arXiv subjects

Xiaofeng Wang

Publications and source records attributed to Xiaofeng Wang.

At least 55 records · Page 3Linked to original sources

arXiv2026

AnchorSplat: Fast and Structure Consistent Detail Synthesis for Gaussian Splatting

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for high-fidelity rendering. However, existing assets often suffer from quality bottlenecks such as missing details and texture noise. Prior attempts to enhance these assets via 2D image processing introduce multi-view inconsistencies and high computational costs. In this paper, we propose a novel 3D-native refinement paradigm named AnchorSplat. AnchorSplat is an end-to-end deep network operating directly on 3D structures, avoiding the expensive optimization overhead of traditional 3D-2D-3D pipelines. Crucially, AnchorSplat is a strictly source-free solution requiring no original multi-view images. Central to the proposed method is the Point Anchor Mechanism, which enforces geometric consistency via local offset constraints, mitigating ill-posed mapping and gradient confounding. Furthermore, AnchorSplat replaces iterative densification with a single-pass multiplication mechanism. To facilitate research, we construct 3DGS-SR, the first large-scale benchmark for this task. Experiments demonstrate state-of-the-art results on the 3DGS-SR dataset, with throughput up to $10^5$ times faster than optimization methods. Notably, AnchorSplat exhibits robust zero-shot generalization across diverse data distributions, including generative model outputs and real-world scans.

cs.CV↗

arXiv2026

DVG-WM: Disentangled Video Generation Enables Efficient Embodied World Model for Robotic Manipulation

Video-based embodied world models provide an appealing substrate for robotic manipulation by predicting future states, yet current approaches remain limited by a fundamental entanglement: accurately modeling dynamics typically requires low-level temporal reasoning, while producing high-resolution frames demands expansive visual synthesis according to high-level semantics. This entanglement results in slow inference speed for iterative planning or too coarse predictions to retain contact-rich details. To solve this dilemma, we present Disentangled Video Generation World Model (DVG-WM), an efficient framework that explicitly decomposes world modeling into dynamics learning and visual synthesis. Conditioned on an initial observation and a language instruction, our model first generates a plausible sequence of intermediate visual states to preview the physical interaction and refines them to obtain high-fidelity videos. Furthermore, an efficient cascading mechanism is proposed, where DVG-WM uses flow matching to directly map the dynamics to video latents, and introduces a latent degradation mechanism to regenerate contact-rich details. Experiments on LIBERO and real-world platforms demonstrate improved video quality with up to 3.97 times acceleration, validating that disentangled video generation can be an efficient embodied world model for robotic manipulation.

cs.RO↗

arXiv2026

GigaWorld-1: A Roadmap to Build World Models for Robot Policy Evaluation

Evaluating embodied robot foundation models remains a critical bottleneck; unlike large language models efficiently assessed via digital benchmarks, robotic policies require slow, costly real-world rollouts limited by hardware and human supervision, which has driven interest in world models as surrogate policy evaluators, yet the key properties that make a world model reliable for policy assessment remain poorly understood. This work presents a systematic study of world models for robotic policy evaluation and introduces WMBench, a benchmark constructed from real-robot teleoperation data and matched policy rollouts covering diverse manipulation tasks to enable controlled comparisons across model families, action encodings, rollout horizons, and evaluation metrics. Using WMBench, we analyze 7 video world models, 4 action representation schemes, and over 324,000 simulated policy rollouts paired with real robot executions, further enriching our analysis with large-scale community submissions from the CVPR 2026 GigaBrain Challenge, curated synthetic trajectories, and a training videos spanning more than 12,000 hours. Our experiments deliver three core insights: evaluator quality is dominated by long-horizon, action-faithful rollout consistency rather than short-term visual realism; pretraining gains stem not only from data scale but from balancing general world knowledge with robot-specific controllability; and architectural choices including action encoding, memory design, and evaluator-focused post-training strongly determine alignment with real-world robot behavior. Drawing on these results, we derive a practical design roadmap and realize it in \textit{GigaWorld-1}, a world model specially optimized for policy evaluation, and we fully release our code, models, datasets, and toolkits to advance scalable evaluation research for embodied foundation models.

cs.RO↗

arXiv2026

A Large-Scale Comprehensive Measurement of AI-Generated Code in Real-World Repositories

Large language models (LLMs) are rapidly transforming software engineering by enabling developers to generate code ranging from small snippets to entire projects. As AI-assisted code becomes increasingly integrated into real-world systems, understanding its characteristics and impact is critical. Existing study on AI-generated code is usually limited in the lab setting with synthetic benchmarks and small-scale coding tasks and covers limited metrics. AI-assisted code's manifestation in real-world codebases and its differences between human-written one remain unclear. To close this gap, we perform a first large-scale measurement study of AI-assisted code, in comparison with the human-written, in real-world repositories. We study a comprehensive set of metrics including both code-level aspects (e.g., structural and graph-level complexity, coding style, security quality, etc.) and commit-level characteristics (e.g., commit size, frequency, post-commit stability, etc.). Our results provide new findings and insights: some contrast previous observations in the lab setting (e.g., we conclude that real-world AI-Human differences on code-level metrics are rather small instead of more pronounced), some extend prior results with finer-grained observations (e.g., the variance of security quality across different programming languages), yet more are presented for the first time on aspects not covered before (e.g., code duplication rate, commit size and stability, etc.). Based on these comprehensive real-world results, we also discuss the practical implications of AI-assisted programming.

cs.SE↗

arXiv2026

Spatial-Aware Reduction Framework: Towards Efficient and Faithful Visual State Space Models

Mamba demonstrates strong efficiency in modeling long visual sequences. However, when token reduction is applied to structurally enhanced Mamba variants, these models exhibit a severe performance collapse. We attribute this degradation to the spatially agnostic nature of existing reduction methods, which violate the two-dimensional structural premise required by the selective scanning mechanism. In this work, we propose STORM, a spatial-aware token reduction framework designed to maintain structural integrity throughout the compression process. STORM reformulates reduction into a structured operation on spatial units, enforcing localized constraints to maintain both grid topology and neighborhood coherence. As a plug-and-play module, STORM equips existing reduction pipelines with explicit spatial awareness without any training. Empirical results demonstrate that STORM achieves state-of-the-art pruning accuracy across diverse vision Mamba backbones under training-free settings. Notably, STORM delivers a substantial accuracy recovery on VMamba, outperforming prior methods by up to 63.3\% in top-1 accuracy. Meanwhile, STORM incurs only a 1.0\% accuracy drop on PlainMamba, achieving performance comparable to ViT.

cs.CV↗

arXiv2026

Reference Architecture for Metadata-driven Services to Promote Reusability in Software Systems

Service-based Architectures place reusability among their central design goals, yet structural heterogeneity across clients often drives the creation of services with similar functionalities, undermining system evolution and maintainability. In this work, we address this issue by focusing on validated architectural artifacts that bound to a limit the number of replicated services. We do so by proposing and validating a reference architecture that employs metadata as the core mechanism to promote service reusability, embracing heterogeneous data. The proposed RA is designed based on a pattern language with the same purpose, and it is evaluated by combining two well-established methods for RA evaluation: scenario-based evaluation and case studies with real-world systems. The triangulation of these methods' results demonstrated that, during the system's evolution, the most common change types the RA incurs are either no change or less impactful ones, like configuration changes or the addition of a pluggable class.

cs.SE↗

arXiv2026

R2RDreamer: 3D-aware Data Augmentation for Spatially-generalized 2D Manipulation Policies

Spatial generalization is critical for imitation-learned manipulation policies, but achieving it typically requires scaling demonstrations across diverse object poses, robot configurations, and camera viewpoints. Data augmentation from a few source demonstrations offers a practical alternative to costly real-world collection. Simulation-based augmentation can create controllable variation, but requires complex environment and object setup and may introduce a sim-to-real gap. Recent real-to-real methods avoid these issues by jointly editing 3D observations and action trajectories from real demonstrations, yet they still rely on strong 3D scene parsing and geometry completion, and often produce observations tailored to 3D pointcloud policies rather than RGB-based 2D policies. We propose R2RDreamer, a real-to-real demonstration augmentation framework that preserves the geometric consistency of 3D action-observation editing while moving visual completion to 2D video space. Specifically, R2RDreamer first performs lightweight 3D augmentation by editing incomplete object pointclouds and end-effector trajectories in a shared 3D frame; it then projects the edited scene into masked image-space control videos with occlusion-aware reasoning and uses a dense-control image-to-video model to complete temporally coherent RGB observations. Experiments on spatially shifted manipulation tasks with both 2D diffusion-style policies and vision-language-action policies show that R2RDreamer improves spatial generalization from limited source demonstrations, with analyses validating the contributions of 3D editing, occlusion-aware projection, and video completion.

cs.RO↗

arXiv2026

WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation

Visual navigation requires generating smooth and collision-free trajectories under complex geometric and physical constraints. Existing reactive policies that directly map observations to actions lack anticipatory reasoning, limiting their ability to proactively avoid obstacles. While visual imagination offers predictive foresight, conventional modular approaches separate scene prediction from policy learning, often leading to error accumulation and inefficient inference. To address these limitations, we propose WAM-Nav, a Latent World-Action Model for embodied visual navigation that jointly learns action generation and latent visual foresight, enabling more robust and foresighted navigation decisions without compromising inference efficiency. Specifically, WAM-Nav utilizes a shared Diffusion Transformer for asymmetric joint diffusion to concurrently generate long-horizon actions and short-horizon visual foresight, reducing the inference latency and visual error accumulation inherent in multi-step autoregressive rollouts. To further encourage smooth and consistent trajectory generation, we introduce a dual-stream contextual conditioning mechanism that integrates episode-level ego-motion history with sequential visual observations. Combined with a unified goal alignment module that preserves balanced representations across goal types, WAM-Nav naturally supports Image-Goal, Point-Goal, and No-Goal exploration within a single policy. Extensive experiments on the challenging ClutterScenes and InternScenes benchmarks demonstrate strong generalization of WAM-Nav, particularly on Image-Goal and Point-Goal navigation, where it improves success rates by 15.7% and 3.3%, respectively. Real-world deployment further validates effective zero-shot sim-to-real transfer, achieving an average 85% task success rate across diverse indoor and outdoor environments.

cs.RO↗

arXiv2026

Multiwavelength Analysis of the Einstein Probe X-ray Transient EP240305a

We report multiwavelength observations of EP240305a, an uncatalogued X-ray transient detected by the Einstein Probe on March 5, 2024. The source exhibits distinct characteristics across the X-ray, optical, near-infrared, and radio bands. The soft X-ray observations show two significant flares lasting ~100-250 s, accompanied by rapid flux decay in a few days, and the optical and near-infrared data reveal a faint, candidate counterpart. In contrast, the radio observations expose a long-term spectral evolution from a self-absorbed to an optically thin state within two months, implying discrete jet ejection. We compare EP240305a with known classes of X-ray transients and find that it is unlikely to be associated with long-timescale transients such as jetted tidal disruption events or X-ray binaries. Its properties also disfavor a short-timescale stellar flare origin. Although the absence of optical spectroscopy prevents a redshift determination, the source exhibits properties similar to those of gamma-ray-dark gamma-ray burst-like transients, which may be associated with relativistic jets viewed off-axis or with choked jets. The discovery of EP240305a, along with other uncataloged transients detected by the Einstein Probe, underscores the scientific potential of highly sensitive X-ray survey telescopes and rapid-response multiwavelength follow-up observations in exploring the nature of atypical astronomical transients.

astro-ph.HE↗

arXiv2026

JWST Spectroscopy of SN Ia 2022aaiq and 2024gy: Evidence for Enhanced Central Stable Ni Abundance and a Deflagration-to-Detonation Transition

We present optical + near-infrared (NIR) + mid-infrared (MIR) observations of the normal Type Ia supernovae (SN Ia) 2022aaiq and 2024gy in the nebular phase, continuously spanning 0.35-28 microns. Medium-resolution JWST spectroscopy reveals novel narrow ($v_{\mathrm{FWHM}}<1500$ km s$^{-1}$) [Ni II] 1.94 and 6.64 micron cores in both events. The MIR [Ni II] 6.64 micron line exhibits a distinct narrow core atop a broader base, indicating a central enhancement of stable Ni. This structure points to high central densities consistent with a near-Chandrasekhar-mass ($M_{\text{Ch}}$) progenitor or a high-metallicity sub-$M_{\text{Ch}}$ progenitor. From detailed line-profile inversions of SN 2024gy, we derive emissivity profiles for stable iron-group elements (IGEs), radioactive material, and intermediate-mass elements (IMEs), revealing spatially distinct ejecta zones. The [Ni III] 7.35 micron line shows a shallow-to-steep slope transition - a "broken-slope" morphology - that matches predictions for delayed detonation explosions with separated deflagration and detonation ashes. We also reanalyze and compare to archival JWST spectra of SN 2021aefx and the subluminous SN 2022xkq. From the stable Ni luminosities, we infer that SN 2024gy produced ~5-10 times more stable Ni mass than SN 2022xkq, favoring a near-$M_{\text{Ch}}$ scenario for SN 2024gy and sub-$M_{\text{Ch}}$ scenario for SN 2022xkq. These results demonstrate that resolved line profiles, now accessible with JWST, provide powerful diagnostics of explosion geometry, central density, and progenitor mass in SN Ia.

astro-ph.HE↗

arXiv2026

ScoutVLA: UAV-Centric Active Perception via a Dual-Expert VLA Model for Open-World Embodied Question Answering

Aerial Embodied Question Answering (EQA) requires Unmanned Aerial Vehicles (UAVs) to actively perceive the environment and answer natural language questions. Existing outdoor EQA systems usually stop once the target enters the UAV's field of view, leaving the fine-grained viewpoint adjustment needed for evidence-seeking questions largely unresolved. To address this issue, we introduce FG-EQA, a fine-grained active perception EQA benchmark with more than 40K simulated trajectories and 1K real-world trajectories. Drawing inspiration from the ``waggle dance'' of scout bees, which iteratively adjust their flight paths to verify target information, we propose ScoutVLA, an evidence-driven Vision-Language-Action model for outdoor EQA. To emulate this active exploration behavior, ScoutVLA features a decoupled dual-expert architecture: a vision-language expert infers the semantic intent to identify missing evidence, while an independent action expert employs high-DoF flow matching to generate continuous viewpoint-refinement trajectories. To balance the competing demands of continuous control and semantic reasoning, we devise a decoupled training strategy with a knowledge insulation mechanism that prevents the action gradients from erasing the model's multimodal reasoning ability. Extensive simulated experiments and a qualitative real-world field study both verify the superiority of ScoutVLA over the state-of-the-art baselines, demonstrating a 10.48$\boldsymbol{\times}$ higher average strict success rate and a 7.72$\boldsymbol{\times}$ higher average QA correctness.

cs.CV↗

arXiv2026

iMaC: Translating Actions into Motion and Contact Images for Embodied World Models

Embodied world models have emerged as a pivotal paradigm for visual robotic decision-making and interactive environment simulation. However, conventional embodied frameworks rely on low-dimensional structured action vectors (e.g., joint angles and end-effector poses), which suffer from limited expressive capacity, poor generalization across diverse embodiments, and unnatural dynamic modeling for complex physical interactions. To address these limitations, this paper proposesiMac (Image as Action Control), a novel unified control paradigm that treats raw visual images as native action representations for embodied world models. Departing from traditional explicit kinematic action encoding, iMac formulates continuous visual manipulation as image-based action tokens, which inherently encapsulate spatial motion intentions, interactive geometric constraints and subtle physical dynamics. We construct a dual-branch embodied architecture consisting of an image-action encoder and a dynamic world predictor: the encoder compresses target-driven visual images into compact action embeddings, while the predictor learns environment transition rules conditioned on image actions to achieve high-fidelity future state prediction and closed-loop embodied control. Extensive experiments are conducted on public embodied manipulation benchmarks and real-world robotic scenarios. The results demonstrate that iMac outperforms vector-based action control baselines in prediction accuracy, task success rate and cross-scene generalization ability. Moreover, our image-action design eliminates the reliance on manually defined action spaces, realizing flexible and universal control for heterogeneous embodied agents. This work provides an innovative visual-action perspective for embodied world models, offering a simple yet effective paradigm for scalable robotic perception and manipulation.

cs.RO↗

arXiv2026

ViVa: A Video-Generative Value Model for Robot Reinforcement Learning

Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via value functions, which assess task progress and guide policy improvement. However, existing value models built on vision-language models (VLMs) struggle to capture temporal dynamics and physical interactions, undermining reliable value estimation in long-horizon tasks. In this paper, we propose ViVa, a video-generative value model that repurposes a pretrained video generator to jointly predict future proprioception and a scalar value. By grounding value estimation in anticipated embodiment dynamics, ViVa leverages spatiotemporal priors to intrinsically couple value with foresight beyond static snapshots. ViVa achieves state-of-the-art results in metric-based evaluation across three tasks, producing reliable value signals that accurately track task progress and detect execution errors. Integrated into RECAP, it achieves an average success rate of 80%, highlighting the promise of video-generative models for value estimation.

cs.RO↗

arXiv2026

EP250827b/SN 2025wkm: An X-ray Flash-Supernova Powered by a Central Engine and Circumstellar Interaction

We present the discovery of EP250827b/SN 2025wkm, an X-ray Flash (XRF) discovered by the Einstein Probe (EP), accompanied by a broad-line Type Ic supernova (SN Ic-BL) at $z = 0.1194$. EP250827b possesses a prompt X-ray luminosity of $\sim 10^{45} \, \rm{erg \, s^{-1}}$, lasts over 1000 seconds, and has a peak energy $E_{\rm{p}} < 1.5$ keV at 90\% confidence. SN 2025wkm possesses a double-peaked optical light curve (LC), though its bolometric luminosity plateaus after its initial peak for $\sim 20$ days, consistent with a central engine injecting additional energy into the explosion. Its spectrum transitions from a blue to red continuum with clear blueshifted broad absorption features consistent with a SN Ic-BL classification. We do not detect any transient radio emission and rule out the existence of an on-axis, energetic jet $\gtrsim 10^{50}~$erg assuming a typical LGRB circumburst constant density ($n \approx 10^{-3}$--$10^{-1}~{\rm cm}^{-3}$) and microphysical parameters ($ε_{\rm e} = 0.1$ and $ε_{\rm B} = 0.01$). In the model we invoke, the collapse gives rise to a long-lived magnetar, potentially surrounded by an accretion disk. Magnetically--driven winds from the magnetar and the disk mix together and break out with a velocity $\sim 0.35c$ and interact with an extended circumstellar medium with radius $\sim 10^{13}$ cm, generating X-ray breakout emission through non-thermal free-free processes. The disk outflows and magnetar winds power blackbody photospheric emission as they cool adiabatically and thermalize, producing the first SN peak. The spin-down luminosity of the magnetar and radioactive decay of $^{56}$Ni powers the late-time emission. We end by discussing the landscape of XRF-SNe within the context of EP's recent discoveries.

astro-ph.HE↗

arXiv2026

SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models

Embodied world models have emerged as a promising paradigm in robotics by predicting how robot actions affect the surrounding scene. However, the rollout inference remains computationally expensive in pixel space, as long-horizon manipulation videos typically have to be generated frame by frame. This cost cannot be easily reduced by indiscriminately dropping frames, since downstream policies rely on complete preservation of sparse task-relevant events such as approach, contact, grasp, and release. To address this challenge, we propose Sparse Keyframe Interpolation Paradigm (SKIP), an event-preserving sparse-to-dense framework that avoids dense frame-by-frame generation. SKIP first identifies task-relevant keyframes by leveraging robot-aware multimodal features. It then synthesizes only these keyframes with a sparse video diffusion model. A learned gap predictor and an action-conditioned interpolator subsequently reconstruct the missing intervals according to the robot actions. On LIBERO, SKIP generates dense rollouts $4.16\times$ faster than a dense baseline while improving visual fidelity and reducing aggregate FVD by $89.0\%$. Importantly, SKIP-generated videos are effective policy-training data. Even when they fully replace real demonstrations, $π_{0.5}$ success drops only $1.3$ pp in LIBERO simulation and $6.7$ pp on the real robot, whereas fully dense frame-by-frame generation collapses by $48$ to $58$ pp.

cs.RO↗

arXiv2026

Hierarchical Long-Term Semantic Memory for LinkedIn's Hiring Agent

Large Language Model (LLM) agents are increasingly used in real-world products, where personalized and context-aware user interactions are essential. A central enabler of such capabilities is the agent's long-term semantic memory system, which extracts implicit and explicit signals from noisy longitudinal behavioral data, stores them in a structured form, and supports low-latency retrieval. Building industrial-grade long-term memory for LLM agents raises five challenges: scalability, low-latency retrieval, privacy constraints, adaptability, and observability. We introduce the Hierarchical Long-Term Semantic Memory (HLTM) framework, which organizes textual data into a schema-aligned memory tree that captures semantic knowledge at multiple levels of granularity, enabling scalable ingestion, privacy-aware storage, low-latency retrieval, and transparent provenance; HLTM further incorporates an adaptation mechanism to generalize across diverse use cases. Extensive evaluations on LinkedIn's Hiring Assistant show that HLTM improves answer correctness by more than 5% and retrieval F1 by more than 10%, while significantly advancing the Pareto frontier between query and indexing latency. HLTM has been fully deployed in LinkedIn's Hiring Assistant to power core personalization features in production hiring workflows.

cs.IR↗

arXiv2026

Syll: Open-Source Personal Automation with Cross-Surface Execution

Personal AI agents must increasingly operate across APIs, shells, web surfaces, and desktop GUIs, yet many systems remain tuned to a single interface and offer limited support for user teaching and auditability. We present Syll, an open-source, self-hosted multimodal agent harness that unifies MCP/API tools, CLI execution, and visual GUI control in a modular runtime, enabling agents to coordinate computer use across heterogeneous interfaces while streamlining how users and agents exchange information. At the core of Syll is a bidirectional user-agent interaction layer: users teach procedures through direct demonstration, which Syll compiles into reusable skills; agent execution is translated back into multimodal evidence -- logs, keyframes, and approval checkpoints -- for inspection and control. Syll further externalizes memory, skills, routines, and governance as editable local artifacts, supporting straightforward inspection, extension, and downstream development. Our implementation has been validated on production desktop applications including Adobe Photoshop, Adobe Audition, Stardew Valley, macOS Finder and others. We report mechanism-oriented studies that validate multimodal routing, teachable GUI replay, and persistent local artifacts. We hope Syll can serve as a practical open-source foundation for personal automation that users can teach, inspect, and continuously extend.

cs.AI↗

arXiv2026

DriveGen3D: Boosting Feed-Forward Driving Scene Generation with Efficient Video Diffusion

We present DriveGen3D, a novel framework for generating high-quality and highly controllable dynamic 3D driving scenes that addresses critical limitations in existing methodologies. Current approaches to driving scene synthesis either suffer from prohibitive computational demands for extended temporal generation, focus exclusively on prolonged video synthesis without 3D representation, or restrict themselves to static single-scene reconstruction. Our work bridges this methodological gap by integrating accelerated long-term video generation with large-scale dynamic scene reconstruction through multimodal conditional control. DriveGen3D introduces a unified pipeline consisting of two specialized components: FastDrive-DiT, an efficient video diffusion transformer for high-resolution, temporally coherent video synthesis under text and Bird's-Eye-View (BEV) layout guidance; and FastRecon3D, a feed-forward module that rapidly builds 3D Gaussian representations across time, ensuring spatial-temporal consistency. DriveGen3D enable the generation of long driving videos (up to $800\times424$ at $12$ FPS) and corresponding 3D scenes, achieving state-of-the-art results while maintaining efficiency.

cs.CV↗