arXiv subjects

Ruifeng Li

Publications and source records attributed to Ruifeng Li.

At least 19 recordsLinked to original sources

arXiv2026

Rome Wasn't Built in One Turn: Replay-Grounded Reward Signals for Long-Horizon Freeciv Agents

Training language-model agents to play long-horizon strategy games is hard because deterministic feedback is sparse and often arrives only at the end of a game. In-game scores can offer dense signals, but they do not reliably predict future outcomes: in 8-68% of position pairs across eight strategy games, the higher-scoring position leads to the worse outcome. We term this phenomenon scoreboard traps. In Freeciv, an open-source turn-based empire-building game where several players manage units, cities, and diplomacy over hundreds of turns, we look into better reward signals for gameplay agents. To facilitate this, we build CivHarness, an open system that saves current game states, branches on different decisions, and replays the game to future turns to provide measurable long-horizon feedback from saved positions. We use CivHarness to train CivTelescope, an LLM Judge that predicts which one of two game positions will yield the better outcome. On scoreboard-trap pairs, CivTelescope is 1.3-2.0 times more accurate than off-the-shelf language models, and it generalizes to new game starts, later turns, and unseen rules. We then train a Freeciv gameplay agent with CivTelescope as a dense reward, and call this recipe CivMarshmallow. When used in the middle stage of the game where scoreboard traps are common, CivMarshmallow reaches an average training phase gain of 8.94 points, 77% more than the best baseline, the end-of-game reward. Over the full 120-turn game, CivMarshmallow uses a hybrid reward that starts from the scoreboard or the end-of-game reward and shifts to CivTelescope as the game advances; this hybrid reward scores highest among the rewards we compare.

cs.AI↗

arXiv2026

OccamView: Object-Conditioned View Selection for Frame-Budgeted Active 3D Gaussian Reconstruction

Active 3D Gaussian reconstruction fundamentally relies on selecting informative next-best views under limited sensing budgets. Existing active 3DGS methods primarily plan viewpoints according to geometric information gain, treating object-induced hidden regions in the same manner as general unexplored space. Under tight frame budgets, such geometry-driven strategies may prioritize global scene coverage while leaving partially observed objects incompletely reconstructed. To address this limitation, we propose OccamView, an object-conditioned view-selection framework for frame-budgeted active 3D Gaussian reconstruction. Rather than predicting unseen object geometry or performing shape completion, OccamView maintains an online object memory from open-vocabulary detections grounded in measured RGB-D observations and represents unresolved local occupancy around detected objects as conservative hidden-region proxies. Candidate viewpoints are then evaluated using an occlusion-aware proxy-coverage score. Furthermore, we introduce a Geo-Floor mechanism that restricts object-conditioned re-ranking to geometrically competitive candidates, allowing object-conditioned cues to guide complementary observations while preserving the geometry-driven exploration behavior of the underlying planner. Experiments on Replica and Matterport3D under a unified frame-budgeted protocol show that OccamView consistently reduces Completion and improves Completion Ratio across five frame budgets, with particularly pronounced gains under limited frame budgets. These results demonstrate that lightweight object-conditioned cues effectively complement geometry-driven active view planning.

cs.RO↗

arXiv2026

AGM: Achievement-Grounded Memory for Closed-Loop Agents with Frozen VLA Policies

Frozen vision-language-action (VLA) policies offer broad manipulation skills but execute open-loop action chunks without tracking task progress, so the agent cannot reliably decide whether to continue, retry, or terminate. External memory is a natural remedy, yet we find it can be harmful when attempted actions are recorded as completed progress: transient execution failures become persistent task-state errors, and such a memory can underperform no progress memory at all. We propose Achievement-Grounded Memory (AGM), a lightweight closed-loop framework for frozen VLA policies. AGM represents a task as a static subgoal sequence with a dynamic progress pointer and advances the pointer on physically verified achievement rather than on attempts. Proprioceptive gripper-load cues decide when to verify; coherent point tracking verifies grasps, and language-conditioned cross-view comparison, read by a single trained 2.43M-parameter verification head, verifies placements. The policy, tracker, and encoder remain frozen, the head is the only trained component, and deployment needs no auxiliary vision-language model. On the RoboMME Counting benchmark, AGM reaches 100.0% on PickXTimes and 84.0% on BinFill, surpassing the strongest memory-augmented baseline by 7.7 points on the four-task average, and the gains carry over to a physical robot, where AGM reaches 100.0% and 82.0%. These results suggest that reliable embodied memory depends more on disciplined state updates than on memory capacity.

cs.RO↗

arXiv2026

Does Learning to Predict the World Help Agents Act? Auditing World-Model Post-Training

Predicting how an environment will change before acting is a natural route to better decision making for agents. Recent post-training methods therefore require agents to predict the next observation and turn that prediction into a reward or a direct supervision signal, which is called world model. Existing next-observation training methods help the agent to learn the environmental content. However, they additionally involve an optimization process, which may introduce several effects other than learning to predict the world. Consequently, where the performance gain comes from during the training process remains an open question. We answer this research question through replacing true next-observation targets with in-distribution mismatched observations during the training process. Across two interactive text environments, mismatched targets lower prediction accuracy by 15.3-61.6% relative to ground-truth targets, yet retain substantial task gains over the base model. Compared with the base model, trained models consider more candidate actions and exhibit less looping. We also introduce a setting that replaces prediction-based rewards with independent random signals. This training expands task coverage (pass@64) even when the reward carries no environment information. We also generalize this finding to VisualWebArena, where random-reward training raises pass@64 by 14.3% relative to the base model, without observation-matching rewards or an external multimodal teacher for reward construction.

cs.CL↗

arXiv2026

MatchFusion: Explicit-Implicit Instance Matching for Spatio-Temporal Multimodal Autonomous Driving

Sparse instance representations provide a compact interface for spatial LiDAR-camera and temporal past-current interaction in multimodal perception and E2EAD. Effective interaction requires reliable instance correspondences despite geometric discrepancies and heterogeneous semantic representations. Attention-based methods exploit contextual semantics but often require specialized representation alignment, increasing computational overhead. In contrast, association based on structured object states is efficient and interpretable but lacks contextual evidence to resolve ambiguous matches. To combine these complementary strengths, we propose MatchFusion, a learnable instance matching and fusion module for spatio-temporal multimodal autonomous driving. MatchFusion initializes pairwise affinities using geometric similarity and category consistency, then selectively refines structurally plausible associations using instance embeddings. The resulting soft matchmap guides a common residual aggregation operator for adaptive information exchange. This unified matching-fusion formulation supports spatial LiDAR-camera and temporal past-current interaction, using multi-view image-plane geometry and motion-compensated BEV geometry as the respective structural priors. Experiments on nuScenes demonstrate consistent perception gains across diverse front-end configurations. Compared with a prior instance-centric fusion method, the MatchFusion-equipped system achieves higher perception accuracy while reducing FLOPs by 55.3% and GPU memory usage by 39.3%, with the matching-fusion module accounting for only 3.7% of total perception latency. Integrating temporal MatchFusion into SparseDrive further improves perception within an E2E framework without additional supervision. These results establish explicit-implicit matching as an effective and efficient mechanism for spatio-temporal instance interaction.

cs.CV↗

arXiv2026

Finite-Modal Realization and Operator-Norm Convergence of a Source-to-Observation Electromagnetic Scattering Green Operator

Source-to-observation operators provide reusable environment-level descriptions for multi-query electromagnetic (EM) prediction and communication-mode analysis. However, in practical multiple-scattering models, these operators are represented with finitely many angular modes, and agreement for selected excitations or between successive truncation orders does not establish uniform accuracy of the full map or reliability of its singular channels. To close this gap, we formulate the environment-induced response as a scattering Green operator on fixed continuous source and observation spaces and derive an exact trace-space factorization that reconstructs the Maxwell scattered field. For fixed, pairwise-disjoint enclosing trace spheres and a well-posed collective problem, nested vector spherical wave function (VSWF) realizations converge in operator norm. A structural bound separates external modal tails from collective-resolvent sensitivity, and operator-norm convergence guarantees uniform convergence of the singular values. We further construct a finite metric core that preserves the nonzero singular values of each finite-order operator and reconstructs matched orthonormal source--field channels without introducing external-support discretization degrees of freedom (DoF) into the spectral problem. Full-wave benchmarks verify the finite-order implementation. A controlled near-resonant two-sphere study shows that adjacent-order agreement can precede resolution of the dominant high-order collective direction. It further shows that only part of the internal amplification appears in externally accessible gains and that resonance promotes a distinct high-order channel pair above an otherwise preserved low-order family. The resulting framework provides a convergent, metric-consistent finite-modal representation of multiple-scattering source-to-observation operators and their accessible channels.

cs.IT↗

arXiv2026

LiDAR Prompted Spatio-Temporal Multi-View Stereo for Autonomous Driving

Accurate metric depth is critical for autonomous driving perception and simulation, yet current approaches struggle to achieve high metric accuracy, multi-view and temporal consistency, and cross-domain generalization. To address these challenges, we present DriveMVS, a novel multi-view stereo framework that reconciles these competing objectives through two key insights: (1) Sparse but metrically accurate LiDAR observations can serve as geometric prompts to anchor depth estimation in absolute scale, and (2) deep fusion of diverse cues is essential for resolving ambiguities and enhancing robustness, while a spatio-temporal decoder ensures consistency across frames. Built upon these principles, DriveMVS embeds the LiDAR prompt in two ways: as a hard geometric prior that anchors the cost volume, and as soft feature-wise guidance fused by a triple-cue combiner. Regarding temporal consistency, DriveMVS employs a spatio-temporal decoder that jointly leverages geometric cues from the MVS cost volume and temporal context from neighboring frames. Experiments show that DriveMVS achieves state-of-the-art performance on multiple benchmarks, excelling in metric accuracy, temporal stability, and zero-shot cross-domain transfer, demonstrating its practical value for scalable, reliable autonomous driving systems.

cs.CV↗

arXiv2025

RealMirror: A Comprehensive, Open-Source Vision-Language-Action Platform for Embodied AI

The emerging field of Vision-Language-Action (VLA) for humanoid robots faces several fundamental challenges, including the high cost of data acquisition, the lack of a standardized benchmark, and the significant gap between simulation and the real world. To overcome these obstacles, we propose RealMirror, a comprehensive, open-source embodied AI VLA platform. RealMirror builds an efficient, low-cost data collection, model training, and inference system that enables end-to-end VLA research without requiring a real robot. To facilitate model evolution and fair comparison, we also introduce a dedicated VLA benchmark for humanoid robots, featuring multiple scenarios, extensive trajectories, and various VLA models. Furthermore, by integrating generative models and 3D Gaussian Splatting to reconstruct realistic environments and robot models, we successfully demonstrate zero-shot Sim2Real transfer, where models trained exclusively on simulation data can perform tasks on a real robot seamlessly, without any fine-tuning. In conclusion, with the unification of these critical components, RealMirror provides a robust framework that significantly accelerates the development of VLA models for humanoid robots. Project page: https://terminators2025.github.io/RealMirror.github.io

cs.RO↗

arXiv2025

Dual-Label Learning With Irregularly Present Labels

In multi-task learning, labels are often missing irregularly across samples, which can be fully labeled, partially labeled or unlabeled. The irregular label presence often appears in scientific studies due to experimental limitations. It triggers a demand for a new training and inference mechanism that could accommodate irregularly present labels and maximize their utility. This work focuses on the two-label learning task and proposes a novel training and inference framework, Dual-Label Learning (DLL). The DLL framework formulates the problem into a dual-function system, in which the two functions should simultaneously satisfy standard supervision, structural duality and probabilistic duality. DLL features a dual-tower model architecture that allows for explicit information exchange between labels, aimed at maximizing the utility of partially available labels. During training, missing labels are imputed as part of the forward propagation process, while during inference, labels are predicted jointly as unknowns of a bivariate system of equations. Our theoretical analysis guarantees the feasibility of DLL, and extensive experiments are conducted to verify that by explicitly modeling label correlation and maximizing label utility, our method makes consistently better prediction than baseline approaches by up to 9.6% gain in F1-score or 10.2% reduction in MAPE. Remarkably, DLL maintains robust performance at a label missing rate of up to 60%, achieving even better results than baseline approaches at lower missing rates down to only 10%.

cs.LG↗

arXiv2025

Convergent and divergent connectivity patterns of the arcuate fasciculus in macaques and humans

The organization and connectivity of the arcuate fasciculus (AF) in nonhuman primates remain contentious, especially concerning how its anatomy diverges from that of humans. Here, we combined cross-scale single-neuron tracing - using viral-based genetic labeling and fluorescence micro-optical sectioning tomography in macaques (n = 4; age 3 - 11 years) - with whole-brain tractography from 11.7T diffusion MRI. Complemented by spectral embedding analysis of 7.0T MRI in humans, we performed a comparative connectomic analysis of the AF across species. We demonstrate that the macaque AF originates in the temporal-parietal cortex, traverses the auditory cortex and parietal operculum, and projects into prefrontal regions. In contrast, the human AF exhibits greater expansion into the middle temporal gyrus and stronger prefrontal and parietal operculum connectivity - divergences quantified by Kullback-Leibler analysis that likely underpin the evolutionary specialization of human language networks. These interspecies differences - particularly the human AF's broader temporal integration and strengthened frontoparietal linkages - suggest a connectivity-based substrate for the emergence of advanced language processing unique to humans. Furthermore, our findings offer a neuroanatomical framework for understanding AF-related disorders such as aphasia and dyslexia, where aberrant connectivity disrupts language function.

q-bio.NC↗

arXiv2025

SAFEFLOW: A Principled Protocol for Trustworthy and Transactional Autonomous Agent Systems

Recent advances in large language models (LLMs) and vision-language models (VLMs) have enabled powerful autonomous agents capable of complex reasoning and multi-modal tool use. Despite their growing capabilities, today's agent frameworks remain fragile, lacking principled mechanisms for secure information flow, reliability, and multi-agent coordination. In this work, we introduce SAFEFLOW, a new protocol-level framework for building trustworthy LLM/VLM-based agents. SAFEFLOW enforces fine-grained information flow control (IFC), precisely tracking provenance, integrity, and confidentiality of all the data exchanged between agents, tools, users, and environments. By constraining LLM reasoning to respect these security labels, SAFEFLOW prevents untrusted or adversarial inputs from contaminating high-integrity decisions. To ensure robustness in concurrent multi-agent settings, SAFEFLOW introduces transactional execution, conflict resolution, and secure scheduling over shared state, preserving global consistency across agents. We further introduce mechanisms, including write-ahead logging, rollback, and secure caches, that further enhance resilience against runtime errors and policy violations. To validate the performances, we built SAFEFLOWBENCH, a comprehensive benchmark suite designed to evaluate agent reliability under adversarial, noisy, and concurrent operational conditions. Extensive experiments demonstrate that agents built with SAFEFLOW maintain impressive task performance and security guarantees even in hostile environments, substantially outperforming state-of-the-art. Together, SAFEFLOW and SAFEFLOWBENCH lay the groundwork for principled, robust, and secure agent ecosystems, advancing the frontier of reliable autonomy.

cs.AI↗

arXiv2025

Chiral Valley Edge States

Valleytronics has emerged as a promising paradigm, enabling comprehensive control of the valley degree of freedom (DoF) for energy-efficient and high-speed information processing. However, backscattering-induced valley depolarization remains a fundamental limitation, stemming from the weak topological protection of the valley Hall phase. Here, we propose and demonstrate the concept of chiral valley edge states, which integrate the robust unidirectional chiral edge states with valley DoF. By controlling the valley Dirac masses, we selectively confine the chiral edge band around a single valley, enabling back-scattering-free propagation while imparting valley polarization. Our strategy not only addresses the valley depolarization issue but also introduces a unique functionality--valley multiplexing--allowing independent and arbitrary control over waves associated with different valley polarizations. We demonstrate our concept experimentally within hybrid topological photonic crystal systems composed of Chern and valley photonic crystals. Moreover, two key components for valley multiplexing are demonstrated: a valley (de-)multiplexer and a valley-locked waveguide crossing, facilitating non-interfering signal routing. Our results establish a novel interplay between the topological quantum Hall and valley Hall phases, offering a new framework for robust valley-based information processing.

physics.optics↗

arXiv2025

MDHP-Net: Detecting an Emerging Time-exciting Threat in IVN

The integration of intelligent and connected technologies in modern vehicles, while offering enhanced functionalities through Electronic Control Unit (ECU) and interfaces like OBD-II and telematics, also exposes the vehicle's in-vehicle network (IVN) to potential cyberattacks. Unlike prior work, we identify a new time-exciting threat model against IVN. These attacks inject malicious messages that exhibit a time-exciting effect, gradually manipulating network traffic to disrupt vehicle operations and compromise safety-critical functions. We systematically analyze the characteristics of the threat: dynamism, time-exciting impact, and low prior knowledge dependency. To validate its practicality, we replicate the attack on a real Advanced Driver Assistance System via Controller Area Network (CAN), exploiting Unified Diagnostic Service vulnerabilities and proposing four attack strategies. While CAN's integrity checks mitigate attacks, Ethernet migration (e.g., DoIP/SOME/IP) introduces new surfaces. We further investigate the feasibility of time-exciting threat under SOME/IP. To detect time-exciting threat, we introduce MDHP-Net, leveraging Multi-Dimentional Hawkes Process (MDHP) and temporal and message-wise feature extracting structures. Meanwhile, to estimate MDHP parameters, we developed the first GPU-optimized gradient descent solver for MDHP (MDHP-GDS). These modules significantly improves the detection rate under time-exciting attacks in multi-ECU IVN system. To address data scarcity, we release STEIA9, the first open-source dataset for time-exciting attacks, covering 9 Ethernet-based attack scenarios. Extensive experiments on STEIA9 (9 attack scenarios) show MDHP-Net outperforms 3 baselines, confirming attack feasibility and detection efficacy.

cs.CR↗

arXiv2025

MDHP-Net: Detecting an Emerging Time-exciting Threat in IVN

cs.CR↗

arXiv2025

UniMatch: Universal Matching from Atom to Task for Few-Shot Drug Discovery

Drug discovery is crucial for identifying candidate drugs for various diseases.However, its low success rate often results in a scarcity of annotations, posing a few-shot learning problem. Existing methods primarily focus on single-scale features, overlooking the hierarchical molecular structures that determine different molecular properties. To address these issues, we introduce Universal Matching Networks (UniMatch), a dual matching framework that integrates explicit hierarchical molecular matching with implicit task-level matching via meta-learning, bridging multi-level molecular representations and task-level generalization. Specifically, our approach explicitly captures structural features across multiple levels, such as atoms, substructures, and molecules, via hierarchical pooling and matching, facilitating precise molecular representation and comparison. Additionally, we employ a meta-learning strategy for implicit task-level matching, allowing the model to capture shared patterns across tasks and quickly adapt to new ones. This unified matching framework ensures effective molecular alignment while leveraging shared meta-knowledge for fast adaptation. Our experimental results demonstrate that UniMatch outperforms state-of-the-art methods on the MoleculeNet and FS-Mol benchmarks, achieving improvements of 2.87% in AUROC and 6.52% in delta AUPRC. UniMatch also shows excellent generalization ability on the Meta-MolNet benchmark.

cs.LG↗

arXiv2025

Observation of non-Hermitian topological disclination states and charge fractionalization

There has been significant interest in exploring topological disclination states, which effectively probe the band topology of the host material beyond the conventional bulk-edge correspondence. While most studies in this area have primarily focused on Hermitian systems, recent theoretical work predicts that non-Hermiticity can drive topological phase transitions and host topological disclination states associated with fractional charge. However, no experimental observations have been reported to date. Here, we report the first experimental observation of topological disclination states in electric circuits, induced solely by gain and loss. Through admittance matrix measurements and eigenstate analysis, we confirm their emergence and compute the corresponding fractional charge. Moreover, the disclination mode profile and localization effect can be directly visualized via monochromatic field excitation. Additionally, we demonstrate the emergence of degenerate zero-energy topological disclination states, devoid of fractional charge, in distinct non-Hermitian geometries. Our findings open the possibility of non-Hermiticity-induced fractional charges in two-dimensional non-Hermitian lattices, which may pave the way for advancements in active topological photonic devices.

cond-mat.mes-hall↗

arXiv2024

Selective Kalman Filter: When and How to Fuse Multi-Sensor Information to Overcome Degeneracy in SLAM

Research trends in SLAM systems are now focusing more on multi-sensor fusion to handle challenging and degenerative environments. However, most existing multi-sensor fusion SLAM methods mainly use all of the data from a range of sensors, a strategy we refer to as the all-in method. This method, while merging the benefits of different sensors, also brings in their weaknesses, lowering the robustness and accuracy and leading to high computational demands. To address this, we propose a new fusion approach -- Selective Kalman Filter -- to carefully choose and fuse information from multiple sensors (using LiDAR and visual observations as examples in this paper). For deciding when to fuse data, we implement degeneracy detection in LiDAR SLAM, incorporating visual measurements only when LiDAR SLAM exhibits degeneracy. Regarding degeneracy detection, we propose an elegant yet straightforward approach to determine the degeneracy of LiDAR SLAM and to identify the specific degenerative direction. This method fully considers the coupled relationship between rotational and translational constraints. In terms of how to fuse data, we use visual measurements only to update the specific degenerative states. As a result, our proposed method improves upon the all-in method by greatly enhancing real-time performance due to less processing visual data, and it introduces fewer errors from visual measurements. Experiments demonstrate that our method for degeneracy detection and fusion, in addressing degeneracy issues, exhibits higher precision and robustness compared to other state-of-the-art methods, and offers enhanced real-time performance relative to the all-in method. The code is openly available.

cs.RO↗

arXiv2024

GNN-SKAN: Harnessing the Power of SwallowKAN to Advance Molecular Representation Learning with GNNs

Effective molecular representation learning is crucial for advancing molecular property prediction and drug design. Mainstream molecular representation learning approaches are based on Graph Neural Networks (GNNs). However, these approaches struggle with three significant challenges: insufficient annotations, molecular diversity, and architectural limitations such as over-squashing, which leads to the loss of critical structural details. To address these challenges, we introduce a new class of GNNs that integrates the Kolmogorov-Arnold Networks (KANs), known for their robust data-fitting capabilities and high accuracy in small-scale AI + Science tasks. By incorporating KANs into GNNs, our model enhances the representation of molecular structures. We further advance this approach with a variant called SwallowKAN (SKAN), which employs adaptive Radial Basis Functions (RBFs) as the core of the non-linear neurons. This innovation improves both computational efficiency and adaptability to diverse molecular structures. Building on the strengths of SKAN, we propose a new class of GNNs, GNN-SKAN, and its augmented variant, GNN-SKAN+, which incorporates a SKAN-based classifier to further boost performance. To our knowledge, this is the first work to integrate KANs into GNN architectures tailored for molecular representation learning. Experiments across 6 classification datasets, 6 regression datasets, and 4 few-shot learning datasets demonstrate that our approach achieves new state-of-the-art performance in terms of accuracy and computational cost.

cs.LG↗