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Ruonan Li

Publications and source records attributed to Ruonan Li.

At least 19 recordsLinked to original sources

CoFiE: Coarse-to-Fine Evidence Selection for Efficient Streaming Video Understanding

Streaming video understanding requires Vision Language Models (VLLMs) to process growing video streams and answer user questions under tight latency constraints. Existing methods improve efficiency through token pruning and memory-bank schemes, but mainly reduce visual tokens after visual encoding. Consequently, downstream token pruning alone cannot substantially reduce end-to-end latency because the expensive frame encoding cost has already been incurred. We propose CoFiE, a Coarse-to-Fine Evidence Selection framework that decouples evidence selection into a coarse, query-agnostic filtering stage before the vision encoder and a fine, query-specific refinement stage during LLM prefill. CoFiE introduces Novelty-Guided Frame Filtering to retain visually distinctive candidate frames and Query-Specific Evidence Refinement to select the frames most relevant to the user query. This design removes substantial redundancy before frame encoding while preserving query-specific refinement once semantic information becomes available. Experiments show that CoFiE establishes a new state-of-the-art accuracy-efficiency trade-off across multiple video understanding benchmarks, reaching 78.86% accuracy on StreamingBench and 68.72% on OvO-Bench, with improvements of up to 3.15% over prior methods. Even with up to 80% evidence-frame filtering, CoFiE outperforms strong open-source multimodal models while improving end-to-end inference latency by up to 2.54 times.

cs.CV↗

Distill, Diffuse, Segment: Unsupervised 3D Semantic Segmentation for Autonomous Driving Based on Multi-Level Distillation and Graph Diffusion

LiDAR-based semantic segmentation is essential for autonomous-driving perception, yet dense point-wise annotations are costly, and long-tailed outdoor scenes make small safety-critical objects difficult to discover without supervision. Existing unsupervised methods face three key challenges: they struggle to preserve small and sparsely observed objects under substantial scale variation, have difficulty enforcing intra-region consistency and inter-region discrimination during cross-modal transfer, and lack an efficient feature-preserving mechanism for contextual propagation over superpoint graphs. We therefore propose DDS, an unsupervised 3D semantic segmentation framework. First, a coarse-to-fine multi-granularity mask cascade provides complementary 3D region cues for objects across different scales, improving the preservation of small and sparsely observed objects. Second, region-guided multi-level distillation transfers self-supervised visual knowledge through point-level alignment, mask-level prototype alignment, and prototype-level contrastive learning, enhancing intra-region consistency and inter-region discrimination. Third, restart-based graph diffusion efficiently propagates contextual information among superpoints while anchoring the refined representation to the initial distilled features and avoiding explicit graph eigendecomposition. Experiments on real-world driving datasets show that DDS outperforms representative unsupervised baselines, improving oAcc, mAcc, and mIoU by up to 2.9%, 9.7%, and 4.1%, respectively. These results demonstrate the effectiveness and transferability of DDS for unsupervised 3D scene understanding in autonomous-driving scenarios.

cs.CV↗

ARB4WM: An Adversarial Robustness Benchmark for World Models in Continuous Control

World models are widely used in robotic and agentic engineering control systems due to their ability to learn latent dynamics for planning and decision-making. As these systems are increasingly deployed in safety-critical settings, understanding their robustness under adversarial conditions has become essential. However, existing evaluations lack a unified benchmark for testing adversarial threats across the policy, value, and latent-dynamics levels of world-model agents. To fill this gap, we present ARB4WM, a unified evaluation framework for pre-deployment robustness and risk assessment of world-model agents under visual perturbations. ARB4WM defines five white-box loss objectives across these three levels and studies their effects when combined with single-step or multi-step perturbation strategies and temporal attack modes, including full-frame, half-sequence, and sparse-frame exposure. Specifically, we evaluate four Dreamer-style agents across 20 tasks from MetaWorld and the DeepMind Control Suite under different loss objectives, perturbation strategies, and temporal attack modes. Results show that attacks targeting value estimation, latent representations, and RSSM dynamics can be as damaging as direct policy disruption, and that early or frequent perturbations are especially harmful, while input-level defenses provide limited recovery under adaptive attacks. These findings suggest that safety, risk, and reliability assessment for world models should cover multiple component-oriented attack objectives and temporal exposure protocols rather than relying solely on action-space robustness. Source code is available at https://github.com/zaoanguai/ARB4WM.

cs.AI↗

CLASP: Closed-loop Asynchronous Spatial Perception for Open-vocabulary Desktop Object Grasping

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key challenges: scarce high-quality multimodal demonstrations, spatial hallucination caused by weak geometric grounding, and the fragility of open-loop execution in dynamic environments. To address these challenges, we propose Closed-Loop Asynchronous Spatial Perception(CLASP), a novel asynchronous closed-loop framework that integrates multimodal perception, logical reasoning, and state-reflective feedback. First, we design a Dual-Pathway Hierarchical Perception module that decouples high-level semantic intent from geometric grounding. The design guides the output of the inference model and the definite action tuples, reducing spatial illusions. Second, an Asynchronous Closed-Loop Evaluator is implemented to compare pre- and post-execution states, providing text-based diagnostic feedback to establish a robust error-correction loop and improving the vulnerability of traditional open-loop execution in dynamic environments. Finally, we design a scalable multi-modal data engine that automatically synthesizes high-quality spatial annotations and reasoning templates from real and synthetic scenes without human teleoperation. Extensive experiments demonstrate that our approach significantly outperforms existing baselines, achieving an 87.0% overall success rate. Notably, the proposed framework exhibits remarkable generalization across diverse objects, bridging the sim-to-real gap and providing exceptional robustness in geometrically challenging categories and cluttered scenarios.

cs.RO↗

Particle dynamics and optical appearance of charged spherically symmetric black holes in bumblebee gravity

In this paper, we study the particle dynamics, shadow, and optical appearance of charged black holes (BHs) in bumblebee gravity. Firstly, we find that the Lorentz-violation parameter l and charge parameter Q have opposite effects on the peak of the effective potential by analyzing timelike geodesics, and the radius of the innermost stable circular orbit (ISCO) decreases as the BH parameters l and Q increase. We also explore the behaviors of particle energy, angular momentum, and Keplerian frequency. Secondly, for null geodesics, both the photon sphere radius and the shadow radius decrease with increasing l and Q, and are consistently smaller than those of the Reissner-Nordstrom black hole (RNBH) and Schwarzschild-like BH. And based on observational data reported by the Event Horizon Telescope (EHT) Collaboration, we constrain the parameters l and Q by using the shadow radius data of Sgr A*. Thirdly, we explore the observation characteristics of charged BHs under three thin disk accretion models. The results show that, compared to RNBH, the increase of l leads to a greater thickness of the photon rings and lensed rings. However, due to their extremely narrow ranges, the contributions are small, and the observed intensities are mainly contributed by the direct emissions. Moreover, when the parameter l is fixed, the peaks of the observed intensities of rings decrease with increasing Q for the same emission model, and it is always lower than the corresponding value for Schwarzschild-like BH. These findings contribute to distinguishing bumblebee charged black holes (BCBHs) from other types of BHs based on their optical appearance.

gr-qc↗

Optical Appearance and Shadow of Kalb-Ramond Black Hole: Effects of Plasma and Accretion Models

In this paper, we study the effect of the presence of plasma and different accretion models on the shadow and optical appearance of static spherically symmetric black holes containing the Kalb-Ramond field. We derive the motion equations for photons around the Kalb-Ramond black hole and constrain the Lorentz symmetry breaking parameters $λ$ and $γ$ using observational data released by the Event Horizon Telescope collaboration. The results indicate that, under the static spherical accretion model, as $λ$ or $γ$ increase, the peak value of the observed intensity for Kalb-Ramond black holes is enhanced and consistently exceeds that of the corresponding Schwarzschild black holes. In the presence of plasma, we find that as the plasma frequency increases, the photon sphere radius increases, whereas the black hole shadow radius decreases. In addition, compared to inhomogeneous plasma, the effect of homogeneous plasma on these features is more significant. Specifically, when the plasma is homogeneous, an increase in plasma frequency further enhances the observed intensity peaks. This suggests that the shadow of the Kalb-Ramond black hole is brighter due to the presence of plasma. Additionally, for the same Kalb-Ramond black hole model parameters and plasma frequency, the shadow of the Kalb-Ramond black hole in inhomogeneous plasma is larger than in the case of homogeneous plasma. Under the thin disk accretion model, an increase in the Lorentz symmetry breaking parameters decreases the observed intensity peak and increases the thickness of the photon ring and the lensed ring. The presence of plasma significantly alters the optical appearance of Kalb-Ramond black hole, providing a possible way to distinguish Kalb-Ramond black hole from Schwarzschild black hole.

gr-qc↗

Induced rational exponents and bipartite subgraphs in $K_{s, s}$-free graphs

In this paper, we study a general phenomenon that many extremal results for bipartite graphs can be transferred to the induced setting when the host graph is $K_{s, s}$-free. As manifestations of this phenomenon, we prove that every rational $\frac{a}{b} \in (1, 2), \, a, b \in \mathbb{N}_+$, can be achieved as Turán exponent of a family of at most $2^a$ induced forbidden bipartite graphs, extending a result of Bukh and Conlon [JEMS 2018]. Our forbidden family is a subfamily of theirs which is substantially smaller. A key ingredient, which is yet another instance of this phenomenon, is supersaturation results for induced trees and cycles in $K_{s, s}$-free graphs. We also provide new evidence to a recent conjecture of Hunter, Milojević, Sudakov, and Tomon [JCTB 2025] by proving optimal bounds for the maximum size of $K_{s, s}$-free graphs without an induced copy of theta graphs or prism graphs, whose Turán exponents were determined by Conlon [BLMS 2019] and by Gao, Janzer, Liu, and Xu [IJM 2025+].

math.CO↗

Sidorenko's conjecture for subdivisions and theta substitutions

The famous Sidorenko's conjecture asserts that for every bipartite graph $H$, the number of homomorphisms from $H$ to a graph $G$ with given edge density is minimized when $G$ is pseudorandom. We prove that for any graph $H$, a graph obtained from replacing edges of $H$ by generalized theta graphs consisting of even paths satisfies Sidorenko's conjecture, provided a certain divisibility condition on the number of paths. To achieve this, we prove unconditionally that bipartite graphs obtained from replacing each edge of a complete graph with a generalized theta graph satisfy Sidorenko's conjecture, which extends a result of Conlon, Kim, Lee and Lee [J. Lond. Math. Soc., 2018].

math.CO↗

The absence of monochromatic triangle implies various properly colored spanning trees

An edge-colored graph $G$ is called properly colored if every two adjacent edges are assigned different colors. A monochromatic triangle is a cycle of length 3 with all the edges having the same color. Given a tree $T_0$, let $\mathcal{T}(n,T_0)$ be the collection of $n$-vertex trees that are subdivisions of $T_0$. It is conjectured that for each fixed tree $T_0$, there is a function $f(T_0)$ such that for each integer $n\geq f(T_0)$ and each $T\in \mathcal{T}(n,T_0)$, every edge-colored complete graph $K_n$ without containing monochromatic triangle must contain a properly colored copy of $T$. We confirm the conjecture in the case that $T_0$ is a star. A weaker version of the above conjecture is also obtained. Moreover, to get a nice quantitative estimation of $f(T_0)$ when $T_0$ is a star requires determining the constraint Ramsey number of a monochromatic triangle and a rainbow star, which is of independent interest.

math.CO↗

Investigating the Physical Properties of Traversable Wormholes in the Modified $f(R,T)$ Gravity

In the paper, we analyze some physical properties of static traversable WH within the framework of $f(R,T)$ modified gravitational theory. Firstly, we explore the validity of the null, weak, dominant and strong energy conditions for wormhole matter for the considered $f(R,T)=R+αR^2+λT$ model. Research shows that it is possible to obtain traversable WH geometry without bring in exotic matter that violates the null energy condition in the $f(R,T)$ theory. The violation of the dominant energy condition in this model may be related to quantum fluctuations or indicates the existence of special matter that violates this EC within the wormhole. Moreover, it is found that in the $f(R,T)=R+αR^2+λT$ model, relative to the GR, the introduction of the geometric term $αR^2$ has no remarkable impact on the wormhole matter components and their properties, while the appearance of the matter-geometry coupling term $λT$ can resolve the question that WH matter violates the null, weak and strong energy condition in GR. Additionally, we investigate dependency of the valid NEC on model parameters and quantify the matter components within the wormhole using the ``volume integral quantifier". Lastly, based on the modified Tolman-Oppenheimer-Volkov equation, we find that the traversable WH in this theory is stable. On the other hand, we use the classical reconstruction technique to derive wormhole solution in $f(R,T)$ theory and discuss the corresponding ECs of matter. It is found that all four ECs (NEC, WEC, SEC and DEC) of matter in the traversable wormholes are valid in this reconstructed $f(R,T)$ model, i.e we provide a wormhole solution without introducing the exotic matter and special matter in $f(R,T)$ theory.

gr-qc↗

Observer-based Leader-following Consensus for Positive Multi-agent Systems Over Time-varying Graphs

This paper addresses the leader-following consensus problem for discrete-time positive multi-agent systems over time-varying graphs. We assume that the followers may have mutually different positive dynamics which can also be different from the leader. Compared with most existing positive consensus works for homogeneous multi-agent systems, the formulated problem is more general and challenging due to the interplay between the positivity requirement and high-order heterogeneous dynamics. To solve the problem, we present an extended version of existing observer-based design for positive multi-agent systems. By virtue of the common quadratic Lyapunov function technique, we show the followers will maintain their state variables in the positive orthant and finally achieve an output consensus specified by the leader. A numerical example is used to verify the efficacy of our algorithms.

eess.SY↗

Robust Positive Consensus for Heterogeneous Multi-agent Systems

This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined in the positive orthant. To solve this problem, we present a two-step design procedure. By constructing an auxiliary multi-agent system as positive local reference generators, we incorporate the reference generator into some applicable decentralized robust tracking controller for each agent. The proposed distributed algorithm is proven to ensure a robust consensus fulfilling certain prescribed pattern for the multi-agent system under switching topology in the sense of finite-gain stability with respect to the external inputs. A simulation example is finally given to illustrate the effectiveness of our design.

eess.SY↗

On Measurement Disturbances in Distributed Least Squares Solvers for Linear Equations

This paper aims at distributed algorithms for solving a system of linear algebraic equations. Different from most existing formulations for this problem, we assume that the local data at each node is not accurately measured but subject to some disturbances. To be specific, the local measurement consists of two parts: a nominal value and a multiple sinusoidal disturbance. By introducing an identifier-enhanced observer to estimate the disturbance, we present a novel distributed least squares solver for the linear equations using noisy measurements. The proposed solver is proven to be able to recover the least squares solution to the linear equations associated with the nominal values irrespective of any multi-sinusoidal disturbance even with unknown frequencies. We also show the robustness of the distributed solvers under standard conditions against unstructured perturbations. The effectiveness of our design is verified by a numerical example.

math.OC↗

Event-triggered Design for Optimal Output Consensus of High-order Multi-agent Systems

This paper studies the optimal output consensus problem for a group of heterogeneous linear multi-agent systems. Different from existing results, we aim at effective controllers for these high-order agents under both event-triggered control and event-triggered communication settings. We conduct an embedded design for the problem and constructively propose a multi-rate event-triggered controller with a set of applicable parameters. The proposed event-triggered rules are shown to be free of Zeno behaviors and can achieve the optimal output consensus goal for these high-order agents. A simulation example is given to verify the efficacy of our designs.

eess.SY↗

A revisit to Bang-Jensen-Gutin conjecture and Yeo's theorem

A path (cycle) is properly-colored if consecutive edges are of distinct colors. In 1997, Bang-Jensen and Gutin conjectured a necessary and sufficient condition for the existence of a Hamilton path in an edge-colored complete graph. This conjecture, confirmed by Feng, Giesen, Guo, Gutin, Jensen and Rafley in 2006, was laterly playing an important role in Lo's asymptotical proof of Bollobás-Erdős' conjecture on properly-colored Hamilton cycles. In 1997, Yeo obtained a structural characterization of edge-colored graphs that containing no properly colored cycles. This result is a fundamental tool in the study of edge-colored graphs. In this paper, we first give a much shorter proof of the Bang-Jensen-Gutin Conjecture by two novel absorbing lemmas. We also prove a new sufficient condition for the existence of a properly-colored cycle and then deduce Yeo's theorem from this result and a closure concept in edge-colored graphs.

math.CO↗

Properly colored cycles in edge-colored complete graphs containing no monochromatic triangles: a vertex-pancyclic analogous result

A properly colored cycle (path) in an edge-colored graph is a cycle (path) with consecutive edges assigned distinct colors. A monochromatic triangle is a cycle of length $3$ with the edges assigned a same color. It is known that every edge-colored complete graph without containing monochromatic triangles always contains a properly colored Hamilton path. In this paper, we investigate the existence of properly colored cycles in edge-colored complete graphs when monochromatic triangles are forbidden. We obtain a vertex-pancyclic analogous result combined with a characterization of all the exceptions.

math.CO↗

Rainbow triangles in arc-colored tournaments

Let $T_{n}$ be an arc-colored tournament of order $n$. The maximum monochromatic indegree $Δ^{-mon}(T_{n})$ (resp. outdegree $Δ^{+mon}(T_{n})$) of $T_{n}$ is the maximum number of in-arcs (resp. out-arcs) of a same color incident to a vertex of $T_{n}$. The irregularity $i(T_{n})$ of $T_{n}$ is the maximum difference between the indegree and outdegree of a vertex of $T_{n}$. A subdigraph $H$ of an arc-colored digraph $D$ is called rainbow if each pair of arcs in $H$ have distinct colors. In this paper, we show that each vertex $v$ in an arc-colored tournament $T_{n}$ with $Δ^{-mon}(T_n)\leqΔ^{+mon}(T_n)$ is contained in at least $\frac{δ(v)(n-δ(v)-i(T_n))}{2}-[Δ^{-mon}(T_{n})(n-1)+Δ^{+mon}(T_{n})d^+(v)]$ rainbow triangles, where $δ(v)=\min\{d^+(v), d^-(v)\}$. We also give some maximum monochromatic degree conditions for $T_{n}$ to contain rainbow triangles, and to contain rainbow triangles passing through a given vertex. Finally, we present some examples showing that some of the conditions in our results are best possible. Keywords: arc-colored tournament, rainbow triangle, maximum monochromatic indegree (outdegree), irregularity

math.CO↗

Rainbow triangles in arc-colored digraphs

Let $D$ be an arc-colored digraph. The arc number $a(D)$ of $D$ is defined as the number of arcs of $D$. The color number $c(D)$ of $D$ is defined as the number of colors assigned to the arcs of $D$. A rainbow triangle in $D$ is a directed triangle in which every pair of arcs have distinct colors. Let $f(D)$ be the smallest integer such that if $c(D)\geq f(D)$, then $D$ contains a rainbow triangle. In this paper we obtain $f(\overleftrightarrow{K}_{n})$ and $f(T_n)$, where $\overleftrightarrow{K}_{n}$ is a complete digraph of order $n$ and $T_n$ is a strongly connected tournament of order $n$. Moreover we characterize the arc-colored complete digraph $\overleftrightarrow{K}_{n}$ with $c(\overleftrightarrow{K}_{n})=f(\overleftrightarrow{K}_{n})-1$ and containing no rainbow triangles. We also prove that an arc-colored digraph $D$ on $n$ vertices contains a rainbow triangle when $a(D)+c(D)\geq a(\overleftrightarrow{K}_{n})+f(\overleftrightarrow{K}_{n})$, which is a directed extension of the undirected case.

math.CO↗