arXiv subjects

Xuan Wang

Publications and source records attributed to Xuan Wang.

At least 127 records · Page 7Linked to original sources

arXiv2025

Poison Once, Control Anywhere: Clean-Text Visual Backdoors in VLM-based Mobile Agents

Mobile agents powered by vision-language models (VLMs) are increasingly adopted for tasks such as UI automation and camera-based assistance. These agents are typically fine-tuned using small-scale, user-collected data, making them susceptible to stealthy training-time threats. This work introduces VIBMA, the first clean-text backdoor attack targeting VLM-based mobile agents. The attack injects malicious behaviors into the model by modifying only the visual input while preserving textual prompts and instructions, achieving stealth through the complete absence of textual anomalies. Once the agent is fine-tuned on this poisoned data, adding a predefined visual pattern (trigger) at inference time activates the attacker-specified behavior (backdoor). Our attack aligns the training gradients of poisoned samples with those of an attacker-specified target instance, effectively embedding backdoor-specific features into the poisoned data. To ensure the robustness and stealthiness of the attack, we design three trigger variants that better resemble real-world scenarios: static patches, dynamic motion patterns, and low-opacity blended content. Extensive experiments on six Android applications and three mobile-compatible VLMs demonstrate that our attack achieves high success rates (ASR up to 94.67%) while preserving clean-task behavior (FSR up to 95.85%). We further conduct ablation studies to understand how key design factors impact attack reliability and stealth. These findings is the first to reveal the security vulnerabilities of mobile agents and their susceptibility to backdoor injection, underscoring the need for robust defenses in mobile agent adaptation pipelines.

cs.CR↗

arXiv2025

BTW: A Non-Parametric Variance Stabilization Framework for Multimodal Model Integration

Mixture-of-Experts (MoE) models have become increasingly powerful in multimodal learning by enabling modular specialization across modalities. However, their effectiveness remains unclear when additional modalities introduce more noise than complementary information. Existing approaches, such as the Partial Information Decomposition, struggle to scale beyond two modalities and lack the resolution needed for instance-level control. We propose Beyond Two-modality Weighting (BTW), a bi-level, non-parametric weighting framework that combines instance-level Kullback-Leibler (KL) divergence and modality-level mutual information (MI) to dynamically adjust modality importance during training. Our method does not require additional parameters and can be applied to an arbitrary number of modalities. Specifically, BTW computes per-example KL weights by measuring the divergence between each unimodal and the current multimodal prediction, and modality-wide MI weights by estimating global alignment between unimodal and multimodal outputs. Extensive experiments on sentiment regression and clinical classification demonstrate that our method significantly improves regression performance and multiclass classification accuracy.

cs.LG↗

arXiv2025

AFSI: Automated Fluid-Structure Interaction Solver Development for Nonlinear Solid Mechanics

AFSI is a novel, open-source fluid-structure interaction (FSI) solver that extends the capabilities of the FEniCS finite element library through an immersed boundary (IB) framework. Designed to simulate large deformations in hyperelastic materials (such as cardiac tissue), AFSI avoids the need for expensive remeshing by coupling a Lagrangian representation of the solid with an Eulerian description of the surrounding fluid. This approach retains the full expressiveness of FEniCS's variational formulations, function spaces, and time integration schemes. Implemented in a hybrid Python/C++ architecture, AFSI allows users to define geometries, constitutive models (e.g., the Holzapfel-Ogden law for myocardium), and strain energy functions directly in Python, while delegating performance-critical tasks such as assembly and linear solvers to optimized C++ backends. Its concise and modular Python API facilitates the setup of FSI simulations, enabling users to easily modify discretization strategies or analyze results using standard FEniCS post-processing tools. By combining the flexibility of FEniCS with a robust immersed boundary formulation, AFSI empowers rapid prototyping of complex nonlinear solid-fluid interaction problems, making it a powerful tool for simulating biomechanical systems and other applications involving highly deformable structures in flow.

physics.comp-ph↗

arXiv2025

CVIRO: A Consistent and Tightly-Coupled Visual-Inertial-Ranging Odometry on Lie Groups

Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO system. An inconsistent estimator can degrade localization performance, where the inconsistency primarily arises from two main factors: (1) the estimator fails to preserve the correct system observability, and (2) UWB anchor positions are assumed to be known, leading to improper neglect of calibration uncertainty. In this paper, we propose a consistent and tightly-coupled visual-inertial-ranging odometry (CVIRO) system based on the Lie group. Our method incorporates the UWB anchor state into the system state, explicitly accounting for UWB calibration uncertainty and enabling the joint and consistent estimation of both robot and anchor states. Furthermore, observability consistency is ensured by leveraging the invariant error properties of the Lie group. We analytically prove that the CVIRO algorithm naturally maintains the system's correct unobservable subspace, thereby preserving estimation consistency. Extensive simulations and experiments demonstrate that CVIRO achieves superior localization accuracy and consistency compared to existing methods.

cs.RO↗

arXiv2025

Robust Online Calibration for UWB-Aided Visual-Inertial Navigation with Bias Correction

This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating UWB ranging measurements into state estimation. While several prior works have demonstrated satisfactory results by using robot-aided systems to autonomously calibrate UWB systems, there are still some limitations: 1) these approaches assume accurate robot localization during the initialization step, ignoring localization errors that can compromise calibration robustness, and 2) the calibration results are highly sensitive to the initial guess of the UWB anchors' positions, reducing the practical applicability of these methods in real-world scenarios. Our approach addresses these challenges by explicitly incorporating the impact of robot localization uncertainties into the calibration process, ensuring robust initialization. To further enhance the robustness of the calibration results against initialization errors, we propose a tightly-coupled Schmidt Kalman Filter (SKF)-based online refinement method, making the system suitable for practical applications. Simulations and real-world experiments validate the improved accuracy and robustness of our approach.

cs.RO↗

arXiv2025

MIAT: Maneuver-Intention-Aware Transformer for Spatio-Temporal Trajectory Prediction

Accurate vehicle trajectory prediction is critical for safe and efficient autonomous driving, especially in mixed traffic environments when both human-driven and autonomous vehicles co-exist. However, uncertainties introduced by inherent driving behaviors -- such as acceleration, deceleration, and left and right maneuvers -- pose significant challenges for reliable trajectory prediction. We introduce a Maneuver-Intention-Aware Transformer (MIAT) architecture, which integrates a maneuver intention awareness control mechanism with spatiotemporal interaction modeling to enhance long-horizon trajectory predictions. We systematically investigate the impact of varying awareness of maneuver intention on both short- and long-horizon trajectory predictions. Evaluated on the real-world NGSIM dataset and benchmarked against various transformer- and LSTM-based methods, our approach achieves an improvement of up to 4.7% in short-horizon predictions and a 1.6% in long-horizon predictions compared to other intention-aware benchmark methods. Moreover, by leveraging intention awareness control mechanism, MIAT realizes an 11.1% performance boost in long-horizon predictions, with a modest drop in short-horizon performance. The source code and datasets are available at https://github.com/cpraskoti/MIAT.

cs.LG↗

arXiv2025

HierMoE: Accelerating MoE Training with Hierarchical Token Deduplication and Expert Swap

The sparsely activated mixture-of-experts (MoE) transformer has become a common architecture for large language models (LLMs) due to its sparsity, which requires fewer computational demands while easily scaling the model size. In MoE models, each MoE layer requires to dynamically choose tokens to activate particular experts for computation while the activated experts may not be located in the same device or GPU as the token. However, this leads to substantial communication and load imbalances across all GPUs, which obstructs the scalability of distributed systems within a GPU cluster. To this end, we introduce HierMoE to accelerate the training of MoE models by two topology-aware techniques: 1) token deduplication to reduce the communication traffic, and 2) expert swap to balance the workloads among all GPUs. To enable the above two proposed approaches to be more general, we build theoretical models aimed at achieving the best token duplication and expert swap strategy under different model configurations and hardware environments. We implement our prototype HierMoE system atop Megatron-LM and conduct experiments on a 32-GPU cluster with DeepSeek-V3 and Qwen3-30B-A3B models. Experimental results show that our HierMoE achieves $1.55\times$ to $3.32\times$ faster communication and delivers $1.18\times$ to $1.27\times$ faster end-to-end training compared to state-of-the-art MoE training systems, Tutel-2DH, SmartMoE, and Megatron-LM.

cs.DC↗

arXiv2025

High-dimensional quantum XYZ product codes for biased noise

Three-dimensional (3D) quantum XYZ product can construct a class of non-CSS quantum codes by using three classical codes. However, there has been limited study on their error-correcting performance so far and whether this code construction can be generalized to higher dimension is an open question. In this paper, we first study the error-correcting performance of the 3D Chamon code, which is an instance of the 3D XYZ product of three repetition codes. Second, we show that the 3D XYZ product can be generalized to four dimension and propose four-dimensional (4D) XYZ product code construction, which constructs a class of non-CSS quantum codes by using either four classical codes or two CSS quantum codes. Compared with the 4D homological product, we show that the 4D XYZ product can construct non-CSS codes with higher code dimension or code distance. Third, we consider two instances of the 4D XYZ product, to which we refer as the 4D Chamon code and the 4D XYZ product concatenated code, respectively. Our simulation results show that, the 4D XYZ product can construct non-CSS codes with better error-correcting performance against Pauli-$Z$-biased noise than CSS codes constructed by the 4D homological product. Finally, we present the geometric arrangement of the 4D Chamon code within a 4D cubic lattice, demonstrating that it possesses two key characteristics of fracton models, which strongly suggest that it is a novel 4D fracton model.

quant-ph↗

arXiv2025

Last-Iterate Convergence in Adaptive Regret Minimization for Approximate Extensive-Form Perfect Equilibrium

The Nash Equilibrium (NE) assumes rational play in imperfect-information Extensive-Form Games (EFGs) but fails to ensure optimal strategies for off-equilibrium branches of the game tree, potentially leading to suboptimal outcomes in practical settings. To address this, the Extensive-Form Perfect Equilibrium (EFPE), a refinement of NE, introduces controlled perturbations to model potential player errors. However, existing EFPE-finding algorithms, which typically rely on average strategy convergence and fixed perturbations, face significant limitations: computing average strategies incurs high computational costs and approximation errors, while fixed perturbations create a trade-off between NE approximation accuracy and the convergence rate of NE refinements. To tackle these challenges, we propose an efficient adaptive regret minimization algorithm for computing approximate EFPE, achieving last-iterate convergence in two-player zero-sum EFGs. Our approach introduces Reward Transformation Counterfactual Regret Minimization (RTCFR) to solve perturbed games and defines a novel metric, the Information Set Nash Equilibrium (ISNE), to dynamically adjust perturbations. Theoretical analysis confirms convergence to EFPE, and experimental results demonstrate that our method significantly outperforms state-of-the-art algorithms in both NE and EFPE-finding tasks.

cs.GT↗

arXiv2025

Re-examining Super-Nyquist Frequencies of 68 $δ$ Scuti Stars Utilizing the Kepler Long Cadence Photometry

The high-precision and long-duration photometry provided by the $Kepler$ mission has greatly advanced frequency analyses of a large number of pulsating stars, a fundamental step in asteroseismology. For $δ$ Scuti stars, analyses are typically confined to frequencies below the Nyquist frequency. However, signals above this limit can be reflected into the sub-Nyquist range, especially in long-cadence data, where they may overlap with genuine pulsation modes and lead to misinterpretation. To address this issue, a recently proposed method -- the sliding Lomb-Scargle periodogram (sLSP) -- can effectively distinguish real frequencies from aliased ones. In this study, we compiled a sample of 68 $δ$ Scuti stars whose frequency analyses were based on the $Kepler$ photometry. Using the sLSP method, we systematically examined the 1,406 reported frequencies in the literature. As a result, we identified 6 previously unrecognized reflected super-Nyquist frequencies in four stars: KIC 3440495, KIC 5709664, KIC 7368103, and KIC 9204718. We have once again demonstrated the ability of the sLSP method to detect and correct such artifacts. This technique improves the reliability of frequency selection, thereby enhancing the accuracy of asteroseismic interpretation and stellar modeling for the pulsating stars.

astro-ph.SR↗

arXiv2025

Joint Pedestrian and Vehicle Traffic Optimization in Urban Environments using Reinforcement Learning

Reinforcement learning (RL) holds significant promise for adaptive traffic signal control. While existing RL-based methods demonstrate effectiveness in reducing vehicular congestion, their predominant focus on vehicle-centric optimization leaves pedestrian mobility needs and safety challenges unaddressed. In this paper, we present a deep RL framework for adaptive control of eight traffic signals along a real-world urban corridor, jointly optimizing both pedestrian and vehicular efficiency. Our single-agent policy is trained using real-world pedestrian and vehicle demand data derived from Wi-Fi logs and video analysis. The results demonstrate significant performance improvements over traditional fixed-time signals, reducing average wait times per pedestrian and per vehicle by up to 67% and 52% respectively, while simultaneously decreasing total wait times for both groups by up to 67% and 53%. Additionally, our results demonstrate generalization capabilities across varying traffic demands, including conditions entirely unseen during training, validating RL's potential for developing transportation systems that serve all road users.

cs.LG↗

arXiv2025

Heterogeneous Mixed Traffic Control and Coordination

Urban intersections with diverse vehicle types, from small cars to large semi-trailers, pose significant challenges for traffic control. This study explores how robot vehicles (RVs) can enhance heterogeneous traffic flow, particularly at unsignalized intersections where traditional methods fail during power outages. Using reinforcement learning (RL) and real-world data, we simulate mixed traffic at complex intersections with RV penetration rates ranging from 10% to 90%. Results show that average waiting times drop by up to 86% and 91% compared to signalized and unsignalized intersections, respectively. We observe a "rarity advantage," where less frequent vehicles benefit the most (up to 87%). Although CO2 emissions and fuel consumption increase with RV penetration, they remain well below those of traditional signalized traffic. Decreased space headways also indicate more efficient road usage. These findings highlight RVs' potential to improve traffic efficiency and reduce environmental impact in complex, heterogeneous settings.

cs.MA↗

arXiv2025

Diffuman4D: 4D Consistent Human View Synthesis from Sparse-View Videos with Spatio-Temporal Diffusion Models

This paper addresses the challenge of high-fidelity view synthesis of humans with sparse-view videos as input. Previous methods solve the issue of insufficient observation by leveraging 4D diffusion models to generate videos at novel viewpoints. However, the generated videos from these models often lack spatio-temporal consistency, thus degrading view synthesis quality. In this paper, we propose a novel sliding iterative denoising process to enhance the spatio-temporal consistency of the 4D diffusion model. Specifically, we define a latent grid in which each latent encodes the image, camera pose, and human pose for a certain viewpoint and timestamp, then alternately denoising the latent grid along spatial and temporal dimensions with a sliding window, and finally decode the videos at target viewpoints from the corresponding denoised latents. Through the iterative sliding, information flows sufficiently across the latent grid, allowing the diffusion model to obtain a large receptive field and thus enhance the 4D consistency of the output, while making the GPU memory consumption affordable. The experiments on the DNA-Rendering and ActorsHQ datasets demonstrate that our method is able to synthesize high-quality and consistent novel-view videos and significantly outperforms the existing approaches. See our project page for interactive demos and video results: https://diffuman4d.github.io/ .

cs.CV↗

arXiv2025

Bridging Literature and the Universe Via A Multi-Agent Large Language Model System

As cosmological simulations and their associated software become increasingly complex, physicists face the challenge of searching through vast amounts of literature and user manuals to extract simulation parameters from dense academic papers, each using different models and formats. Translating these parameters into executable scripts remains a time-consuming and error-prone process. To improve efficiency in physics research and accelerate the cosmological simulation process, we introduce SimAgents, a multi-agent system designed to automate both parameter configuration from the literature and preliminary analysis for cosmology research. SimAgents is powered by specialized LLM agents capable of physics reasoning, simulation software validation, and tool execution. These agents collaborate through structured communication, ensuring that extracted parameters are physically meaningful, internally consistent, and software-compliant. We also construct a cosmological parameter extraction evaluation dataset by collecting over 40 simulations in published papers from Arxiv and leading journals that cover diverse simulation types. Experiments on the dataset demonstrate a strong performance of SimAgents, highlighting its effectiveness and potential to accelerate scientific research for physicists. Our demonstration video is available at: https://youtu.be/w1zLpm_CaWA. The complete system and dataset are publicly available at https://github.com/xwzhang98/SimAgents.

astro-ph.IM↗

arXiv2025

Inactive longitude and superflare in the active single-lined pre-main sequence binary V2279 Cyg

Young, solar-like stars in the pre-main sequence (PMS) stage exhibit vigorous magnetic activity that significantly influences their circumstellar environments and the processes of planetary formation and evolution. In binary systems, tidal forces and magnetic interactions can further shape the magnetic geometry. We report a longitudinal preference of star spots, chromospheric activities, and flares in the active single-lined spectroscopic PMS binary system V2279 Cyg, based on long-term photometric observations from \textit{Kepler} and \textit{TESS} alongside spectroscopic data from LAMOST. The system is classified as a weak-line T Tauri binary, with component masses estimated at 0.86 $M_\odot$ and 0.27 $M_\odot$. V2279 Cyg's nearly circular orbit is synchronized with its 4.126-day rotational period. Observations reveal large star spot regions clustered near the far-side hemisphere. Spectroscopic data show strong, double-peak H$α$ emission, the strength of which is highly correlated with star spot distribution, indicating the presence of an active longitude on the primary star. We also mapped the prominence structure co-rotating with the primary star, suggesting a dense structure close to the near-side hemisphere. Furthermore, we identify an inactive longitude of flares during the 4-year \textit{Kepler} observations, where the frequency of flare activity is significantly reduced after the superior conjunction, marking the first such identification in active binary systems. Additionally, a white light superflare, releasing energy of $2.5 \times 10^{37}$ erg, was detected in \textit{TESS} observations. These findings provide valuable insights into the magnetic field geometry and dynamo processes in PMS binaries, underscoring the critical role of tidal interactions in shaping magnetic activities.

astro-ph.SR↗

arXiv2025

Continuous variable quantum communication with 40 pairs of entangled sideband

Constructing large-scale quantum resources is an important foundation for further improving the efficiency and scalability of quantum communication. Here, we present an efficient extraction and stable control scheme of 40 pairs of entangled sideband modes from the squeezed light by specially designing optical parametric oscillator. Utilizing the low-loss optical frequency comb control technology and the local cross-correlation algorithm, we model and manage the efficient separation process of the entangled sidebands modes facilitated by the optical filtering cavities, a maximum entanglement level of 6.5 dB is achieved. The feasibility of large-capacity quantum dense coding based on these entangled sideband modes is proved experimentally, which is of great significance for optimizing the utilization of quantum resources, thereby contributing to the advancement of large-capacity quantum communication networks and enabling the realization of more secure and efficient quantum communication systems.

quant-ph↗

arXiv2025

AI-Facilitated Episodic Future Thinking For Adults with Obesity

Episodic Future Thinking (EFT) involves vividly imagining personal future events and experiences in detail. It has shown promise as an intervention to reduce delay discounting-the tendency to devalue delayed rewards in favor of immediate gratification- and to promote behavior change in a range of maladaptive health behaviors. We present EFTeacher, an AI chatbot powered by the GPT-4-Turbo large language model, designed to generate EFT cues for users with lifestyle-related conditions. To evaluate the feasibility and usability of EFTeacher, we conducted a mixed-methods study that included usability assessments, user evaluations based on content characteristics questionnaires, and semi-structured interviews. Qualitative findings indicate that participants perceived EFTeacher as communicative and supportive through an engaging dialogue. The chatbot facilitated imaginative thinking and reflection on future goals. Participants appreciated its adaptability and personalization features, though some noted challenges such as repetitive dialogue and verbose responses. Our findings underscore the potential of large language model-based chatbots in EFT interventions targeting maladaptive health behaviors.

cs.HC↗

arXiv2025

Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization

This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization mechanism to more efficiently mitigate disturbances (such as human behavioral uncertainties or robot actuation noise) during the task. The core of our methodology involves a two-step iterative design: At each planning horizon, we determine the optimal pose of the robotic arm (joint angle configuration) from a candidate set, aiming to achieve the lowest estimated control cost. This selection is based on solving a disturbance-aware Discrete Algebraic Ricatti Equation (DARE), which also determines the optimal inputs for the robot's whole body control (including both the mobile base and the robotic arm). To validate the effectiveness of the proposed approach, we provide theoretical derivation for the disturbance-aware DARE and perform simulated experiments and hardware demos using a Fetch robot under varying conditions, including different trajectories and different levels of disturbances. The results reveal that our proposed approach outperforms baseline algorithms.

cs.RO↗