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Xiang Gu

Publications and source records attributed to Xiang Gu.

At least 19 recordsLinked to original sources
arXiv2026

Commanding at the Speed of Sound: Audio-Centric Referring Expression Segmentation for Aerial Scenes

Referring expression segmentation (RES) aims to localize targets at the pixel level guided by human instructions. However, current models predominantly follow a text-centric paradigm that treats discrete text as the primary interaction medium for these human instructions. This assumption is especially limiting in unmanned aerial vehicle (UAV) applications, where rapid response, hands-free operation, and natural communication are often critical. In this paper, we reconstruct UAV referring expression segmentation through an audio-centric perspective. Grounded in information theory, we demonstrate that raw audio provides a higher upper bound for extracting rich semantic features than transcribed text. To achieve this, we construct an audio-driven UAV referring expression segmentation benchmark named Aerial-AudioRES by augmenting VisDrone with synthesized speech, forming "audio-text-image-mask" quadruples. Specifically, we employ an ambiguity filtering mechanism to ensure referential uniqueness, and incorporate eight distinct timbres alongside 4 realistic noises to simulate authentic environments. To drive the paradigm shift from text-centric to audio-centric, we propose the end-to-end Audio-centric Referring Expression Segmentation Network (ARES-Net). Distinct from discrete text-visual matching, our approach learns to establish a direct soft alignment between continuous acoustic manifolds and multi-scale visual representations. Comprehensive experiments show that our method obtains a peak accuracy of 64.23% in oIoU and demonstrates robust generalization on a collected real-human test set. Furthermore, it significantly reduces total interaction latency to one-third of the text-based method. Our code is available at https://github.com/LemonGauss/ARES-Net.

cs.SD↗
arXiv2026

UBD-Bench: Benchmarking and Analyzing Unimodal Branch Degradation in Multimodal Perception for Autonomous Driving

Multimodal perception improves autonomous-driving performance by combining complementary sensor information. However, stronger multimodal predictions do not necessarily imply stronger representations in each modality-specific branch. Such branch-level weaknesses can remain hidden in conventional output-level evaluation. We introduce UBD-Bench, a systematic benchmark for studying unimodal branch degradation (UBD) in multimodal perception. UBD-Bench uses a Paired Frozen-Branch Probe to compare the task-relevant representation quality of the same modality after independent unimodal training and multimodal joint training under matched decoding conditions. Across four autonomous-driving perception tasks and 10 models, we find that Camera branches consistently degrade after multimodal joint training, whereas LiDAR branches exhibit weaker and more model-dependent changes, revealing a pronounced modality asymmetry. Hierarchical probing further shows that Camera-branch degradation extends from the visual backbone through the Camera-to-BEV pathway and is most severe at the pre-fusion Camera BEV representation. Guided by this diagnosis, we introduce unimodal-to-multimodal distillation at the degraded representation. This intervention consistently improves both Camera-branch Probe performance and full-model performance across all four tasks. These results show that multimodal gains can coexist with degraded unimodal representations, highlighting branch-level representation quality as an important dimension for evaluating and improving multimodal perception.

cs.CV↗
arXiv2026

First achievement of 100 million degree electron temperatures in a spherical torus: the EXL-50U

Here,we report an ST plasma in which Thomson scattering measures a central electron temperature exceeding 8.6 keV (100 million degrees kelvin) on the EXL-50U spherical torus device.The high-temperature phase is obtained at low density by sequential operation of two 50 GHz ECRH systems: ordinary-mode (O-mode) ECRH3 followed by extraordinary-mode (X-mode) ECRH4. In contrast to neutral-beam-heated high-ion-temperature ST scenarios, the discharge is sustained by ECRH only.

physics.plasm-ph↗
arXiv2026

Mode 0: Architecture, Risk Taxonomy, and Standardization Pathway for RCU-Assisted V2X Safety Communication

The 3GPP V2X resource allocation framework offers two entity classes for coordinating vehicle communication --- base-station scheduling and autonomous vehicle selection --- a design space we show to be structurally incomplete for safety-critical coordination. We propose Mode 0, a third entity class centered on the Roadside Computing Unit (RCU): infrastructure integrating elevated sensing, sidelink communication, and local computation, owned by traffic management authorities rather than network operators. We formalize Mode 0's subfamily taxonomy (Mode 0a through 0c), its traffic risk taxonomy and mandatory-escalation boundary, its cross-domain coexistence with Modes 1--4, and its standardization pathway. Of the three failure modes motivating this proposal --- scheduling saturation, occlusion-driven information gaps, and an institutional authority gap during severe hazards --- only scheduling is evaluated by simulation; information and authority are argued architecturally and evidenced by independent deployment convergence across Chinese local and industry-alliance standards, Chinese operator infrastructure, and European and US C-V2X programs, properties no channel-level simulation can instantiate. In a multi-agent reinforcement learning simulation (88 training runs, 95% confidence intervals), per-vehicle policies (Mode 0c) raise worst-interval delivery reliability at the critical safety load from 0.217 under shared per-class policies (Mode 0a) to 0.792, cutting lost safety messages from 38% to 6%. An idealized model of standardized sensing-based semi-persistent scheduling loses 10% at the same load, and per-vehicle coordination more than halves the longest gaps between safety updates against it (3.9 against 8.4 message periods). With spare spectrum, a safety partition sized by the RCU delivers every safety message. We call for a 3GPP study item to formalize Mode 0.

cs.NI↗
arXiv2026

Binding Multiple Modalities via Multimodal Wasserstein Barycenter

Multimodal learning beyond two modalities commonly leverages a specific modality (e.g., text) to bind other modalities. However, how to establish a more balanced representation space that approximates shared semantics while respecting the holistic geometry of $n$-modal data remains challenging. In this work, we present BaryBind, which aims to transport the specific modality towards the Wasserstein barycenter (WB) optimized across all modalities and introduces a volumetric alignment objective to establish a unified semantic space around the WB embedding. Specifically, we project specific modalities to the WB, which minimizes the average Wasserstein distances to multimodal distributions and serves as the anchor for subsequent alignment. We then construct a barycenter simplex, whose volume is taken as a similarity metric for global alignment centered at the WB. Experiments show that BaryBind achieves competitive performance in text-video-audio retrieval, classification, videoQA, and cross-modal generation tasks, along with robustness under modality absence and scalability to more than three modalities. Code is released at https://github.com/xl-tang3/BaryBind.

cs.LG↗
arXiv2026

State-Space Model-Enabled Reinforcement Learning for Magnetic Configuration Controlon EXL-50U

Accurate feedback control of the plasma current ($I_p$) and centroid position $(R_c,Z_c)$ is essential for the stable operation of spherical torus (ST) plasmas. Conventional proportional-integral-derivative (PID) controllers require extensive manual tuning and struggle with the fast, strongly coupled dynamics that arise as plasma performance improves. Reinforcement learning (RL) has recently emerged as a promising alternative to such complex magnetic control problems, yet its practical deployment on ST devices remains challenging. This paper presents a practical RL controller for the EXL-50U ST, trained within a rigid RZIP state-space model (SSM) that enables efficient offline policy learning. A lightweight plasma position reconstructor is developed to estimate $(R_c,Z_c)$ from magnetic probe signals within the real-time control cycle. The trained policy is seamlessly deployed on the EXL-50U plasma control system, achieving stable regulation of $I_p$ and $(R_c,Z_c)$ and sustaining discharges up to 650 ms under RL control. These results demonstrate the feasibility and practical potential of model-informed RL for magnetic configuration control in ST devices, offering a promising direction beyond conventional PID-based schemes.

physics.plasm-ph↗
arXiv2026

Advantage-level Aggregation Reinforcement Learning for X-point Target Magnetic Configuration Control in an EXL-50U Experiment-Calibrated Simulation Environment

Managing divertor heat loads is a central challenge for compact, high-power tokamaks. To increase local flux expansion and decouple the dissipation volume from the core, EHL-2 adopts the X-point target (XPT) divertor. This requires the secondary X-point to remain on the divertor leg; displacement degrades the topology and exhaust geometry. Current experiments, including EXL-50U discharges, rely on precomputed feedforward waveforms with PID loops on global quantities. Lacking dedicated closed-loop feedback for the secondary null, XPT operation is repeatable but not routine. We formulate XPT feedback as a multi-objective reinforcement learning (RL) control problem in a free-boundary environment calibrated to EXL-50U discharge #13906. To address strong coupling among plasma current, shape, and null constraints - where reward scalarisation collapses objective-specific temporal credit - we develop Advantage Aggregation (AdvA). AdvA preserves objective-wise temporal credit before worst-objective-aware nonlinear scalarisation and introduces a residual correction to policy updates. AdvA-PPO is evaluated against Reward-PPO and a feedforward-plus-PID baseline under nominal operation, measurement uncertainties, and unseen initial equilibria. On a 500 ms rollout, AdvA-PPO raises the mean worst-channel score from 0.23 to 0.81 over Reward-PPO, reducing X-point flux RMSE by ~20x. Under combined measurement uncertainties, it is the only learned controller completing the horizon while retaining a usable XPT shape. Multi-initialization fine-tuning enables a single AdvA-PPO policy to complete full-horizon operation across divertor and limiter initial equilibria. These results provide a simulation-based foundation for future real-time XPT validation on EXL-50U.

physics.plasm-ph↗
arXiv2026

Reinforcement learning for vertical position control on the EXL-50U spherical tokamak

Vertical position control is essential for sustaining high-performance operation in spherical tokamaks, where increased plasma elongation introduces stringent requirements on fast and robust stabilization. This work presents an experimentally validated reinforcement-learning(RL)-based vertical position control framework for the EXL-50U spherical tokamak. A high-fidelity discharge-reconstructed simulation environment is developed by integrating physics-based plasma-circuit models with experimental equilibrium information, enabling systematic controller synthesis and sim-to-real evaluation. Within this framework, RL is benchmarked in simulation against operational proportional--integral--derivative (PID) and model-based linear quadratic regulator (LQR) controllers under identical plant dynamics, actuator constraints, and measurement imperfections.Simulation results show that RL achieves tracking accuracy comparable to PID with consistently lower vertical-stabilization coil effort, while lightweight integral compensation improves robustness against residual model--plant mismatch. The RL controller is subsequently deployed on EXL-50U for closed-loop experiments. Across more than ten discharges with RL takeover, stable vertical regulation is achieved within the controlled windows. For seven representative discharges, RL maintains millimetre-scale tracking accuracy comparable to the operational PID controller (MAE typically ~ 1-5 mm) while consistently reducing actuator effort. These results demonstrate the feasibility of learning-based plasma control on a real spherical tokamak and establish a practical pathway toward future fusion control systems.

physics.plasm-ph↗
arXiv2026

Coupled Optimal Transport with Landmark Constraints

Existing optimal transport (OT) models primarily seek an OT map or plan between distributions by minimizing a prescribed transport cost or distortion. However, minimizing transport cost or distortion alone may fail to identify a geometrically meaningful transformation between the two distributions. To address this limitation, this paper proposes a novel coupled OT framework that leverages a small number of annotated landmarks to guide the recovery of an underlying deformation governing the distribution transformation. The coupled OT framework integrates the optimization of the transport plan and the deformation field into a unified model, where the landmark-guided deformation field and the cost-driven transport plan are coupled through a mutual-consistency constraint. As a result, the deformation is jointly determined by the annotated landmarks and cost-driven distribution matching. The proposed framework provides a principled connection between landmark-based registration and transport-based distribution matching, enabling the recovery of transport maps from sparse geometric supervision. We establish the well-definedness of the proposed model in a general variational setting and develop a finite-element-based numerical algorithm for computation whose convergence properties are systematically analyzed. The practical effectiveness of the proposed approach is verified in shape matching.

cs.CV↗
arXiv2026

Keypoint-Guided Optimal Transport: Models, Algorithms, and Applications

Existing Optimal Transport (OT) methods mainly derive the optimal transport plan/matching under the criterion of transport cost/distance minimization, which may cause incorrect matching in some cases. In real applications, annotating a few matched keypoints across domains is reasonable or even efortless in annotation burden. It is valuable to investigate how to leverage the annotated keypoints to guide the correct matching in OT. In this paper, we propose a novel KeyPoint-Guided model by ReLation preservation (KPG-RL)that searches for the optimal matching (i.e., transport plan) guided by the keypoints in OT.KPG-RL exploits a mask-based constraint of the transport plan to preserve the matching of keypoint pairs in transport, and guides the matching by relation of each data point to the keypoints. The KPG-RL is developed in both balanced and unbalanced/partial transport settings in Kantorovich and Gromov-Wasserstein formulations. Moreover, we deduce the dual formulation of $χ^2$-regularized KPG-RL model, from which we learn the transport based on deep learning techniques, scaling better to larger numbers of data. With the learned transport plan, two novel neural transport strategies, named manifold barycentric projection and manifold sampling, are developed to transport source data to the target domain data manifold. As applications, we apply the proposed approach to the heterogeneous domain adaptation, multi-omic single-cell alignment, and image-to-image translation. Experiments verifed the efectiveness of our approach.

cs.CV↗
arXiv2026

A Residual-Shell-Based Lower Bound for Ollivier-Ricci Curvature

Ollivier-Ricci curvature (ORC), defined via the Wasserstein distance that captures rich geometric information, has received growing attention in both theory and applications. However, the high computational cost of Wasserstein distance evaluation has significantly limited the broader practical use of ORC. To alleviate this issue, previous work introduced a computationally efficient lower bound as a proxy for ORC based on 1-hop random walks, but this approach empirically exhibits large gaps from the exact ORC. In this paper, we establish a substantially tighter lower bound for ORC than the existing lower bound, while retaining much lower computational cost than exact ORC computation, with practical speedups of tens of times. Moreover, our bound is not restricted to 1-hop random walks, but also applies to k-hop random walks (k > 1). Experiments on several fundamental graph structures demonstrate the effectiveness of our bound in terms of both approximation accuracy and computational efficiency.

cs.LG↗
arXiv2026

CogGen: Cognitive-Load-Inspired Fully Unsupervised Deep Generative Modeling for Compressively Sampled MRI Reconstruction

Fully unsupervised deep generative modeling (FU-DGM) offers significant potential for compressively sampled magnetic resonance imaging (CS-MRI) reconstruction. Representative FU-DGM formulations, such as deep image prior (DIP) and implicit neural representation (INR), employ architectural bias to induce a low-dimensional manifold in the image space that aligns with the forward observation. However, as the underlying inverse system is highly ill-posed, prolonged iterative fitting in FU-DGM typically leads to poor efficiency and noise amplification. In this paper, guided by the cognitive principle of easy-to-hard learning, we propose CogGen, an FU-DGM framework that reformulates CS-MRI reconstruction as a staged inversion problem. Specifically, CogGen implements an self-paced curriculum learning (SPCL)-driven progressive scheduling strategy through an MRI-aware dual-threshold weighting criterion, which adaptively regulates k-space measurement participation. The data-consistency residual thresholding evaluates the fitting reliability of the current generator, while the k-space radius thresholding controls stage-wise measurement exposure, thereby avoiding uniform fitting throughout optimization. Theoretically, our analysis shows that, when early stages favor easy-to-fit measurements, CogGen yields a reduced local sufficient-iteration bound and a smaller cumulative noise-amplification bound, explaining the improved convergence behavior and reconstruction fidelity of CogGen within a finite iteration budget. Numerical experiments demonstrate that both CogGen instantiations, CogGen-DIP and CogGen-INR, achieve superior performance over prevailing CS-MRI reconstruction techniques, including unsupervised and supervised pipelines.

eess.IV↗
arXiv2026

The DAWN of World-Action Interactive Models

A plausible scene evolution depends on the maneuver being considered, while a good maneuver depends on how the scene may evolve. Existing World Action Models (WAMs) largely miss this reciprocity, treating world prediction and action generation as either isolated parallel branches or rigid predict-then-plan pipelines. We formalize this perspective as World-Action Interactive Models (WAIMs), and instantiate it in autonomous driving with \textbf{DAWN} (\textbf{D}enoising \textbf{A}ctions and \textbf{W}orld i\textbf{N}teractive model), a simple yet strong latent generative baseline. DAWN operates in a compact semantic latent space and couples a \emph{World Predictor} with a \emph{World-Conditioned Action Denoiser}: the predicted world hypothesis conditions action denoising, while the denoised action hypothesis is fed back to update the world prediction, so that both are recursively refined during inference. Rather than eliminating test-time world evolution altogether or rolling out the full future in pixel space, DAWN performs a short explicit latent rollout that is sufficient to support long-horizon trajectory generation in complex interactive scenes. Experiments show that DAWN achieves strong planning performance and favorable safety-related results across multiple autonomous driving benchmarks. More broadly, our results suggest that interactive world-action generation is a principled path toward truly actionable world models.

cs.CV↗
arXiv2026

Learning Continuous Wasserstein Barycenter Space for Generalized All-in-One Image Restoration

Despite substantial advances in all-in-one image restoration for addressing diverse degradations within a unified model, existing methods remain vulnerable to out-of-distribution degradations, thereby limiting their generalization in real-world scenarios. To tackle the challenge, this work is motivated by the intuition that multisource degraded feature distributions are induced by different degradation-specific shifts from an underlying degradation-agnostic distribution, and recovering such a shared distribution is thus crucial for achieving generalization across degradations. With this insight, we propose BaryIR, a representation learning framework that aligns multisource degraded features in the Wasserstein barycenter (WB) space, which models a degradation-agnostic distribution by minimizing the average of Wasserstein distances to multisource degraded distributions. We further introduce residual subspaces, whose embeddings are mutually contrasted while remaining orthogonal to the WB embeddings. Consequently, BaryIR explicitly decouples two orthogonal spaces: a WB space that encodes the degradation-agnostic invariant contents shared across degradations, and residual subspaces that adaptively preserve the degradation-specific knowledge. This disentanglement mitigates overfitting to in-distribution degradations and enables adaptive restoration grounded on the degradation-agnostic shared invariance. Extensive experiments demonstrate that BaryIR performs competitively against state-of-the-art all-in-one methods. Notably, BaryIR generalizes well to unseen degradations (\textit{e.g.,} types and levels) and shows remarkable robustness in learning generalized features, even when trained on limited degradation types and evaluated on real-world data with mixed degradations.

cs.CV↗
arXiv2026

DREAM: Dynamic Red-teaming across Environments for AI Models

Large Language Models (LLMs) are increasingly used in agentic systems, where their interactions with diverse tools and environments create complex, multi-stage safety challenges. However, existing benchmarks mostly rely on static, single-turn assessments that miss vulnerabilities from adaptive, long-chain attacks. To fill this gap, we introduce DREAM, a framework for systematic evaluation of LLM agents against dynamic, multi-stage attacks. At its core, DREAM uses a Cross-Environment Adversarial Knowledge Graph (CE-AKG) to maintain stateful, cross-domain understanding of vulnerabilities. This graph guides a Contextualized Guided Policy Search (C-GPS) algorithm that dynamically constructs attack chains from a knowledge base of 1,986 atomic actions across 349 distinct digital environments. Our evaluation of 12 leading LLM agents reveals a critical vulnerability: these attack chains succeed in over 70% of cases for most models, showing the power of stateful, cross-environment exploits. Through analysis of these failures, we identify two key weaknesses in current agents: contextual fragility, where safety behaviors fail to transfer across environments, and an inability to track long-term malicious intent. Our findings also show that traditional safety measures, such as initial defense prompts, are largely ineffective against attacks that build context over multiple interactions. To advance agent safety research, we release DREAM as a tool for evaluating vulnerabilities and developing more robust defenses.

cs.CR↗
arXiv2026

E$^2$AT: Multimodal Jailbreak Defense via Dynamic Joint Optimization for Multimodal Large Language Models

Research endeavors have been made in learning robust Multimodal Large Language Models (MLLMs) against jailbreak attacks. However, existing methods for improving MLLMs' robustness still face critical challenges: \ding{172} how to efficiently tune massive weight parameters and \ding{173} how to ensure robustness against attacks across both visual and textual modalities. To this end, we propose an \textbf{E}fficient \textbf{E}nd-to-end \textbf{A}dversarial \textbf{T}raining (E$^2$AT) framework for both visual and textual adversarial attacks. Specifically, for the visual aspect, E$^2$AT incorporates an efficient projector-based AT module that aligns the attack samples at the feature level. For training objectives, we propose a Dynamic Joint Multimodal Optimization (DJMO) strategy to enhance generalization ability against jailbreak attacks by dynamically adjusting weights between normal and adversarial objectives. Extensive experiments are conducted with five major jailbreak attack methods across three mainstream MLLMs. Results demonstrate that our E$^2$AT achieves the state-of-the-art performance, outperforming existing baselines by an average margin of 34\% across text and image modalities, while maintaining clean task performance. Furthermore, evaluations of real-world embodied intelligent systems highlight the practical applicability of E$^2$AT, paving the way for the development of more secure and reliable multimodal systems. Our code is available on \href{https://anonymous.4open.science/r/E2AT_568}{\textcolor{red}{https://anonymous.4open.science/r/E2AT\_568}}.

cs.CV↗
arXiv2025

Non-Inductive Current Start-Up Using Multi-Harmonic Electron Cyclotron Wave and Current Ramp-Up Through Combined Electron Cyclotron Wave and Ohmic Heating in EXL-50U Spherical Torus

The non-inductive current start-up by multi-harmonic electron cyclotron wave has been systematically investigated in the EXL-50U spherical torus. Significant enhancements of the driven current with increasing number of resonance layers have been demonstrated by variation of the number of harmonic resonance layers of the ECW through adjustment of the magnetic field or plasma cross section. The critical role of multi-harmonic ECW in enhancing the driven current has been experimentally verified for the first time. To explain the related experimental observations, a physical mechanism involving multi-harmonic heating, multiple reflections, and multi-pass absorption - leading to the generation of high-energy electrons via X-mode wave or electron Bernstein wave has been proposed. The current drive capacity of the first harmonic extraordinary mode of the ECW has also been experimentally confirmed for the first time. After the application of Ohmic heating during the current ramp-up phase, the current drive efficiency of ECW is further enhanced. Leveraging the synergistic effect between ECW and Ohmic heating, EXL-50U achieved a plasma current of 1 MA, with the non-inductively driven current fraction reaching 70%.

physics.plasm-ph↗
arXiv2025

Physics-informed Neural Operator Learning for Nonlinear Grad-Shafranov Equation

As artificial intelligence emerges as a transformative enabler for fusion energy commercialization, fast and accurate solvers become increasingly critical. In magnetic confinement nuclear fusion, rapid and accurate solution of the Grad-Shafranov equation (GSE) is essential for real-time plasma control and analysis. Traditional numerical solvers achieve high precision but are computationally prohibitive, while data-driven surrogates infer quickly but fail to enforce physical laws and generalize poorly beyond training distributions. To address this challenge, we present a Physics-Informed Neural Operator (PINO) that directly learns the GSE solution operator, mapping shape parameters of last closed flux surface to equilibrium solutions for realistic nonlinear current profiles. Comprehensive benchmarking of five neural architectures identifies the novel Transformer-KAN (Kolmogorov-Arnold Network) Neural Operator (TKNO) as achieving highest accuracy (0.25% mean L2 relative error) under supervised training (only data-driven). However, all data-driven models exhibit large physics residuals, indicating poor physical consistency. Our unsupervised training can reduce the residuals by nearly four orders of magnitude through embedding physics-based loss terms without labeled data. Critically, semi-supervised learning--integrating sparse labeled data (100 interior points) with physics constraints--achieves optimal balance: 0.48% interpolation error and the most robust extrapolation performance (4.76% error, 8.9x degradation factor vs 39.8x for supervised models). Accelerated by TensorRT optimization, our models enable millisecond-level inference, establishing PINO as a promising pathway for next-generation fusion control systems.

physics.plasm-ph↗