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Ruoyu Wang

Publications and source records attributed to Ruoyu Wang.

At least 19 recordsLinked to original sources
arXiv2026

VEOcc: Voxel-Centric Online Semantic Occupancy Prediction For Embodied Scene Understanding

Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally construct dense spatial representations on the fly. Embodied online occupancy prediction remains predominantly Gaussian-centric, despite the wide use of voxel representations for frame-wise scene completion. We present VEOcc, to the best of our knowledge, the first voxel-centric framework for online embodied semantic occupancy prediction. It incrementally maintains a sparse global semantic voxel map from monocular observations and enables open-ended expansion without predefined scene bounds. To robustly integrate noisy multi-view predictions, we further introduce a Spatio-Temporal-Aware Online Update Strategy comprising Cross-Temporal Logit Aggregation (TLA) for short-term temporal consistency, Reliability-Aware Confidence Modulation (RCM) for spatial uncertainty calibration, and Confidence-Driven Incremental State Update (CSU) for robust global state assimilation. Extensive experiments on Occ-ScanNet and EmbodiedOcc-ScanNet demonstrate state-of-the-art performance among models of comparable scale in both local and embodied settings. Moreover, onboard deployment on a mobile robot validates practical online operation and long-horizon scalability, while results on self-collected handheld sequences demonstrate zero-shot generalization to unseen real-world environments. Code and supplementary visualizations are available on our project page: https://wryzju.github.io/VEOcc/.

cs.CV↗
arXiv2026

BuildBench: Benchmarking LLM Agents on Compiling Real-World Open-Source Software

Automatically compiling open-source software (OSS) projects is a vital, labor-intensive, and complex task, which makes it a good challenge for LLM Agents. Existing methods rely on manually curated rules and workflows, which cannot adapt to OSS that requires customized configuration or environment setup. Recent attempts using Large Language Models (LLMs) used selective evaluation on a subset of highly rated OSS, a practice that underestimates the realistic challenges of OSS compilation. In practice, compilation instructions are often absent, dependencies are undocumented, and successful builds may even require patching source files or modifying build scripts. We propose a more challenging and realistic benchmark, BUILD-BENCH, comprising OSS that are more diverse in quality, scale, and characteristics. Furthermore, we propose a strong baseline LLM-based agent, OSS-BUILD-AGENT, an effective system with enhanced build instruction retrieval module that achieves state-of-the-art performance on BUILD-BENCH and is adaptable to heterogeneous OSS characteristics. We also provide detailed analysis regarding different compilation method design choices and their influence to the whole task, offering insights to guide future advances. We believe performance on BUILD-BENCH can faithfully reflect an agent's ability to tackle compilation as a complex software engineering tasks, and, as such, our benchmark will spur innovation with a significant impact on downstream applications in the fields of software development and software security.

cs.SE↗
arXiv2026

No-Box Vulnerability Analysis: Description-only Detection of Indirect Prompt Injection Vulnerabilities in MCP Servers

Conventional vulnerability analysis relies on either system access or dynamic interaction, all of which may be unavailable to third-party analysts auditing closed-source, remotely hosted, critical in situ systems, or commercially gated software. Therefore, we propose a new paradigm of no-box vulnerability analysis in which neither access nor runtime interaction is available, and only functionality metadata is available. Such metadata defines the intended behavior of the system, including its inputs, outputs, and side effects, while constraining the space of implementations consistent with that behavior. We propose hypothesizing about vulnerabilities that exist across all possible implementations of a given system metadata, without observing or interacting with the target system. An analyst can later validate these hypotheses when additional access is available. We showcase the feasibility of no-box vulnerability analysis through implementing a prototype called MCPSEC, which audits Model Context Protocol (MCP) servers for indirect prompt injection vulnerabilities using only the tool metadata exposed at server registration time. We evaluate MCPSEC on 20 widely deployed MCP servers comprising 177 tools, among which human evaluators confirm 95 vulnerable tools. MCPSEC identified 143 tools as vulnerable, and for each vulnerable tool, it produced a hypothesized vulnerability along with exploitation technique. Using metadata alone, MCPSEC predicted 94 (98.9% recall) real verified vulnerabilities, compared against an LLM baseline with 80 (84.2% recall). Overall, our results introduce no-box vulnerability analysis as a new analysis paradigm and demonstrate its practical feasibility in realistic systems.

cs.CR↗
arXiv2026

TyPatch: Transforming Patches into Typestate Rules for Kernel Bug Detection

Historical Linux kernel patches capture defect knowledge that applies beyond their original repair sites. Recent work has shown that large language models (LLMs) can generate static-analysis checkers from historical patches and use them to uncover new kernel bugs. However, complete-checker generation requires the model both to recover the defect semantics expressed by a patch and to implement sophisticated program-analysis machinery, including object tracking, alias analysis, path-state maintenance, and interprocedural propagation. Coupling these responsibilities in a single end-to-end code-generation task can turn a simple defect rule into an unstable and expensive analyzer-implementation problem. To address this problem, we present TyPatch, which decouples patch-specific defect semantics from analyzer implementation. An LLM translates each patch into a typestate rule specifying its tracked object, actions, guards, transitions, and violations. A shared backend then executes these rules, binding their actions to program events, tracking object identity across aliases, propagating typestate along program paths, and producing reports for all rules. On Linux v6.16, TyPatch finds 559 distinct bugs, 121 of which have been confirmed by kernel developers. In a matched 38-patch comparison with the state-of-the-art complete-checker construction workflow, TyPatch uses 88.3-90.1% fewer generation tokens, while its initial report pools achieve 3.42-14.95$\times$ the precision of those produced by that workflow.

cs.SE↗
arXiv2026

CARA: Concept-Aware Risk Attention for Interpretable Collision Anticipation

Collision anticipation in autonomous driving requires not only accurate early warnings but also interpretable reasoning about what risk factors are being tracked and how risk evolves over time. Existing methods fall short in this regard: feature-driven models are opaque, post-hoc explanations often lack fidelity, and concept-based methods are mostly designed for static recognition rather than dynamic driving scenes. We propose CARA (Concept-Aware Risk Attention), an intrinsically interpretable spatio-temporal framework for collision anticipation. CARA derives domain-grounded risk concepts from accident narratives, aligns them with video frames via vision-language similarity, and organizes them into evolving concept trajectories. These trajectories provide explicit risk evidence that guides spatial attention, temporal attention, and anticipation, allowing semantic concepts to directly influence both where the model attends and how it predicts risk over time. By treating semantic risk factors as dynamic intermediate evidence rather than auxiliary post-hoc explanations, CARA tightly couples interpretability with the predictive process. Extensive experiments on three benchmarks show that CARA consistently improves anticipation accuracy and warning earliness over strong baselines, while providing sparse and semantically grounded concept evidence.

cs.MM↗
arXiv2026

AgentSnare: Learning to Delay, Divert, and Defuse Autonomous Penetration Agents

Large language model (LLM) agents automate penetration testing through an observation-action loop, selecting actions based on observations returned by tools. This dependence allows defenders to inject deceptive observations that can mislead the agent's decision-making process. However, existing defenses rely heavily on static, isolated artifacts planted in the environment prior to an attack. Advanced agents can progressively recognize and bypass these artifacts, ultimately refocusing their exploitation attempts on the real target. To address this issue, we introduce AgentSnare, a trajectory-adaptive deception system that dynamically unfolds a decoy environment to continually steer the penetration agent away from the real target. Specifically, AgentSnare employs an artifact-construction policy model that constructs candidate artifacts conditioned on the agent's interaction history and decoy state. AgentSnare then validates these candidates and incrementally incorporates valid artifacts into a factually consistent decoy environment, thereby delaying the attack by absorbing its tool calls, diverting its post-entry trajectory within the decoy, and defusing it by inducing completion reports grounded in decoy evidence. Across 15 CVE-Bench web applications and three attacker models, AgentSnare absorbs 46.8% of the agent's tool calls in the decoy and retains 55.9% of post-entry actions there, while 90.0% of completion attempts are grounded in decoy evidence; across all 45 attacker-CVE pairs, no real target is successfully exploited at pass@3.

cs.CR↗
arXiv2026

Competing Energetics Govern Gas Permeation in Polymer of Intrinsic Microporosity (PIM) Membranes

Polymer membranes, particularly polymers of intrinsic microporosity (PIMs), hold great promise for gas separation applications. However, the long-dominant solution-diffusion model, which treats the membrane as a nonporous homogeneous medium, does not resolve how gas-solid atomic interactions govern molecular transport in intrinsic micropores, limiting rational bottom-up membrane design. In this work, we employ non-equilibrium molecular dynamics simulations to investigate the permeation of various gases (He, H2, CH4, N2, O2, and CO2) through PIM-1 as a representative PIM membrane across a range of temperatures. By analyzing the scaling of gas permeability with molecular mass, we identify a temperature-induced transition in the dominant transport mechanism. We demonstrate that this transition is governed by the competition between gas-wall interaction potential energy and thermal kinetic energy: weak interactions or elevated temperatures facilitate Knudsen-type ballistic transport, whereas strong interactions and lower temperatures favor adsorption-mediated surface diffusion. Furthermore, molecular trajectory analysis at the membrane interface reveals two distinct entry pathways: direct entry through pore openings and surface-diffusion-assisted entry. The surface-diffusion-assisted pathway greatly promotes the entry of strongly interacting gases into the membrane, contributing to higher overall permeability, albeit this enhancement diminishes with increasing temperature. These findings offer a mechanistic picture of gas permeation in PIM-1 and explain the dependence of gas permeation on both gas type and temperature. More broadly, they highlight the importance of adopting a pore-flow perspective to understand gas transport in microporous polymer membranes.

physics.chem-ph↗
arXiv2026

SIFT: Self-Imagination Fine-Tuning for Physically Plausible Motion in Video Diffusion Models

Recent advances in video diffusion models have greatly improved visual fidelity, yet their generated motions often violate physical plausibility. We observe a common kinematic failure, "motion entanglement", the unintended coupling of independent motion sources, such as camera movement and object motion. We identify that this issue stems from data bias and the reconstruction-based training design of diffusion models. Training on noisy videos that still retain coarse motion cues inadvertently encourages the model to replicate existing motion without an incentive to learn how to model kinematically-grounded motions. To address this, we propose a Self-Imagination Fine-Tuning (SIFT) paradigm, which enables the model to learn from its own generated videos rather than directly reconstructing real ones, breaking the reconstruction shortcut. We further employ motion-aware discriminative supervision and a progressive hard-case replay strategy to stabilize and accelerate learning. By leveraging freely-generated text prompts, our method can densely cover a broad motion space, including rare or finely-disentangled scenarios that would be costly to collect as video data. Extensive experiments demonstrate that our approach substantially improves the physical realism, motion disentanglement, and controllability of generated videos.

cs.CV↗
arXiv2026

Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels

In this work, we present Tilt-Ropter, a fully actuated hybrid aerial-terrestrial vehicle (HATV) that integrates tilt rotors with passive wheels to enable efficient multi-modal locomotion. Unlike conventional underactuated HATVs, the fully actuated design of Tilt-Ropter allows decoupled force and torque control, improving maneuverability and ground locomotion efficiency. A unified nonlinear model predictive controller (NMPC) is developed to track reference trajectories, enforce non-holonomic constraints, and accommodate contact effects across locomotion modes, while ensuring actuator feasibility through dedicated control allocation. To address complex wheel-ground dynamics, an external wrench estimator is incorporated to provide real-time interaction wrench estimates. The system is validated through simulation and real-world experiments, including seamless air-ground transitions and trajectory tracking tasks. Experimental results demonstrate low tracking errors in both modes and reveal a 92.8% reduction in power consumption during ground locomotion compared with flight, highlighting the platform's potential for long-duration missions where energy efficiency is critical.

cs.RO↗
arXiv2026

Denoising Data with Measurement Error Using a Reproducing Kernel-based Diffusion Model

The ongoing technological revolution in measurement systems enables the acquisition of high-resolution samples in fields such as engineering, biology, and medicine. However, these observations are often subject to errors from measurement devices. Motivated by this challenge, we propose a denoising framework that employs diffusion models to generate denoised data whose distribution closely approximates the unobservable, error-free data, thereby permitting standard data analysis based on the denoised data. The key element of our framework is a novel Reproducing Kernel Hilbert Space-based method that trains the diffusion model with only error-contaminated data, admits a closed-form solution, and achieves a fast convergence rate in terms of estimation error. Furthermore, we verify the effectiveness of our method by deriving an upper bound on the Kullback--Leibler divergence between the distributions of the generated denoised data and the error-free data. A series of conducted simulations also verify the promising empirical performance of the proposed method compared to other state-of-the-art methods. To further illustrate the potential of this denoising framework in a real-world application, we apply it in a digital health context, showing how measurement error in continuous glucose monitors can influence conclusions drawn from a clinical trial on diabetes Mellitus disease.

stat.ME↗
arXiv2026

Statistical inference for the probability of necessity for causal attribution

To answer questions of "causes of effects", the probability of necessity was previously introduced for assessing whether an observed outcome was caused by an earlier treatment. However, statistical inference for the probability of necessity is understudied due to several difficulties, which hinder its application in practice. The evaluation of the probability of necessity involves the joint distribution of potential outcomes, and thus it is generally not point identified and one can at best obtain lower and upper bounds even in randomized experiments, unless fairly stringent monotonicity assumptions on potential outcomes are made. Moreover, these bounds are non-smooth functionals of the observed data distribution and standard estimation and inference methods cannot be directly applied. In this paper, we investigate the statistical inference for the probability of necessity in general situations where it may not be point identified. We introduce a mild margin condition to tackle the non-smoothness, under which the bounds become pathwise differentiable. We establish the semiparametric efficiency theory and propose novel asymptotically efficient estimators of the lower and upper bounds, and further construct confidence intervals for the probability of necessity based on the proposed bound estimators. The resultant confidence intervals can effectively utilize the observed covariates to reduce lengths. The proposed approach has potential application in biomedical, epidemiological, and legal studies where understanding causal attribution beyond traditional causal effects is essential.

stat.ME↗
arXiv2026

SWE-Review: Closing the Loop on Issue Resolution with Agentic Code Review

Coding agents increasingly generate pull requests (PRs) for real-world software issues, yet one-shot PR generation remains open-loop: the PR is proposed without systematic review, diagnosis, or revision. We introduce \textbf{SWE-Review}, a framework for closing this loop with agentic code review. Given an issue and an AI-generated PR, a reviewer agent explores the repository, decides whether the PR should be accepted, and provides structured feedback for revision. We evaluate this setting with our proposed \textbf{SWE-Review-Bench} to measure both review correctness and downstream revision usefulness. We further curate \textbf{SWE-Review-Traj} dataset to study broader applications of agentic review and fill the data-scarcity gap for open reviewer training. Experiments show that agentic review continuously improves PRs through a generate-review-revise loop, outperforms single-turn fixed-context review in both decision accuracy and resolve rate after revision, transfers beyond review to improve issue-resolution models, and enables effective and efficient test-time scaling. These results position agentic code review as a practical mechanism for moving AI coding agents from one-shot PR generation toward closed-loop issue resolution.

cs.SE↗
arXiv2026

Gradient-Flow Optimization as Dynamic Random-Effects Inference: Testing and Early Stopping with Applications to Deep Learning

Gradient-flow optimization is usually viewed as an algorithmic procedure for minimizing empirical loss, with training duration selected by validation or heuristic early stopping rules. We develop a statistical inference framework for gradient-flow training. We show that whenever fitted values evolve through a time-invariant positive semidefinite training operator, the output at each time is equivalent to the best linear unbiased predictor under a corresponding random-effects model. Training time then becomes a variance-component parameter governing variance reallocation from residual noise to structured signal. This turns two training decisions into inferential problems: whether training is needed becomes a variance-component test for signal beyond initialization, and how long to train becomes restricted maximum likelihood (REML) estimation of the training-time variance component. We show that the REML-guided early stopping rule selects the time at which optimized spectral losses become decorrelated from the training-operator eigenvalues. The asymptotic prediction optimality of the REML-guided early stopping time is established for fixed-design in-sample risk and random-design out-of-sample risk. Deep learning models in fixed-kernel gradient regimes provide canonical instantiations for our results. Numerical experiments and a UK Biobank proteomics application show competitive accuracy of the REML-guided early stopping time with reduced reliance on validation splits and repeated checkpoint evaluation.

stat.ML↗
arXiv2026

Adaptive and Efficient Learning with Blockwise Missing and Semi-Supervised Data

Data fusion enables powerful and generalizable analyses across multiple sources. However, different data collection capacities across different sources lead to blockwise missingness (BM), which poses challenges in practice. Meanwhile, the high cost of obtaining gold-standard labels leaves the majority of samples unlabeled, known as the semi-supervised (SS) problem. In this paper, we propose a novel Data-adaptive Estimation approach for data FUsion in the SEmi-supervised setting (DEFUSE) that handles both BM and SS issues in the presence of distributional shifts across data sources under a missing at random (MAR) mechanism}. DEFUSE starts with a complete-data-only estimator derived from the primary data source, and uses data-adaptive and distributional-shift-adjusted procedures to successively incorporate the data with BM covariates and the large unlabeled sample to effectively reduce the estimation variance without incurring bias. To further avoid bias due to fusion of misaligned data violating of the MAR assumption, a screening method is developed to identify and exclude data sources that are not aligned with the primary source. Compared to existing approaches, DEFUSE offers two main improvements. First, it offers a new data-adaptive control variate approach to handle BM, which achieves intrinsic efficiency and robustness against distributional shifts. Second, it reveals a more essential role for the unlabeled sample in the BM regression problem, leading to improved estimation. These advantages are theoretically guaranteed and empirically supported by simulation studies and two real-world biomedical applications.

stat.ME↗
arXiv2026

SparseWorld: Enhancing End-to-End Autonomous Driving via World Models with Sparse Scene Representation

Recently, world models have made significant progress in enhancing end-to-end driving systems through both future situation forecasting and improved scene understanding. However, existing driving world models are typically built upon dense scene representations, causing high computational costs and redundant information. In this paper, we present SparseWorld, a lightweight world model that focuses on predicting only the critical layout of the scene, enabling efficient future forecasting for end-to-end driving systems. SparseWorld first performs autoregressive rollout to forecast future map elements and surrounding agents, enabling the model to learn how driving scenarios evolve over time. It then leverages these predicted futures to refine downstream motion prediction and trajectory planning. Specifically, we propose a Sparse Dreamer that anticipates future instances in the latent space through joint temporal and spatial attention. By interacting with predicted future instances, the motion planner captures more accurate motion patterns and generates more informed and safety-aware trajectories. Extensive experiments demonstrate that SparseWorld significantly reduces collision risk and achieves state-of-the-art performance on the open-loop planning metrics of the nuScenes dataset with a collision rate of 0.05\%. Moreover, it substantially outperforms the baseline method in closed-loop planning metrics on the Bench2Drive benchmark. Supplementary material is available at the project page: https://wryzju.github.io/SparseWorld/.

cs.CV↗
arXiv2026

ARVO: Atlas of Reproducible Vulnerabilities for Open-Source Software

Achieving reproducibility, quantity, and diversity in vulnerability datasets has long been viewed as an inherent three-way trade-off, where improving one dimension often comes at the cost of the others. In practice, reproducibility has been the dimension most often neglected. This has limited what can be automatically extracted from historical bug datasets, and has reduced their utility for downstream security research. In this work, we propose a method to produce a new security dataset which ensures reproducibility for diverse vulnerabilities at scale by identifying the key obstacles to large-scale bug reproduction and addressing them with general solutions. Using this method, we introduce full reproducibility to the largest open source software vulnerability dataset (OSS-Fuzz) and construct the ARVO dataset (an Atlas of Reproducible Vulnerabilities in Open-source software). ARVO is a large-scale dataset consisting of over 6,100 real-world vulnerabilities across 311 projects. Focusing on reproducibility, ARVO differs from existing datasets by providing each vulnerability in a form that can be consistently rebuilt, triggered, and analyzed across versions. Reproducibility also enables automatic identification of the corresponding patch for each vulnerability and supports direct interaction with vulnerabilities after code changes, capabilities that existing large-scale datasets do not provide. In our evaluation, ARVO successfully reproduces 81% of vulnerabilities and achieves 89.4% accuracy on the located patches. We also discuss ARVO's influence on both upstream practices and downstream security research.

cs.CR↗
arXiv2026

ARVO: Atlas of Reproducible Vulnerabilities for Open-Source Software

Achieving reproducibility, quantity, and diversity in vulnerability datasets has long been viewed as an inherent three-way trade-off, where improving one dimension often comes at the cost of the others. In practice, reproducibility has been the dimension most often neglected. This has limited what can be automatically extracted from historical bug datasets, and has reduced their utility for downstream security research. In this work, we propose a method to produce a new security dataset which ensures reproducibility for diverse vulnerabilities at scale by identifying the key obstacles to large-scale bug reproduction and addressing them with general solutions. Using this method, we introduce full reproducibility to the largest open source software vulnerability dataset (OSS-Fuzz) and construct the ARVO dataset (an Atlas of Reproducible Vulnerabilities in Open-source software). ARVO is a large-scale dataset consisting of over 6,100 real-world vulnerabilities across 311 projects. Focusing on reproducibility, ARVO differs from existing datasets by providing each vulnerability in a form that can be consistently rebuilt, triggered, and analyzed across versions. Reproducibility also enables automatic identification of the corresponding patch for each vulnerability and supports direct interaction with vulnerabilities after code changes, capabilities that existing large-scale datasets do not provide. In our evaluation, ARVO successfully reproduces 81% of vulnerabilities and achieves 89.4% accuracy on the located patches. We also discuss ARVO's influence on both upstream practices and downstream security research.

cs.CR↗
arXiv2026

Semiparametric Mediation Analysis with Separately Observed Mediator and Outcome under Unmeasured Confounding

Mediation analysis is widely used to disentangle causal pathways, yet in many real-world studies the mediator M and outcome Y are never jointly observed. This incompleteness breaks the standard identification strategy for natural direct and indirect effects. We introduce a novel data fusion framework that restores the identification by combining two incomplete data sources, one measuring $M$ and the other measuring Y. Our approach leverages shared instrumental variables (IVs) to circumvent the need to observe (M,Y) jointly, remains valid under unmeasured confounding via a no-interaction condition, and accommodates covariate and exposure shifts across data sources under a latent alignment condition. We establish two identification strategies, one for settings with a known set of valid IVs, and another for settings where valid IVs must be learned. We further develop semiparametric, influence-function-based estimators with multiple robustness properties, and propose an estimator that attains the semiparametric efficiency bound under appropriate conditions. We apply our framework to quantify the extent to which the effect of SNP rs610932 on dementia risk is mediated through immune-related gene-expression pathways.

stat.ME↗