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Wei Dong

Publications and source records attributed to Wei Dong.

At least 19 recordsLinked to original sources
arXiv2026

V$^3$AST-Bench: Verifiable, Valid, and Versatile Safety Evaluation for Coding Agents

Large language models increasingly act through code, modifying repositories, executing programs, and interacting with services in agent form. Their actions introduce risks that cannot be assessed from generated responses alone. Safety evaluation must verify actual consequences, distinguish harm avoidance from task incapability, and cover realistic workflows. We introduce V$^3$AST-Bench, a benchmark for Verifiable results, Valid interpretation, and Versatile risk coverage of Agent Safety. It comprises 212 risk tasks spanning 18 categories. Dedicated runtime environments verify harm and task outcomes through executable checks over states, records, and artifact behavior, while paired capability twin tasks verify workflow competence. Our experiments span 51 combinations of 11 models and five harnesses, spanning 86,496 trials and over 9 billion tokens of model interaction. Results show that V$^3$AST-Bench remains challenging even for frontier coding agents, as Claude Opus 4.8 with Claude Code still causes verified harm on 20.9% of tasks. Across model-harness combinations, agents with comparable competence exhibit markedly different safety outcomes, showing that task capability alone does not guarantee safe execution. More importantly, even explicit recognition of risks does not reliably prevent harmful actions, revealing a critical gap between risk awareness and safe execution. These findings highlight the need to move beyond risk recognition toward enforcing safety throughout execution.

cs.SE↗
arXiv2026

HNSecW: A Logarithmic-Time MPC Protocol for Approximate Nearest Neighbor Search

As a core component of modern RAG systems, approximate nearest neighbor (ANN) search has been extensively studied for decades. In practice, deploying ANN often requires symmetric privacy, where the querier's query and the database owner's data must remain hidden from each other, necessitating a secure multi-party computation (MPC) solution. So far, most MPC-based ANN protocols follow a cluster-based approach: they evaluate distances for the query over a large candidate set and rely on heavyweight primitives such as distributed ORAM to hide access patterns. As a result, each search typically requires $O(\sqrt{N})$ time. We propose HNSecW, a novel MPC protocol for ANN search that achieves the $O(\log N)$ search time for the first time. We first study the single-query setting. Starting from HNSW, the state-of-the-art ANN algorithm, we redesign its control flow and data structures to achieve fully data-independent execution. To further achieve logarithmic search time, we employ offline reshuffling and partial database duplication. Furthermore, we extend our protocol to support multiple sequential queries by introducing a "double visited" caching structure that eliminates redundant cross-query memory accesses, thereby avoiding per-query online shuffling. In addition, we develop a batch-query protocol that exploits higher parallelism to reduce both round complexity and the circuit's critical path. Our experiments show that HNSecW preserves the high accuracy of plaintext HNSW ($\geq 90\%$ recall) and delivers over a $20\times$ efficiency improvement over prior work on million-scale datasets.

cs.CR↗
arXiv2026

AReaL-RSI: Adaptive Scaling and Coordination of Recursive Self-Improvement

Scaling recursive self-improvement requires additional computation to produce useful research progress in reaching persistent objectives. Intuitively, more researcher agents can explore more hypotheses, but early evaluation scores might misrepresent their promise, shared findings could lose their applicability conditions, and useful procedures could remain confined to completed investigations. In this paper, we present AReaL-RSI, a framework for organizing a persistent research team of agents without updating backbone LLM weights. We formulate the scaling problem in terms of evaluated outcomes and whole-system resource expenditure. Concretely, a leader agent selects task-appropriate research orientations and guides ongoing investigations; conditional memory sharing distinguishes unresolved problems from supported findings and enables recipient adaptation. During recursive evolution, after each campaign, evidence-based review revises researcher orientation, knowledge, and skills for later campaigns. Experiments compare AReaL-RSI with Codex-Goal on downstream harness optimization, GPU kernel optimization, and AI research tasks using two backbones. Under the reported resource allocations, AReaL-RSI improves Terminal Bench performance by 2.2 percentage points for each backbone and increases mean KernelBench speedup by 32.2-36.8%; further scalability comparisons favor the design of AReaL-RSI over native scaling: combining experience sharing with specialized researcher roles yields 1.9-27.5% lower kernel latency than independent exploration and 1.3-33.9% lower latency than sharing alone across all seven comparable task-backbone pairs.

cs.AI↗
arXiv2026

TaskIR: Task-Driven Image Restoration via Degradation Adaptation and Task Feedback

Task-driven image restoration aims to improve both image quality and downstream task performance. However, existing methods predominantly focus on single degradation type and struggle to handle the diverse degradations encountered in real-world scenarios. Different degradations impose distinct restoration demands, and insufficient restoration may leave residual degradations and artifacts that impair object boundaries and semantic cues, thereby compromising downstream task performance. To address these challenges, we propose TaskIR, a two-stage task-driven unified image restoration framework that integrates degradation-adaptive restoration with task feedback refinement. In Stage I, a Degradation Representation Module (DRM) extracts degradation representations, enabling a Degradation-Guided Transformer Block (DGTB) to dynamically modulate feature transformations for adaptive restoration. In Stage II, a Task-to-Restoration Feedback Generation module (TRFG) transforms heterogeneous task features into restoration feedback by modeling task-representation discrepancies associated with the current restoration. Subsequently, a Selective Task Feedback Refinement module (STFR) assesses feedback relevance and selectively refines intermediate restoration features to mitigate interference with well-restored content. Extensive experiments demonstrate that TaskIR achieves competitive restoration quality and downstream task performance across diverse degradations and tasks.

cs.CV↗
arXiv2026

Understanding Implicit Trust Errors in Core Carrier Networks through Multi-Agent Flaw Discovery and Analysis

Cellular core networks (CNs) are critical infrastructure, yet their internal security model has historically relied on physical isolation: interfaces between core components often operate within an assumed trust zone. As CNs transition to cloud-native deployments, this assumption weakens, expanding the attack surface and enabling external adversaries to reach previously internal interfaces. From a root-cause analysis of security flaws reported in GitHub issues for opensource CN implementations, we found a recurring pattern of blind trust among CN components. Components may omit syntactic validation, fail to enforce semantic invariants, or allocate resources without checking availability. Once internal interfaces become reachable, these weaknesses can lead to severe impacts such as denial of service and session hijacking. We call these vulnerabilities implicit trust errors (iTrue). To detect iTrues and understand their security impacts, we designed iFinder, an LLM-driven multi-agent system that summarizes known flaws, distills them into detection patterns, and applies them to discover new iTrues in CN implementations. To suppress hallucinations produced by large language models (LLMs), we built an innovative strategy that crosschecks both 3GPP specifications and CN code to capture existing protection missed by the agents. Further, we developed a technique that uses LLMs to generate proof-of-concept (PoC) exploits for potential iTrues and iteratively refine the PoCs by automatically executing them against CN implementations and analyzing results. Running iFinder on seven prominent open-source CN implementations, we discovered 84 previously unknown vulnerabilities. Among them, 83 have already been confirmed and 81 have been assigned CVEs. Importantly, a session-hijacking flaw has been confirmed on real-world commercial 5G core networks.

cs.CR↗
arXiv2026

InJePA: Intention-First Latent Planning with Coupled JEPA World Models for Visual Navigation

Visual navigation requires goal directed planning informed by predictions of environment dynamics. Representative navigation world model methods propose complete action candidates before predicting consequences for selection or search updates. For each candidate, predictions primarily evaluate proposed actions rather than guide its stepwise construction. To this end, we propose InJepa, an intention first planning paradigm centered on latent states. A goal conditioned JEPA proposes latent intentions, and an action conditioned JEPA continually predicts future latent states. Both operate in a shared latent space to align their predictive representations. Within each candidate, predicted consequences feed into the next intention proposal and action inference, forming a closed loop of intention, action, and consequence. This extends the world model's role beyond evaluation to leading candidate construction through latent intentions. We evaluate InJepa through closed loop image goal navigation in Habitat MP3D. The results show effective multistep navigation through intention guided action generation and consequence feedback. Experiments across encoders further support applicability across visual representations. These findings support latent intentions as the central planning object and show that world models can directly guide plan construction through coordinated reasoning about intentions and consequences. Code is available at https://github.com/zhuxun132/InJepa.

cs.RO↗
arXiv2026

Towards TEE-Certified DP: Verifiable Differentially Private Training on Legacy GPUs

Wide adoption of machine learning has created growing policy and regulatory demand for protecting sensitive training data, with differential privacy (DP) emerging as a key mechanism. Yet a less-studied problem is how to certify the faithful execution of DP during training: an external verifier should be able to check that a released model was trained with proper DP protection, without accessing the private training data. Existing cryptographic approaches, such as zero-knowledge proofs, provide strong guarantees but often incur prohibitive overhead, in some cases by orders of magnitude. Trusted Execution Environments (TEEs) offer a more efficient alternative, but the multi-GPU TEE support needed for training and fine-tuning large language models remains limited to recent platforms and is absent or inefficient on legacy GPUs. To address this, we propose a practical framework for verifiable DP training using CPU-side TEEs together with untrusted GPUs. Our design addresses a fundamental efficiency-security tension: training entirely inside a CPU TEE is too slow, while unrestricted GPU offloading can allow malicious deviations from DP. We therefore offload expensive gradient computation to GPUs, while using the CPU TEE to efficiently verify the correct enforcement of DP on gradients through probabilistic checking. Our framework detects frequent full deviations from DP with high probability; for the utility-oriented forged-gradient attacks evaluated in this work, sparse deviations provide limited utility benefit and show no measurable additional membership leakage. Experiments further show that our approach nearly achieves a ``free lunch'': it incurs only modest overhead compared with standard GPU-based DP training, while effectively constraining malicious deviations from the claimed DP execution.

cs.CR↗
arXiv2026

EvoGS: Modeling Deformation Evolution for Dynamic Gaussian Splatting

Recent extensions of 3D Gaussian Splatting (3DGS) enable real-time novel view synthesis in dynamic scenes by learning time-conditioned Gaussian deformations. However, existing MLP-based methods typically estimate deformations independently at each timestamp, making them less robust to large or abrupt motions. To address this issue, we propose \textbf{EvoGS}, a 3DGS-based dynamic reconstruction framework that models Gaussian deformation as a temporal evolution process. EvoGS maintains persistent deformation states for each Gaussian, extrapolates future states from historical deformation states, and corrects the predictions with MLP-derived observations. The correction is adaptively weighted using a temporal residual memory and evolution statistics such as deformation velocity and trajectory deviation. To further improve reconstruction quality, EvoGS introduces deformation-aware densification. Clone and split operations are performed along corrected deformation directions, while an uncertainty-aware strategy suppresses densification for Gaussians with unstable deformation histories. Experiments show that EvoGS improves dynamic novel view synthesis quality and achieves competitive performance across benchmarks.

cs.CV↗
arXiv2026

When and What to Teach: Budget-Aware Online Adaptation for Web Agents

Web agents have achieved significant success in automating complex internet tasks but deploying them in real-world environments requires continuous online adaptation. Given that deploying powerful proprietary models remains commercially cost-prohibitive, practitioners must rely on lightweight local models that evolve post-deployment via online teaching from a stronger teacher. However, standard interactive feedback imposes prohibitive costs. We show that conventional trajectory-level preference optimization wastes budget on both unresolvable episodes and redundant execution turns. To resolve these inefficiencies, we propose \textbf{Score-Guided Online Teaching with Budgeted Trajectory Trimming}, a budget-aware framework that systematically orchestrates \textbf{when} and \textbf{what} to teach. Specifically, our framework integrates a solvability-aware teacher gate to dictate \textbf{when} to query the teacher model and a score-guided turn selection mechanism to decide \textbf{what} informative turns to retain. Extensive experiments on MiniWoB and TimeWarp demonstrate that our method achieves comparable first-pass success while reducing teacher calls by 22.6\% and student training compute by 52.1\% on average. Our code is available at https://github.com/zjw131f1fc/budgeted-online-teaching.

cs.AI↗
arXiv2026

Learning Whole-Body Kinetic Coordination for Wheeled-Quadruped Long-Range Throwing

Long-range throwing on unstructured terrain is a key capability for mobile robots in delivery and retrieval tasks, but it requires high release velocity, coordinated whole-body motion, and robustness to terrain-induced disturbances. We present a whole-body kinetic-coordination framework for a wheeled-quadruped manipulator that combines kinetic-chain arm modeling with SQP-based trajectory optimization and a reference-guided reinforcement learning policy for coordinated base motion. The manipulator is first reduced to a kinetic-chain model and optimized under kinematic and dynamic constraints to produce a high-speed throwing reference. On a stationary base, the optimized arm trajectory reaches a release speed of 12.75 m/s and a throwing distance of 16.68 m. When whole-body coordination is enabled, the system further increases the release speed to 16.64 m/s and the throwing distance to 28.25 m. We then integrate the mobility of the wheeled-quadruped platform and validate the complete policy through hardware experiments on flat ground, grass, slopes, and rough roads. The results show that kinetic-chain optimization and whole-body coordination together enable robust long-range throwing across diverse unstructured terrains.

cs.RO↗
arXiv2026

Group-Shared Low-Rank Approximation for Mobile-Efficient Pointwise Convolutions in Large-Kernel CNNs

Large-kernel Convolutional Neural Networks (CNNs) deliver remarkable performance in vision tasks by significantly expanding receptive fields, yet their quadratic parameter growth critically impedes storage-efficient edge deployment. While existing efficient architectures adopt parameter-efficient depthwise separable convolution backbones that leverage techniques like low-rank approximation and weight sharing to compress depthwise convolutions, we identify a critical oversight: pointwise convolutions dominate parameter volume (>87% in models like RepLKNet-31B) and constitute the primary deployment bottleneck on resource-constrained edge devices. This results in prohibitive storage costs and severe memory-loading constraints on resource-limited devices (e.g., smartphones with 4-12 GB Random Access Memory (RAM)). To overcome this, we propose Channel Group-Shared (CGS) low-rank approximation, a novel Singular Value Decomposition (SVD)-based parameter-sharing strategy. CGS constructs a structured low-rank paradigm isomorphic to SVD decomposition, comprising shared (high-parameter-cost) down/up-projection matrices across channel groups within a layer and channel-group-specific (low-parameter-cost) scalable diagonal matrices. This group-sharing design achieves significant parameter reduction. Extensive experiments demonstrate that large-kernel CNNs (RepLKNet, ConvNeXt, SLaK) enhanced with CGS strike an empirically favorable balance between competitive performance and substantially reduced storage costs. Crucially, by alleviating storage constraints, reducing memory bandwidth pressure during loading, and minimizing model loading latency, CGS enables the feasible deployment of pre-trained large-kernel CNN models on edge devices, thereby bridging the gap between high-performance vision models and practical edge deployment.

cs.LG↗
arXiv2026

EUF$^n$: A Decidable Extension to the Theory of Equality with Uninterpreted Functions

The theory of Equality with Uninterpreted Functions (EUF) is fundamental to constraint solving and program verification. Uninterpreted functions abstract concrete implementations, enabling generalization and simplification of theorems and proofs. However, standard EUF restricts function composition to fixed finite depths (\emph{e.g.}, $f^k(x)$ where $k$ is constant). This work extends EUF to EUF$^n$, supporting \emph{parametric composition depth} for unary functions (\emph{e.g.}, $f^n(x)$ where $n$ is a natural number variable). An EUF$^n$ formula can be viewed as a disjunction of infinitely many EUF formulas, each instantiated by an assignment of natural numbers. Its satisfiability is defined by the satisfiability of at least one such instantiated EUF formula. We establish the decidability of the EUF$^n$ satisfiability problem via a \emph{conditional congruence graph (CCG)} algorithm. This approach generalizes the standard congruence closure procedure by maintaining conditional equivalence relations between terms. The algorithm reduces the satisfiability problem to deciding existential sentences in Presburger arithmetic with divisibility, which is a decidable problem, thereby yielding a decision procedure for the quantifier-free fragment of EUF$^n$ with a 2NEXPTIME complexity upper bound. The enhanced expressiveness of EUF$^n$ enables new applications: (1) Encoding a decidable subclass of interleaved Dyck reachability problems where existing over/under-approximations produce false positives/negatives, and (2) Encoding a new decidable subclass of uninterpreted program verification problems.

cs.LO↗
arXiv2026

DPC-Net: Dual-Prior Collaborative Network for All-in-One Image Restoration

All-in-One Image Restoration (AiOIR) aims to handle diverse degradations within a unified model. However, existing methods often overlook image semantics in degradation modeling and lack low-level visual priors during reconstruction, leading to structural distortions and semantic inconsistencies. To address these issues, we propose a novel Dual-Prior Collaborative Network (DPC-Net), which achieves high-quality restoration by jointly exploiting degradation-semantic coupled priors and low-level visual priors. Specifically, degraded images are fed into a Degradation-Aware Network (DAN) to extract degradation-semantic coupled features. To this end, a Vision-Language Model (VLM) supervises DAN by constraining its features distribution, introducing image semantics into the encoding of degradation patterns. A Degradation-Semantic Modulation Module (DSMM) further translates this guidance into degradation-semantic coupling and propagates coupled representations to the decoder. During decoding, knowledge bases provide low-level visual priors, and the Dual-Prior Collaborative Reconstruction Module (DPCR) integrates dual-prior information to guide degradation removal while preserving structure and semantics, producing high-fidelity restored images. Extensive experiments on multiple restoration benchmarks demonstrate that DPC-Net achieves superior performance against state-of-the-art AiOIR methods.

cs.CV↗
arXiv2026

FDABench: A Benchmark for Data Agents on Analytical Queries over Heterogeneous Data

The growing demand for data-driven decision-making has created an urgent need for data agents that can reason over heterogeneous data (databases, documents, web content, images, videos, and audio) to answer complex analytical queries. However, evaluating such agents remains challenging: existing benchmarks often focus on isolated agent capabilities or limited data modalities, lacking comprehensive coverage of heterogeneous data and rigorous evaluation across diverse data agent architectures. To address these challenges, we present FDABench, a benchmark for evaluating data agents' reasoning ability over heterogeneous data in analytical scenarios. Our contributions are threefold: (1) A comprehensive benchmark of 2,007 tasks spanning six data modalities with a unified, multi-granularity evaluation framework. (2) We design PUDDING, an agentic dataset construction framework that leverages LLM generation with iterative expert validation for reliable and scalable benchmark construction. (3) Extensive experiments across diverse data agent architectures, including general analytical agents, semantic operator frameworks, and RAG-based methods, revealing key insights and guidelines for future data agent development. Our data and source code are released at https://github.com/fdabench/FDAbench.

cs.DB↗
arXiv2026

BICPO-VLA: Behavior-Identified Continuation Preference Optimization for Smooth Asynchronous Vision-Language-Action Control

The request-to-handoff gap has three coupled sources: ambiguity about the behavior intended at request time, physical-state drift accumulated during action generation, and residual incompatibility when the new action finally assumes control. BICPO-VLA addresses them in sequence. First, an instruction-aware causal history encoder identifies the behavior supported by the command and current task progress. Second, sequential Haar subspace generation decomposes each action chunk into complementary pairwise scaffold and residual coefficients, enabling two specialized generation stages followed by exact reconstruction. By reducing iterative refinement in the original action space, it shortens the interval over which the robot continues moving before the new chunk becomes available. Finally, BICPO rolls the known outgoing actions to the actual handoff state and applies reference-relative Flow-DPO among behaviorally matched candidates, adapting the generated chunk to the remaining request-to-handoff mismatch without changing its intended behavior.

cs.RO↗
arXiv2026

PBD-AG: Persistent Baseline-Delta Active Graphs with Uncertainty-Aware Inspection for Long-Horizon Service Robots

Long-horizon service robots require persistent world models that can be built autonomously in unseen environments and revised as task-relevant objects change. Existing methods rely on online mapping, which accumulates localization and observation errors, static scene representations that cannot capture persistent object changes, or holistic vision-language predictions that lack verifiable 3D geometric evidence. We present PBD-AG, a persistent baseline-delta active graph framework that decouples robot-verified stable fixtures from revisable dynamic object events. Under our framework, the robot autonomously bootstraps the structural baseline from onboard exploration and inspects discovered fixtures to ground hierarchical object beliefs. PBD-AG maintains reliability-weighted object states over geometry, semantics, identity, existence, and support relations, utilizing a geometric visibility gate to mitigate false deletions under occlusion. Inspection viewpoints are selected by a graph-conditioned policy that balances target coverage, travel cost, collision risk, and redundant observation. Simulation experiments in multiple environments and under controlled dynamic evaluation show higher aggregate coarse-fixture F1 than capability-matched controls, as well as stronger identity continuity and event recall. A qualitative physical-robot demonstration further illustrates integration with onboard sensing, providing a traceable world model for long-horizon robotic perception. The project page of PBD-AG is available at https://shuobao214.github.io/PBD-AG/

cs.RO↗
arXiv2026

M2-SMap: Memory-Efficient Semantic Mapping with Hierarchical Multi-Model Representation

Dense point cloud maps, as a typically used mapping representation, are difficult to deploy on resource-constrained robots because their memory consumption grows rapidly with scene scale. Although compact single-model representations reduce memory cost, their fixed geometric expressiveness is insufficient for structurally diverse environments. Existing multi-model methods improve representational flexibility, yet their feature extraction and model selection are often dominated by local geometry, which can cause overfitting and adhesion between objects. To address these issues, this paper presents M2-SMap, a memory-efficient semantic mapping framework based on hierarchical multi-model representation. First, a hierarchical geometric decomposition partitions RGB-D point clouds into compact Gaussian components. Then, a projection-guided semantic annotation mechanism assigns instance identities to each component. Subsequently, these annotations are incorporated into an object-aware Gaussian fusion strategy. Furthermore, a multi-scale feature extraction strategy separates large planar regions, semantic objects, and complex residual structures, which are respectively represented by bounded planes, object-level superquadrics, and GMM primitives. Experiments on three RGB-D sequences show that M2-SMap runs in real time at no less than 29.37 Hz while achieving the lowest primitive count, with an average reduction of 18.7% over the best baseline. It also reduces the mean per-frame number of measured inter-object adhesion cases from 2.808 to 0, demonstrating efficient and semantically consistent scene representation.

cs.RO↗
arXiv2026

G$^2$ARD-GS: Geometry-Guided Anchor-Regularized Gaussian Splatting Distillation

Dense colored LiDAR maps provide accurate city-scale geometry, but lifting them into 3D Gaussian Splatting (3DGS) retains millions of primitives, making the resulting models costly to store, transmit, render, and adapt. Aggressive primitive reduction alleviates this burden, but can remove the local surface support needed for stable novel-view synthesis and downstream geometric use. We introduce G$^2$ARD-GS, a geometry-guided distillation method that converts a dense Gaussian prior instantiated either as a training-free point-cloud lift or a trained GS model into a compact, reusable representation. G$^2$ARD-GS progressively consolidates the prior into surface-aware representatives, then recovers appearance on the resulting fixed topology under construction-time anchor constraints, with no primitives added or removed during recovery. Under limited supervision, geometry-aware view selection allocates the available view budget. On MatrixCity, G$^2$ARD-GS achieves the best PSNR, SSIM, and LPIPS across matched $5\times$--$30\times$ compression budgets, outperforming PUP by $3.2$--$6.8$,dB in PSNR. When reused as frozen geometry, the compact model improves off-trajectory appearance adaptation by $3.7$--$4.9$,dB over PUP 3D-GS and preserves image-to-model registration accuracy on Cambridge KingsCollege at $30\times$ compression. Project page: https://patrick1159.github.io/gardGS-page/.

cs.CV↗