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Meng Li

Publications and source records attributed to Meng Li.

At least 19 recordsLinked to original sources
arXiv2026

MAServeBench: Benchmarking Multi-Agent LLM Serving Systems with Hierarchical Collaboration Workloads

Large language model (LLM)-based multi-agent systems (MAS) coordinate specialized agents to solve complex tasks, turning each user request into interdependent model and tool operations. Unlike independent requests, these operations become ready at different times and consume evolving context as agents coordinate and exchange results. This creates changing patterns of concurrency, computation, and memory demand that can expose different bottlenecks in LLM serving hardware. Yet benchmarking these effects requires capturing the collaboration rules that generate serving workloads, beyond the requests observed during execution. We present MAServeBench, a benchmark that treats multi-agent collaboration as a configurable dimension of serving workloads for LLM serving and hardware evaluation. Its composable stages capture how agents coordinate and exchange context in documented MAS workflows, enabling native executions to generate different workloads even when task inputs and tools remain unchanged. Hierarchical Semantic Traces preserve realized operations and dependencies for reproducible comparisons of legal release constraints at fixed work. Task-linked measurements connect these workloads to serving execution and GPU/NPU hardware behavior, revealing why serving efficiency does not always translate into timely task completion. The benchmark code is available at https://github.com/ShengxuanQiu/MAServeBench.

cs.MA↗
arXiv2026

RoboGene: Diversity-Driven Agentic Task Generation Framework for VLA Pre-training

The pursuit of general-purpose robotic manipulation is hindered by the scarcity of diverse, real-world interaction data. Unlike large-scale web vision-language data, robotic data collection incurs prohibitive physical costs. The key challenge is thus not merely to collect more robot data, but to obtain informative training data that broadens behavioral coverage across objects, scenes, and skills. Yet automatically curating task proposals to maximize the utility of collected data remains under-explored. We introduce RoboGene, an agentic framework for generating diverse, informative manipulation tasks across single-arm, dual-arm, and mobile robots. RoboGene combines (1) diversity-driven sampling for broad task coverage, (2) agentic self-reflection for task-quality assessment, and (3) human-verified feedback memory for execution-grounded validation and continual refinement. Through quantitative analysis and large-scale real-world experiments, we collect 18k trajectories and introduce metrics for task feasibility and diversity. RoboGene significantly outperforms frontier foundation models, including GPT-4o and Gemini 2.5 Pro. VLA models trained on RoboGene-generated data achieve higher success rates and stronger generalization, highlighting the value of high-quality task generation. Project page: https://robogene-boost-vla.github.io/. Datasets: Hugging Face (https://huggingface.co/datasets/X-Humanoid/RoboGene) and ModelScope (https://modelscope.cn/datasets/X-Humanoid/RoboGene_tasks).

cs.RO↗
arXiv2026

EagleVLA: Towards Onboard Real-Time Robot Control via Foresight-Aligned Asynchronous Inference

Vision-Language-Action (VLA) models have achieved impressive performance on diverse embodied tasks. However, deploying VLA models on low-power onboard devices, such as the Jetson Orin, remains challenging due to their high computational complexity, which leads to substantial inference latency and low control frequency. Asynchronous inference can partially mask this latency by parallelizing action execution and subsequent inference, but it introduces two critical issues: perception-execution misalignment and long reaction time. In this paper, we propose EagleVLA, a method for efficient VLA deployment on onboard devices via Foresight-Aligned Asynchronous Correction. To address misalignment, we train a lightweight future correction module that predicts future environment representations, allowing the action expert to predict actions from the future time step. To reduce reaction time, we introduce confidence-based scheduling optimization that adaptively balances VLM and action expert invocations. We also build a llama.cpp-based inference engine tailored for onboard VLA deployment, with system-level optimizations including CUDA graph reuse, GPU-resident intermediate buffering, and flow unrolling. Extensive experiments demonstrate that EagleVLA achieves 14.71x and 9.20x improvements in control frequency compared with naive PyTorch and vla.cpp on Jetson Orin, while outperforming VLASH by 14.8% in success rate on LIBERO benchmark. The code of our asynchronous algorithm is available on https://github.com/PKU-SEC-Lab/EagleVLA, and our efficient llama.cpp-based inference engine is available on https://github.com/PKU-SEC-Lab/EagleVLA-Edge.

cs.RO↗
arXiv2026

DynaSlots: Slot-Centric 3D Dynamics Pretraining for Robot Manipulation

Robot manipulation involves localized changes: picking up a cup moves the cup while leaving the surrounding scene largely unchanged. Yet existing 3D visual pretraining methods, including recent dynamics-aware variants, model state transitions at the scene level, compressing the motion of everything in a scene into a single global latent action. This conflates semantically distinct transitions in scenes with multiple moving parts, obscures dependencies between changing regions, and leaves the learned representation vulnerable to task-irrelevant scene content. We introduce DynaSlots, an action-free, label-free pretraining framework that decomposes each point cloud frame into a small set of temporally consistent slots and models dynamics at this per-slot level rather than the scene level. A temporal slot propagation module promotes consistent slot assignments across frames; an inverse dynamics model then extracts one latent action per slot from feature differences, and a diffusion-based forward dynamics model, paired with a self-supervised interaction head, predicts each slot's future state while learning pairwise proximity-and-motion relations. Experiments on Meta-World, Adroit, and a RealMan RM65-B robot demonstrate that DynaSlots outperforms prior scene-level baselines. It achieves superior success rates in simulation and exhibits strong robustness to scene clutter and unseen objects in real-world manipulation. Code is available at \href{https://zhucezhanghao12345-source.github.io/DynaSlots-Anonymous/}{https://zhucezhanghao12345-source.github.io/DynaSlots-Anonymous/}.

cs.RO↗
arXiv2026

HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation

Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid control challenging and often unstable. We present HEX, a state-centric framework for coordinated manipulation on full-sized bipedal humanoid robots. HEX introduces a humanoid-aligned universal state representation for scalable learning across heterogeneous embodiments, and incorporates a Mixture-of-Experts Unified Proprioceptive Predictor to model whole-body coordination and temporal motion dynamics from large-scale multi-embodiment trajectory data. To efficiently capture temporal visual context, HEX uses lightweight history tokens to summarize past observations, avoiding repeated encoding of historical images during inference. It further employs a residual-gated fusion mechanism with a flow-matching action head to adaptively integrate visual-language cues with proprioceptive dynamics for action generation. Experiments on real-world humanoid manipulation tasks show that HEX achieves state-of-the-art performance in task success rate and generalization, particularly in fast-reaction and long-horizon scenarios.

cs.RO↗
arXiv2026

Ozone: A Unified Platform for Transportation Research

Transportation research increasingly depends on heterogeneous data from roadside cameras, UAV imagery, LiDAR, and in-vehicle sensors. Differences in data representations, model interfaces, and evaluation protocols complicate cross-dataset benchmarking and reproducibility. We present Ozone, a unified transportation research platform organized around Hardware, Data, Model, and Evaluation layers, with a Prototype layer supporting deployment-oriented applications. Its data layer links vehicle trajectories, traffic conflicts, reconstructed crashes, and digital-twin maps through a shared trajectory schema. The source inventory spans 19 trajectory datasets recorded at 59 sites in eight countries, with completed converters for 12 sources and adaptation ongoing for seven. The converters align coordinate systems, object classes, oriented bounding boxes, and kinematic fields. A shared implementation of surrogate safety measures supports conflict extraction, while map and motion constraints link crash reports to reconstructed trajectories. CARLA digital-twin maps and SUMO traffic logic connect these records to simulation, model development, and evaluation. Validation on 500 vehicles from four datasets reports mean position, heading, and speed errors below 0.15 m, 2.5°, and 0.3 m/s. A workflow study reports an 85 % reduction in experiment setup time. Case studies demonstrate human-factor experiments and automated-driving safety testing, while the model interfaces support traffic modeling and world-model research. The source code and datasets are publicly available.

cs.DB↗
arXiv2026

Ultrafast Proton-Induced Collective Dynamics Regulated by Water-Mediated Hydrogen-Bond Networks in Liquids

Photoinduced proton dynamics in liquids couple molecular reactions to nonequilibrium charge transport, yet the role of alkyl C-H sites as proton sources remains poorly understood. Combining optical-pump terahertz-probe spectroscopy with real-time time-dependent density-functional-theory simulations, we investigate ultrafast proton dynamics following strong-field ionization of liquid ethanol and hydroxyl-free ethyl acetate. Isotope-substitution and control experiments support the identification of alkyl C-H groups as the proton source. The released protons induce quasi-free-electron localization on a timescale of hundreds of femtoseconds, manifested as a characteristic V-shaped transient in terahertz absorption. In ethanol-water mixtures, trace water enhances hydrogen-bond-network connectivity and facilitates proton transfer to ethanol O-H sites, suppressing the transient absorption dip. These findings identify photoactivated C-H sites as proton sources in liquids and reveal how hydrogen-bond networks regulate the ensuing proton and electron dynamics, linking local bond cleavage to the ultrafast charge response of the surrounding liquid.

physics.atm-clus↗
arXiv2026

HAF-VLA: Hierarchical Action Flow Framework for Humanoid Vision-Language-Action Control

Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet adapting generalist vision-language-action (VLA) policies to real-world humanoid loco-manipulation remains challenging. Unlike fixed-base or wheeled manipulators, humanoids must coordinate locomotion, posture, gaze, and dual-arm manipulation over a high-dimensional whole-body action space, where inaccurate base or waist motions can easily induce unstable and aggressive upper-body compensation. We propose HAF-VLA, a hierarchical action-flow framework for humanoid VLA control. Built upon a pretrained flow-matching VLA, HAF-VLA inherits the vision-language prefix encoder and action expert weights, and adapts them to humanoid whole-body loco-manipulation with learnable stage embeddings and cross-stage KV-cache conditioning. Instead of generating the full action chunk in a single pass, HAF-VLA progressively denoises a shared whole-body action space: first locomotion and head commands, then waist refinement, and finally full-body manipulation. To preserve structural dependencies across stages, we introduce a cross-stage KV cache conditioning mechanism, enabling subsequent action generation stages to refine and augment their outputs based on the action representations from preceding stages. Experimental results across six real-world tasks demonstrate that our framework significantly enhances the performance of existing models in humanoid loco-manipulation tasks, demonstrating an effective pathway for adapting strong mobile-manipulation VLAs to humanoid whole-body loco-manipulation.

cs.RO↗
arXiv2026

AllPath: Layered Verification for a Deployed, Self-Revising LLM Trading Agent under Human-Gated and Autonomous Regimes

LLM trading agents are evaluated almost exclusively in backtests and autonomous benchmark harnesses. Deployment, where actions are irreversible, raises a different question: who verifies the agent's actions, and which failures can each verifier structurally catch? We report on AllPath, a personal LLM trading agent deployed against a live paper-brokerage account. The system watches positions through a deterministic rules engine, and each night it reviews its own day and proposes revisions to its own trading strategies. Verification is split across three layers. Code verifies what must not depend on judgment: deterministic gates enforce risk limits and block any strategy revision that fails an integrity check. The agent verifies itself within fixed bounds: its nightly review has an iteration cap and no tools that can act. A human verifies judgment, through approval screens that show the current state of each proposal. We also compared two verification policies for the agent's self-revisions on the live system: two and a half weeks with every self-revision human-gated, then five weeks with reflection revisions auto-applied behind the same code gates, while the operator's chat channel stayed human-gated throughout. Each layer caught a different kind of failure. The code gates rejected no proposal; their role was keeping revisions consistent. The human rejected two proposals that passed every code check, both over a disagreement about the market, and later removed 11 of the 19 rules the agent had added on its own, at a median lag of eight days. The most instructive production incidents, such as strategies silently left unmonitored, passed every gate; the operator found them by hand, and the fix each time was an interface change that makes the condition visible. We contribute the layered architecture, the two-regime account, and a production incident taxonomy, none observable in a backtest.

cs.AI↗
arXiv2026

Adapting the Interface, Not the Model: Runtime Harness Adaptation for Deterministic LLM Agents

LLM agents are shaped not only by their language models, but also by the runtime harness that mediates observation, tool use, action execution, feedback interpretation, and trajectory control. While existing agent adaptation methods mainly update model parameters, many failures in deterministic, rule-governed domains stem from mismatches at the model--environment interface. We propose Life-Harness, a lifecycle-aware runtime harness that improves frozen LLM agents without changing model weights or evaluation environments. Life-Harness evolves from training trajectories by converting recurring interaction failures into reusable interventions across environment contracts, procedural skills, action realization, and trajectory regulation, and remains fixed for evaluation on unseen tasks. We evaluate Life-Harness across eight environments from AgentBench, $τ$-bench, $τ^2$-bench, and AppWorld using 18 open-weight backbones, and further test three frontier models on seven environments. With Qwen3-4B-Instruct, Life-Harness exceeds Meta-Harness and AHE by 28.7 and 7.5 percentage points in mean accuracy across the seven shared environments, respectively, while using 8.5\% and 68.4\% fewer optimization tokens. The evolved harnesses also benefit GPT 5.5, Opus 4.8, and Gemini 3.1 Pro, yielding an average accuracy gain of 3.5 percentage points. Code is available at https://github.com/Tianshi-Xu/Life-Harness.

cs.AI↗
arXiv2026

Directional and Quasi-Omnidirectional Indoor Channel Measurements at Upper 6 GHz

This paper presents wideband indoor channel measurements and measurement-based statistical modeling of channel parameters in the upper 6 GHz (U6G) band using directional and quasi-omnidirectional antenna pairs. Measurements span 6.425-7.125 GHz at 32 matched positions per configuration in an open hall and an L-shaped corridor. System calibration and frequency-dependent peak-gain normalization retain antenna radiation-pattern weighting. Close-in and floating-intercept models are fitted to line-of-sight (LOS) and non-LOS (NLOS) path loss, respectively. Shadow-fading residuals, RMS delay spread (DS), and equivalent K factors derived from power delay profiles are characterized. LOS exponents range from 1.98 to 2.14. Despite similar attenuation slopes, directional links exhibit smaller LOS residuals and DS and higher equivalent K factors. Hall DS medians are 1.78 and 36.52 ns for directional and quasi-omnidirectional links. Corridor NLOS slopes are -1.12 and 2.54, respectively, while DS ordering varies by position. These results characterize antenna-dependent parameters for U6G indoor channels.

cs.ET↗
arXiv2026

UniForge3D: Joint 3D Reconstruction and Generation in a Shared Anchor-Guided Space

Generating complete 3D assets from sparse, unposed images requires preserving observed geometry while completing unseen regions. Joint reconstruction and generation offers a way to address both goals: reconstruction recovers the geometry observed in the input images, while generation contributes learned shape priors. However, combining camera-relative reconstruction with canonical-space generation introduces a coordinate mismatch that makes direct geometric interaction more difficult. Moreover, conditioning each 3D location on all views without accounting for their relevance may mix useful geometric evidence with unrelated image content, hindering local detail recovery. We present UniForge3D, which jointly models reconstruction and generation in a shared anchor-guided space, resolving their coordinate mismatch. This space follows the anchor view's azimuth while keeping the object upright. The two branches exchange features bidirectionally to predict per-view point maps and a complete sparse voxel structure. We further condition point-map prediction on the generated structure to establish pixel-to-voxel correspondences and select the most informative input view for each voxel. Features from the selected views then guide detailed shape generation, helping preserve observed geometric details. Our method achieves state-of-the-art appearance and geometry results on Toys4K and GSO, generating complete 3D assets with improved fidelity. Project webpage: https://xishuxishu.github.io/uniforge3d-project/

cs.CV↗
arXiv2026

A Step in the Right Place: Understanding and Optimizing Timestep Placement in Continuous Diffusion Language Models

Continuous diffusion language models represent an emerging paradigm for language modeling. They generate text in parallel by iteratively refining continuous representations and mapping them back to tokens through a decoder. However, realizing the efficiency advantage of parallel generation requires maintaining generation quality with only a few denoising steps. Even when the number of steps is fixed, their placement along the denoising trajectory remains flexible. In this paper, we demonstrate that changing timestep placement alone can substantially alter the final latent representations and thereby affect the decoded token distributions. Building on these findings, we introduce StepTune, an algorithm that searches for timestep placements that improve generation quality. The search is conducted on a small calibration set and guided by a language-aware objective, with the model and sampling budget fixed. Once calibrated, the timestep placement is fixed and reused across inputs. Experiments demonstrate consistent improvements in unconditional generation perplexity and conditional task metrics across all evaluated sampling budgets. In particular, StepTune enables 16-step sampling with a frozen model to outperform its native 64-step baseline on both XSum summarization and WMT14 translation and reduces end-to-end latency by approximately $3.8\times$. These results establish timestep placement as a practical means of improving the quality-efficiency trade-off in continuous diffusion language models.

cs.CL↗
arXiv2026

MAPF-World: Action World Model for Multi-Agent Path Finding

Multi-agent path finding (MAPF) studies the problem of planning conflict-free paths for multiple agents from given start locations to designated goals, with applications in robot-assisted logistics and social navigation. Recent decentralized learned solvers have shown promise for large-scale MAPF, particularly when leveraging foundation models and large datasets. However, most existing methods rely on reactive policies, often resulting in congestion, deadlocks, and degraded generalization in high agent-density environments. To address these limitations, we propose MAPF-World, an autoregressive action world model for MAPF that unifies short-horizon local future prediction and action generation, enabling decision-making beyond immediate local observations. MAPF-World models short-horizon local dynamics by predicting the next local observation and neighboring agents' action intentions, capturing both spatial structures and temporal interaction patterns. We further introduce a spatio-agent positional encoding that integrates spatial awareness with agent-level semantics in Transformer-based architectures, facilitating more coordinated multi-agent behaviors. In addition, we augment existing MAPF benchmarks by introducing an automated map generator grounded in real-world urban layouts, aiming to narrow the gap between synthetic simulation and practical deployment scenarios. Extensive experiments across diverse map types and interaction settings demonstrate that MAPF-World achieves strong performance compared with existing learned solvers. Notably, it exhibits robust zero-shot generalization and maintains a high success rate even as agent density increases.

cs.AI↗
arXiv2026

RoboAug: One Annotation to Hundreds of Scenes via Region-Contrastive Data Augmentation for Robotic Manipulation

Enhancing the generalization of robotic learning in diverse unseen environments remains a fundamental challenge. Existing approaches often rely on large-scale pretraining, which is labor-intensive and time-consuming, or semantic data augmentation methods that assume flawless upstream object detection in real-world scenarios. In this work, we propose RoboAug, a novel generative data augmentation framework that reduces reliance on large-scale pretraining and perfect visual recognition by requiring only a single image with bounding box annotations for dataset construction. Leveraging this minimal supervision, RoboAug employs pretrained generative models for precise semantic augmentation and introduces a plug-and-play region-contrastive loss to guide attention toward task-relevant regions, thereby enhancing generalization and task success rates. Extensive real-world experiments on UR-5e, AgileX, and Tian Gong 2.0 demonstrate that RoboAug consistently outperforms state-of-the-art augmentation baselines under background, distractor, and lighting shifts. Our project is available at https://x-roboaug.github.io/.

cs.RO↗
arXiv2026

Accurately computing quasiperiodic parabolic equations within finite-size domains via modeling quasiperiodic boundary conditions

Quasiperiodic parabolic equations (QPEs) describe various physical processes in systems with long-range order without decay, such as heat conduction, diffusion, and transport, and are naturally posed on the whole space. However, practical computations could be performed on finite domains, where preserving the global quasiperiodic structure through appropriate boundary conditions remains a key challenge. Traditional periodic boundary conditions (PBCs) cannot capture quasiperiodic information beyond the computational domain and suffer from Diophantine errors caused by rational approximations of irrational numbers. To address this issue, we propose a class of quasiperiodic boundary conditions (QBCs) based on a homomorphism between the physical domain and a high-dimensional torus, enabling the long-range quasiperiodic structure to be captured at the boundaries. We further establish rigorous convergence results for numerical discretizations of finite-size QPEs with QBCs. Numerical experiments demonstrate that QBCs avoid the influence of Diophantine errors and enable accurate and efficient computations for both high- and low-regularity cases, with improved convergence over PBCs.

math.NA↗
arXiv2026

Projection of purification performance for the RELICS experiment

The RELICS (REactor neutrino LIquid xenon Coherent elastic Scattering) experiment employs a dual-phase liquid xenon time projection chamber to search for Coherent Elastic Neutrino-Nucleus Scattering (CE$ν$NS) induced by reactor neutrinos. To detect these sub-keV nuclear recoils and minimize signal attenuation, it is critical to maintain a sufficiently low impurity concentration in the detector. This work presents a comprehensive purity evolution model developed to describe impurity migration inside the detector. Utilizing measured material outgassing rates as input parameters, the model incorporates non-uniform transport mechanisms of the impurities, including circulation, vaporization, and condensation. The model is validated using data from a dedicated prototype detector. Based on this validated model, projections for the purification performance of the upcoming RELICS-10 and RELICS-50 detectors are provided.

physics.ins-det↗
arXiv2026

A High-Accuracy Numerical Homogenization Method for Quasiperiodic Hamilton--Jacobi Equations

In this work, we develop an accurate numerical homogenization method for computing effective Hamiltonians of quasiperiodic Hamilton--Jacobi equations (QHJEs) with convex Hamiltonians of the form $H(x,p) = |p|^k/{k}-f(x), ~k>1$, where $f$ is quasiperiodic. Computing effective Hamiltonians in the quasiperiodic setting requires solving QHJEs posed on the whole space. Their solutions generally possess neither translational symmetry nor decay and may exhibit low regularity. These features pose substantial challenges for numerical computation. To address these difficulties, we introduce a quasiperiodic boundary condition, which allows the original whole-space problem to be treated on a bounded domain while preserving quasiperiodicity at the boundary. We then propose an SL--FPR scheme that combines a semi-Lagrangian (SL) approximation with the finite points recovery (FPR) method and establish stability and error estimates for the resulting scheme. We also extend the quasiperiodic homogenization result from the quadratic case to general $k>1$ and apply the proposed method to accurately approximate the corresponding effective Hamiltonians. Numerical experiments illustrate the convergence and applicability of the method and validate the extended homogenization results.

math.NA↗