric supervision, and auxiliary vision-language data. To support multiple robot platforms, we introduce embodiment-aware prompt conditioning, where robot-specific textual descriptions specify the current embodiment and control convention. We further cast manipulation, navigation, and trajectory prediction into a unified action-and-trajectory prediction framework, enabling transferable visual grounding, spatial reasoning, and continuous action generation across robot morphologies, task families, and environments. Experiments on manipulation, navigation, and trajectory-centric benchmarks show consistent multi-task performance and out-of-distribution generalization under variations in scene layout, background, lighting, object configuration, and robot embodiment. Qwen-VLA-Instruct achieves 97.9% on LIBERO, 73.7% on Simpler-WidowX, 86.1%/87.2% on RoboTwin-Easy/Hard, 69.0% OSR on R2R, 59.6% SR on RxR, 76.9% average OOD success in real-world ALOHA experiments, and 26.6% zero-shot success on DOMINO dynamic manipulation.

cs.RO↗
arXiv2026

Probing kinetic enhancement of fusion reactivity in turbulent hot spots

Traditionally, fusion reactivity in thermonuclear plasmas has been calculated by assuming a local Maxwellian ion distribution. However, recent theoretical work [Phys. Rev. Lett. 135, 155101 (2025)] suggests that turbulence in plasmas can generate non-Maxwellian tail distributions, thereby enhancing reactivity. In this paper, we investigate this effect through numerical simulations of a sinusoidal shear flow. By comparing steady-state distributions obtained with the Bhatnagar-Gross-Krook (BGK) and Fokker-Planck (FP) collision operators, respectively, we demonstrate that the BGK model overestimates the reactivity enhancement while the FP operator gives a much more modest enhancement that is nearly halved under typical ICF parameters. Particle-in-cell (PIC) simulations incorporating nuclear reactions are also conducted, which reveal that the combined effects of preferential ion heating during shear flow dissipation and tail enhancement can even amplify the reactivity enhancement to be larger than the steady-state prediction.

physics.plasm-ph↗
arXiv2026

Thinking Economically: A Hierarchical Framework for Adaptive-Complexity Reasoning in LLMs

Chain-of-Thought (CoT) has significantly enhanced LLM reasoning, yet often incurs substantial computational overhead due to "overthinking": generating excessively long rationales without commensurate accuracy gains. Existing efficiency methods typically apply uniform compression, which overlooks a critical observation that reasoning complexity is heterogeneous at two distinct granularity: across different problems and within individual reasoning steps. This motivates our principle of Thinking Economically: intelligently allocating computational resources based on intrinsic task and step demands rather than pursuing uniform brevity. We propose Hierarchical Adaptive Budgeter (HAB), a training framework that operationalizes this principle through coarse-to-fine budgeting. At the inter-step level, HAB predicts the optimal reasoning depth for each problem. At the intra-step level, HAB learns step-specific token budgeting signals from PPL-derived step comparisons and an adaptive Pareto optimization objective that captures the local quality-efficiency trade-off, while a Fisher Information-based pruner further provides fine-grained training-time guidance, thereby encouraging the generator to internalize more economical reasoning patterns. Experiments on GSM8K and MATH500 show that HAB not only surpasses standard CoT in accuracy but also reduces token usage, achieving a stronger performance-efficiency trade-off than the compared baselines.

cs.CL↗