Search arXiv⌕ Search

arXiv subjects

Wenhua Wu

Publications and source records attributed to Wenhua Wu.

At least 19 recordsLinked to original sources
arXiv2026

TraceRouter++: Causal Semantic Routing Realignment via Optimal Transport

Despite their remarkable capabilities, large foundation models (LFMs) remain susceptible to adversarial manipulation. Current safety intervention methods primarily rely on the \textit{locality hypothesis}, rigidly suppressing isolated neurons or features. However, harmful semantics manifest as distributed, cross-layer circuits, rendering localized ablations both brittle against complex jailbreaks and detrimental to general utility. To bridge this gap, we propose TraceRouter++, a routing-level safety intervention framework that explicitly traces safety-relevant causal routing pathways activated under harmful inputs and realigns their unsafe activation states. Our framework operates in a \textit{Discover-Trace-Realign} paradigm: it first pinpoints a sensitive onset layer via attention divergence and disentangles dense activations into interpretable routing features using sparse autoencoders (SAEs). Subsequently, it maps these features to downstream causal circuits via feature influence scores (FIS). Crucially, departing from rigid suppression paradigms, TraceRouter++ introduces a constrained optimal transport (OT)-based soft routing realignment. By formulating safety intervention as a tractable coordinate-wise marginal optimal transport approximation, our method redirects unsafe activation marginals toward safe-reference marginals within causally identified routing subspaces while preserving non-selected coordinates at the intervention point. This mechanism safely redirects malicious semantic flows while leaving orthogonal computational routes intact. Extensive experiments across representative large language models (LLMs), multimodal large language models (MLLMs), and diffusion models (DMs) show that TraceRouter++ outperforms evaluated baselines, improving adversarial robustness while maintaining a favorable safety-utility trade-off. WARNING: This paper contains unsafe model responses.

cs.CL↗
arXiv2026

CS-LDM: Clinically Guided Structure-Aware Latent Diffusion for Knee Radiographic Forecasting

Knee osteoarthritis (KOA) is a leading cause of physical disability and currently has no curative clinical treatment. Early diagnosis and accurate prognosis are therefore vital for managing its progression. Existing methods mainly predict future severity grades and provide limited visual explanation of structural change. Recent generation-guided approaches synthesize follow-up radiographs for progression assessment, but generated images are often judged by predictive accuracy or image realism, so they may satisfy a grading model while remaining morphologically unreliable. We therefore propose CS-LDM, a clinically guided, structure-aware latent diffusion framework that forecasts patient-specific future knee radiographs from the current X-ray and clinically available current KL grade, using LoRA adaptation, current-grade conditioning, and frozen-teacher diagnostic distillation. Experiments on the public Osteoarthritis Initiative (OAI) dataset show that CS-LDM improves future severity-grade consistency while maintaining competitive image fidelity. Further ordinal, OARSI, ROI-level, and stable/progressed analyses show that radiographic forecasting should be evaluated by balancing diagnostic consistency, anatomical plausibility, and structural preservation.

eess.IV↗
arXiv2026

SuperAI: Merging Capabilities Across Heterogeneous Foundation Models

Enabling the reuse and composition of knowledge and capabilities distributed across foundation models is an important step toward building scalable artificial intelligence (AI) systems. However, architectural differences and incompatible representations make it difficult to transfer and integrate these capabilities through a unified cross-model interface. To address this challenge, we propose SuperAI, a cross-architecture multi-model fusion framework that integrates complementary capabilities from multiple source models into a host model through orthogonal alignment of low-dimensional task-relevant representations. Specifically, we first extract task-relevant representations from the source models and the host model using shared anchor samples, and apply principal component analysis (PCA) to construct low-dimensional functional subspaces with the same dimensionality. Next, we use orthogonal Procrustes mappings to align the source and host coordinate systems, establishing cross-model correspondences while preserving the internal geometry of each source subspace. Finally, we train a lightweight residual multilayer perceptron (MLP) with joint supervision on task outputs and source-model increments, learning input-dependent residual increments that are injected into the host model for multi-model capability fusion. Experiments on three host models across 15 capability domains show that SuperAI achieves higher average domain scores than the evaluated cross-architecture fusion methods and better preserves general capabilities as the number of source models increases. Ablation studies further support the effectiveness of orthogonal alignment, nonlinear residual mapping, and joint supervision.

cs.AI↗
arXiv2026

Do correct answers have stable latent knowledge support?

Large language models are typically evaluated in terms of the correctness of their output. However, output correctness alone does not confirm whether the latent knowledge supporting an answer has stable internal representations. We therefore propose latent state stability (LSS) and knowledge topology stability (KTS) to investigate the stability of individual knowledge states and their relational structure, respectively. Specifically, we first separately average the model's internal representations of the same knowledge under each elicitation condition. Using the mean representation under the baseline condition as a reference, we remove shared shifts to obtain corrected representations. We then formulate LSS as the distance between each corrected representation and its reference representation, normalized against the typical distance between knowledge items of the same type. We formulate KTS as the cross-condition consistency of the ordered pairwise representation distances among knowledge items of the same type. Next, we construct EpiStableBench, which comprises 4,411 items spanning factual knowledge and mathematical reasoning, with 76,766 controlled queries. Across 16 LLMs from four families, representation stability varies substantially even among items answered correctly under the base condition. Within models, higher stability generally corresponds to higher accuracy under held-out elicitation conditions; across models, stability does not consistently increase with model size or overall accuracy. Meanwhile, we present LatentDPO to learn a knowledge-editing policy that accounts for the stability of latent knowledge. Experimental results show that integrating LatentDPO with multiple existing editing methods consistently improves editing success and generalization across different expressions.

cs.CL↗
arXiv2026

Adaptive World Memory 3D Foundation Model for Scalable 3D Mapping, Localization, and Rendering

Recent 3D foundation models enable generalizable geometric reasoning from RGB images but remain limited in persistent memory, scalability, and renderable scene modeling. We present a memory-centric 3D foundation model for scalable robotic localization, reconstruction, and Gaussian rendering. Its core is an adaptive world memory mechanism that combines transformer-based gated updates with test-time temporal-spatial regulation. Learned gates control recurrent memory propagation, while temporal state evolution and spatial observation-state consistency regulate token-wise updates and forgetting over long image sequences. To support large-scale mapping, we organize memory into local submaps and integrate progressive mapping and tracking, loop closure, and SL(4)-based global refinement to maintain local accuracy and global consistency. A Gaussian reconstruction head decodes memory-enhanced features into renderable primitives, unifying camera pose estimation, dense point-cloud reconstruction, and photorealistic rendering within a single model. Experiments on public benchmarks and self-collected datasets from diverse robotic platforms demonstrate improved trajectory accuracy, reconstruction completeness, and rendering quality over existing 3D foundation reconstruction and SLAM baselines. These results support adaptive memory as a foundation for persistent robotic world modeling. The dataset and code will be made publicly available at \href{https://github.com/dtc111111/AWM-3DFM}{https://github.com/dtc111111/AWM-3DFM}.

cs.CV↗
arXiv2026

DIAL-GS: Dynamic Instance Aware Reconstruction for Label-free Street Scenes with 4D Gaussian Splatting

Urban scene reconstruction is critical for autonomous driving, enabling structured 3D representations for data synthesis and closed-loop testing. Supervised approaches rely on costly human annotations and lack scalability, while current self-supervised methods often confuse static and dynamic elements and fail to distinguish individual dynamic objects, limiting fine-grained editing. We propose DIAL-GS, a novel dynamic instance-aware reconstruction method for label-free street scenes with 4D Gaussian Splatting. We first accurately identify dynamic instances by exploiting appearance-position inconsistency between warped rendering and actual observation. Guided by instance-level dynamic perception, we employ instance-aware 4D Gaussians as the unified volumetric representation, realizing dynamic-adaptive and instance-aware reconstruction. Furthermore, we introduce a reciprocal mechanism through which identity and dynamics reinforce each other, enhancing both integrity and consistency. Experiments on urban driving scenarios show that DIAL-GS surpasses existing self-supervised baselines in reconstruction quality and instance-level editing, offering a concise yet powerful solution for urban scene modeling.

cs.CV↗
arXiv2026

RoGS: Adaptive Meshgrid Gaussian for Large-Scale Road Surface Mapping

Road surface mapping plays a crucial role in autonomous driving, supporting high-definition map generation, lane-level perception, and automatic road annotation. Recent mesh-based road surface reconstruction methods have shown promising results, but they still suffer from limited reconstruction quality and high optimization cost, especially in large-scale driving scenarios. To address these limitations, we propose ROADGS-T, a robust and efficient large-scale road surface mapping framework based on adaptive meshgrid Gaussian representation. Specifically, we model the road surface by placing 2D Gaussian surfels on a meshgrid, where each surfel explicitly stores color, semantic, and geometric information. Compared with conventional mesh-based representations and 3D Gaussian primitives, the proposed meshgrid Gaussian representation better matches the thin-surface property of roads while significantly reducing redundant primitives and overlap during optimization. To further improve representation efficiency and structural fidelity, we introduce a road-structure-aware adaptive meshgrid strategy, which allocates denser Gaussian surfels to geometrically or semantically complex regions, such as lane markings, road boundaries, and height discontinuities, while maintaining a compact representation in flat road areas. Moreover, instead of relying on a single nearest vehicle pose, we design a trajectory-consistency-guided pose-robust refinement strategy, which estimates local surface priors from multiple neighboring poses and adaptively weights pose-guided height regularization according to their geometric consistency.

cs.CV↗
arXiv2026

No Single Neuron of Failure: Distributed Safety Alignment Against White-Box Attacks

With the rapid release of open-weight large foundation models, safety threats are shifting from black-box jailbreaks to neuron-level white-box attacks that directly identify and manipulate safety-related neurons. Existing alignment methods often investigate the safety behavior on a small number of neurons, creating fragile single point of failure with limited redundancy. To address this issue, we propose distributed safety alignment (DSA), which redundantly encodes safety capabilities across multiple computational neurons, ensuring that the model maintains its safety baseline even when critical safety neurons are disrupted. Specifically, we localize the intervention to the inputs of the down-projection layers in language-side feed-forward networks and treat each feature coordinate as the activation of an individual neuron. DSA then combines neuron activations with loss gradients to compute a direction-aware first-order Taylor score that globally identifies the neurons that contribute most to the current refusal behavior of the model. Finally, targeted disruption via deterministic masking and stochastic dropout is coupled, forcing the model to abandon narrow safety neurons and redundantly encode safety behavior across multiple compensatory neurons. Extensive experiments show that DSA substantially improves robustness against white-box neuron-level safety attacks while preserving the model's general language and multimodal utility.

cs.AI↗
arXiv2026

WeatherCity: Urban Scene Reconstruction with Controllable Multi-Weather Transformation

Editable high-fidelity 4D scenes are crucial for autonomous driving, as they can be applied to end-to-end training and closed-loop simulation. However, existing reconstruction methods are primarily limited to replicating observed scenes and lack the capability for diverse weather simulation. While image-level weather editing methods tend to introduce scene artifacts and offer poor controllability over the weather effects. To address these limitations, we propose \textbf{WeatherCity}, a novel framework for 4D urban scene reconstruction and weather editing. Specifically, we leverage a text-guided image editing model to achieve flexible editing of image weather backgrounds. To tackle the challenge of multi-weather modeling, we introduce a novel weather Gaussian representation based on shared scene features and dedicated weather-specific decoders. This representation is further enhanced with a content consistency optimization, ensuring coherent modeling across different weather conditions. Additionally, we design a physics-driven model that simulates dynamic weather effects through particles and motion patterns. Extensive experiments on multiple datasets and various scenes demonstrate that WeatherCity achieves flexible controllability, high fidelity, and temporal consistency in 4D reconstruction and weather editing. Our framework not only enables fine-grained control over weather conditions (e.g., light rain and heavy snow) but also supports object-level manipulation within the scene. Codes are released at https://github.com/IRMVLab/WeatherCity.

cs.CV↗
arXiv2026

Compact 3D Gaussian Splatting For Dense Visual SLAM

Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number of redundant 3D Gaussian ellipsoids, leading to high memory and storage costs, and slow training speed. To address the limitation, we propose a compact 3D Gaussian Splatting SLAM system that reduces the number and the parameter size of Gaussian ellipsoids. A sliding window-based masking strategy is first proposed to reduce the redundant ellipsoids. Then we observe that the covariance matrix (geometry) of most 3D Gaussian ellipsoids are extremely similar, which motivates a novel geometry codebook to compress 3D Gaussian geometric attributes, i.e., the parameters. Robust and accurate pose estimation is achieved by a global bundle adjustment method with reprojection loss. Extensive experiments demonstrate that our method achieves faster training and rendering speed while maintaining the state-of-the-art (SOTA) quality of the scene representation.

cs.CV↗
arXiv2026

Latent Anomaly Knowledge Excavation: Unveiling Sparse Sensitive Neurons in Vision-Language Models

Large-scale vision-language models (VLMs) exhibit remarkable zero-shot capabilities, yet the internal mechanisms driving their anomaly detection (AD) performance remain poorly understood. Current methods predominantly treat VLMs as black-box feature extractors, assuming that anomaly-specific knowledge must be acquired through external adapters or memory banks. In this paper, we challenge this assumption by arguing that anomaly knowledge is intrinsically embedded within pre-trained models but remains latent and under-activated. We hypothesize that this knowledge is concentrated within a sparse subset of anomaly-sensitive neurons. To validate this, we propose latent anomaly knowledge excavation (LAKE), a training-free framework that identifies and elicits these critical neuronal signals using only a minimal set of normal samples. By isolating these sensitive neurons, LAKE constructs a highly compact normality representation that integrates visual structural deviations with cross-modal semantic activations. Extensive experiments on industrial AD benchmarks demonstrate that LAKE achieves state-of-the-art performance while providing intrinsic, neuron-level interpretability. Ultimately, our work advocates for a paradigm shift: redefining anomaly detection as the targeted activation of latent pre-trained knowledge rather than the acquisition of a downstream task.

cs.CV↗
arXiv2026

OrthoEraser: Coupled-Neuron Orthogonal Projection for Concept Erasure

Text-to-image (T2I) models face significant safety risks from adversarial induction, yet current concept erasure methods often cause collateral damage to benign attributes when suppressing selected neurons entirely. This occurs because sensitive and benign semantics exhibit non-orthogonal superposition, sharing activation subspaces where their respective vectors are inherently entangled. To address this issue, we propose OrthoEraser, which leverages sparse autoencoders (SAE) to achieve high-resolution feature disentanglement and subsequently redefines erasure as an analytical orthogonalization projection that preserves the benign manifold's invariance. OrthoEraser first employs SAE to decompose dense activations and segregate sensitive neurons. It then uses coupled neuron detection to identify non-sensitive features vulnerable to intervention. The key novelty lies in an analytical gradient orthogonalization strategy that projects erasure vectors onto the null space of the coupled neurons. This orthogonally decouples the sensitive concepts from the identified critical benign subspace, effectively preserving non-sensitive semantics. Experimental results on safety demonstrate that OrthoEraser achieves high erasure precision, effectively removing harmful content while preserving the integrity of the generative manifold, and significantly outperforming SOTA baselines. This paper contains results of unsafe models.

cs.CV↗
arXiv2026

CAD-SLAM: Consistency-Aware Dynamic SLAM with Dynamic-Static Decoupled Mapping

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments, where moving objects violate the static-world assumption and introduce inconsistent observations that degrade both camera tracking and map reconstruction. This motivates two fundamental problems: robustly identifying dynamic objects and modeling them online. To address these limitations, we propose CAD-SLAM, a Consistency-Aware Dynamic SLAM framework with dynamic-static decoupled mapping. Our key insight is that dynamic objects inherently violate cross-view and cross-time scene consistency. We detect object motion by analyzing geometric and texture discrepancies between historical map renderings and real-world observations. Once a moving object is identified, we perform bidirectional dynamic object tracking (both backward and forward in time) to achieve complete sequence-wise dynamic recognition. Our consistency-aware dynamic detection model achieves category-agnostic, instantaneous dynamic identification, which effectively mitigates motion-induced interference during localization and mapping. In addition, we introduce a dynamic-static decoupled mapping strategy that employs a temporal Gaussian model for online incremental dynamic modeling. Experiments conducted on multiple dynamic datasets demonstrate the flexible and accurate dynamic segmentation capabilities of our method, along with the state-of-the-art performance in both localization and mapping.

cs.CV↗
arXiv2026

TraceRouter: Robust Safety for Large Foundation Models via Path-Level Intervention

Despite their capabilities, large foundation models (LFMs) remain susceptible to adversarial manipulation. Current defenses predominantly rely on the "locality hypothesis", suppressing isolated neurons or features. However, harmful semantics act as distributed, cross-layer circuits, rendering such localized interventions brittle and detrimental to utility. To bridge this gap, we propose \textbf{TraceRouter}, a path-level framework that traces and disconnects the causal propagation circuits of illicit semantics. TraceRouter operates in three stages: (1) it pinpoints a sensitive onset layer by analyzing attention divergence; (2) it leverages sparse autoencoders (SAEs) and differential activation analysis to disentangle and isolate malicious features; and (3) it maps these features to downstream causal pathways via feature influence scores (FIS) derived from zero-out interventions. By selectively suppressing these causal chains, TraceRouter physically severs the flow of harmful information while leaving orthogonal computation routes intact. Extensive experiments demonstrate that TraceRouter significantly outperforms state-of-the-art baselines, achieving a superior trade-off between adversarial robustness and general utility. Our code will be publicly released. WARNING: This paper contains unsafe model responses.

cs.CV↗
arXiv2026

DNA: Uncovering Universal Latent Forgery Knowledge

As generative AI achieves hyper-realism, superficial artifact detection has become obsolete. While prevailing methods rely on resource-intensive fine-tuning of black-box backbones, we propose that forgery detection capability is already encoded within pre-trained models rather than requiring end-to-end retraining. To elicit this intrinsic capability, we propose the discriminative neural anchors (DNA) framework, which employs a coarse-to-fine excavation mechanism. First, by analyzing feature decoupling and attention distribution shifts, we pinpoint critical intermediate layers where the focus of the model logically transitions from global semantics to local anomalies. Subsequently, we introduce a triadic fusion scoring metric paired with a curvature-truncation strategy to strip away semantic redundancy, precisely isolating the forgery-discriminative units (FDUs) inherently imprinted with sensitivity to forgery traces. Moreover, we introduce HIFI-Gen, a high-fidelity synthetic benchmark built upon the very latest models, to address the lag in existing datasets. Experiments demonstrate that by solely relying on these anchors, DNA achieves superior detection performance even under few-shot conditions. Furthermore, it exhibits remarkable robustness across diverse architectures and against unseen generative models, validating that waking up latent neurons is more effective than extensive fine-tuning.

cs.CV↗
arXiv2026

VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenes

3D Gaussian Splatting has recently shown promising results in dense visual SLAM. However, existing 3DGS-based SLAM methods are all constrained to small-room scenarios and struggle with memory explosion in large-scale scenes and long sequences. To this end, we propose VPGS-SLAM, the first 3DGS-based large-scale RGBD SLAM framework for both indoor and outdoor scenarios. We design a novel voxel-based progressive 3D Gaussian mapping method with multiple submaps for compact and accurate scene representation in large-scale and long-sequence scenes. This allows us to scale up to arbitrary scenes and improves robustness (even under pose drifts). In addition, we propose a 2D-3D fusion camera tracking method to achieve robust and accurate camera tracking in both indoor and outdoor large-scale scenes. Furthermore, we design a 2D-3D Gaussian loop closure method to eliminate pose drift. We further propose a submap fusion method with online distillation to achieve global consistency in large-scale scenes when detecting a loop. Experiments on various indoor and outdoor datasets demonstrate the superiority and generalizability of the proposed framework. The code will be open source on https://github.com/dtc111111/vpgs-slam.

cs.CV↗
arXiv2026

HarmoniAD: Harmonizing Local Structures and Global Semantics for Anomaly Detection

Anomaly detection is crucial in industrial product quality inspection. Failing to detect tiny defects often leads to serious consequences. Existing methods face a structure-semantics trade-off: structure-oriented models (such as frequency-based filters) are noise-sensitive, while semantics-oriented models (such as CLIP-based encoders) often miss fine details. To address this, we propose HarmoniAD, a frequency-guided dual-branch framework. Features are first extracted by the CLIP image encoder, then transformed into the frequency domain, and finally decoupled into high- and low-frequency paths for complementary modeling of structure and semantics. The high-frequency branch is equipped with a fine-grained structural attention module (FSAM) to enhance textures and edges for detecting small anomalies, while the low-frequency branch uses a global structural context module (GSCM) to capture long-range dependencies and preserve semantic consistency. Together, these branches balance fine detail and global semantics. HarmoniAD further adopts a multi-class joint training strategy, and experiments on MVTec-AD, VisA, and BTAD show state-of-the-art performance with both sensitivity and robustness.

cs.CV↗
arXiv2025

Reloc-VGGT: Visual Re-localization with Geometry Grounded Transformer

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates. However, the late motion average is often insufficient for effectively integrating spatial information, and its accuracy degrades in complex environments. In this paper, we present the first visual localization framework that performs multi-view spatial integration through an early-fusion mechanism, enabling robust operation in both structured and unstructured environments. Our framework is built upon the VGGT backbone, which encodes multi-view 3D geometry, and we introduce a pose tokenizer and projection module to more effectively exploit spatial relationships from multiple database views. Furthermore, we propose a novel sparse mask attention strategy that reduces computational cost by avoiding the quadratic complexity of global attention, thereby enabling real-time performance at scale. Trained on approximately eight million posed image pairs, Reloc-VGGT demonstrates strong accuracy and remarkable generalization ability. Extensive experiments across diverse public datasets consistently validate the effectiveness and efficiency of our approach, delivering high-quality camera pose estimates in real time while maintaining robustness to unseen environments. Our code and models will be publicly released upon acceptance.https://github.com/dtc111111/Reloc-VGGT.

cs.CV↗