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Xuelong Li

Publications and source records attributed to Xuelong Li.

At least 109 records · Page 6Linked to original sources
arXiv2026

MedMamba: Multi-View State Space Models with Adaptive Graph Learning for Medical Time Series Classification

Medical time series are central to healthcare, enabling continuous monitoring and supporting timely clinical decisions. Despite recent progress, existing methods struggle to jointly model local-global dynamics and handle nonstationarities like baseline drift, while often failing to capture latent channel interactions. To address these challenges, we propose MedMamba, an end-to-end architecture that integrates state space models with domain-specific inductive biases. Specifically, MedMamba first employs multi-scale convolutional embeddings to capture discriminative local morphology. Second, to mitigate nonstationarity, we introduce a tri-branch differential state space encoder that processes raw, temporal-difference, and frequency-domain views, fusing them to emphasize informative patterns while suppressing drift. Furthermore, to uncover latent channel correlations, we design a spatial graph Mamba module that learns a directed dependency structure regularized toward sparsity and acyclicity, which obviates the need for predefined graphs. Extensive experiments on five real-world datasets demonstrate that MedMamba achieves state-of-the-art performance while maintaining linear computational complexity, and ablation studies validate each component's contribution.Code is available at https://github.com/zhangda1018/MedMamba.

cs.LG↗
arXiv2026

HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control

While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. In this paper, we address humanoid skateboarding, a highly challenging task requiring stable dynamic maneuvering on an underactuated wheeled platform. This integrated system is governed by non-holonomic constraints and tightly coupled human-object interactions. Successfully executing this task requires simultaneous mastery of hybrid contact dynamics and robust balance control on a mechanically coupled, dynamically unstable skateboard. To overcome the aforementioned challenges, we propose HUSKY, a learning-based framework that integrates humanoid-skateboard system modeling and physics-aware whole-body control. We first model the coupling relationship between board tilt and truck steering angles, enabling a principled analysis of system dynamics. Building upon this, HUSKY leverages Adversarial Motion Priors (AMP) to learn human-like pushing motions and employs a physics-guided, heading-oriented strategy for lean-to-steer behaviors. Moreover, a trajectory-guided mechanism ensures smooth and stable transitions between pushing and steering. Experimental results on the Unitree G1 humanoid platform demonstrate that our framework enables stable and agile maneuvering on skateboards in real-world scenarios. The project page is available on https://husky-humanoid.github.io/.

cs.RO↗
arXiv2026

Metis: Learning to Jailbreak LLMs via Self-Evolving Metacognitive Policy Optimization

Red teaming is critical for uncovering vulnerabilities in Large Language Models (LLMs). While automated methods have improved scalability, existing approaches often rely on static heuristics or stochastic search, rendering them brittle against advanced safety alignment. To address this, we introduce Metis, a framework that reformulates jailbreaking as inference-time policy optimization within an adversarial Partially Observable Markov Decision Process (POMDP). Metis employs a self-evolving metacognitive loop to perform causal diagnosis of a target's defense logic and leverages structured feedback as a semantic gradient to refine its policy, offering enhanced interpretability through transparent reasoning traces. Extensive evaluations across 10 diverse models demonstrate that Metis achieves the strongest average Attack Success Rate (ASR) among compared methods at 89.2%, maintaining high efficacy on resilient frontier models (e.g., 76.0% on O1 and 78.0% on GPT-5-chat) where traditional baselines exhibit substantial performance degradation. By replacing redundant exploration with directed optimization, Metis reduces token costs by an average of 8.2x and up to 11.4x. Our analysis reveals that current defenses remain vulnerable to internally-steered, closed-loop reasoning trajectories under the tested settings, highlighting a critical need for next-generation defenses capable of reasoning about safety dynamically during inference.

cs.LG↗
arXiv2026

Safeguarding Text-to-Image Generative Models Against Unauthorized Knowledge Distillation

Closed-weight generative services are increasingly deployed through query-based APIs, where users can obtain generated outputs while model parameters remain inaccessible. However, such deployment does not prevent model stealing: an attacker can repeatedly query the service, collect large volumes of released synthetic images, and use them as training data for a private substitute model. This query-output-driven process enables unauthorized knowledge distillation and capability replication without direct access to the original weights. To mitigate this threat, a practical defense should preserve the visual fidelity of released images, provide explicit control over perturbation magnitude, and scale efficiently to large-volume output release. We present WaveGuard, a single-pass, generator-based protection framework that safeguards released synthetic images under a user-specified perturbation budget. WaveGuard employs a frequency-aware perturbation generator to inject structured, imperceptible perturbations that maintain perceptual utility for benign viewers while reducing the usefulness of protected images as training data for unauthorized student models. Extensive experiments under WikiArt-related synthetic-output distillation settings show that WaveGuard achieves a favorable efficacy--fidelity--efficiency trade-off, with explicit imperceptibility control and substantial gains in protection efficiency.

cs.CR↗
arXiv2026

Seeing What Matters: Visual Preference Policy Optimization for Visual Generation

Reinforcement learning (RL) has become a powerful tool for post-training visual generative models, with Group Relative Policy Optimization (GRPO) increasingly used to align generators with human preferences. However, existing GRPO pipelines rely on a single scalar reward per sample, treating each image or video as a holistic entity and ignoring the rich spatial and temporal structure of visual content. This coarse supervision hinders the correction of localized artifacts and the modeling of fine-grained perceptual cues. We introduce Visual Preference Policy Optimization (ViPO), a GRPO variant that lifts scalar feedback into structured, pixel-level advantages. ViPO employs a Perceptual Structuring Module that uses pretrained vision backbones to construct spatially and temporally aware advantage maps, redistributing optimization pressure toward perceptually important regions while preserving the stability of standard GRPO. Across both image and video benchmarks, ViPO consistently outperforms vanilla GRPO, improving in-domain alignment with human-preference rewards and enhancing generalization on out-of-domain evaluations. The method is architecture-agnostic, lightweight, and fully compatible with existing GRPO training pipelines, providing a more expressive and informative learning signal for visual generation.

cs.CV↗
arXiv2026

HAMLET: A Hierarchical and Adaptive Multi-Agent Framework for Live Embodied Theatrics

Creating an immersive and interactive theatrical experience is a long-term goal in the field of interactive narrative. The emergence of large language models (LLMs) provides a new path to achieve this goal. However, existing drama generation methods often produce LLMs that lack initiative and cannot interact with the physical scene, while typically requiring detailed input that diminishes the immersion of live performance. To address these challenges, we propose HAMLET, a hierarchical adaptive multi-agent framework focused on drama creation and real-time online performance. Given a simple topic, the framework initially generates a narrative blueprint to guide the subsequent improvisational performance. During online performance, each actor is equipped with an adaptive reasoning module that enables decision-making based on their personas, memories, goals during complex group chat scenarios. Beyond dialogue, actor agents engage in embodied interactions by changing the state of scene props through actions such as opening a letter or picking up a weapon, which are broadcast to update the global environmental context. To objectively assess the quality of live embodied theatrics, we establish a comprehensive evaluation method and introduce HAMLETJudge, a specialized critic model for automated evaluation. Experimental results demonstrate that HAMLET excels in creating expressive, coherent, and physically interactive theatrical experiences in an autonomous manner.

cs.AI↗
arXiv2026

Data Augmentation of Contrastive Learning is Estimating Positive-incentive Noise

Inspired by the idea of Positive-incentive Noise (Pi-Noise or $π$-Noise) that aims at learning the reliable noise beneficial to tasks, we scientifically investigate the connection between contrastive learning and $π$-noise in this paper. By converting the contrastive loss to an auxiliary Gaussian distribution to quantitatively measure the difficulty of the specific contrastive model under the information theory framework, we properly define the task entropy, the core concept of $π$-noise, of contrastive learning. It is further proved that the predefined data augmentation in the standard contrastive learning paradigm can be regarded as a kind of point estimation of $π$-noise. Inspired by the theoretical study, a framework that develops a $π$-noise generator to learn the beneficial noise (instead of estimation) as data augmentations for contrast is proposed. The designed framework can be applied to diverse types of data and is also completely compatible with the existing contrastive models. From the visualization, we surprisingly find that the proposed method successfully learns effective augmentations. Our code is available at https://github.com/hyzhang98/PiNDA.

cs.LG↗
arXiv2026

Segment-Aligned Policy Optimization for Multi-Modal Reasoning

Existing reinforcement learning approaches for Large Language Models typically perform policy optimization at the granularity of individual tokens or entire response sequences. However, such formulations often misalign with the natural step-wise structure of reasoning processes, leading to suboptimal credit assignment and unstable training in multi-modal reasoning tasks. To bridge this gap, we propose Segment-Aligned Policy Optimization (SAPO), a novel reinforcement learning paradigm that treats coherent reasoning steps, rather than tokens or full sequences as fundamental units of policy update. SAPO introduces a step-wise Markov decision process abstraction over reasoning segments, accompanied by segment-level value estimation, advantage computation, and importance sampling mechanisms that are semantically aligned with reasoning boundaries. Experiments on representative reasoning benchmarks demonstrate that SAPO consistently outperforms token-level and sequence-level policy optimization methods, achieving significant accuracy improvements while exhibiting better training stability and value estimation consistency. Our work underscores the importance of aligning reinforcement learning updates with the intrinsic structure of reasoning, paving the way for more efficient and semantically grounded policy optimization in complex reasoning tasks. Codes and models will be released to ensure full reproducibility.

cs.AI↗
arXiv2026

Logic-Regularized Verifier Elicits Reasoning from LLMs

Verifiers are crucial components for enhancing modern LLMs' reasoning capability. Typicalverifiers require resource-intensive superviseddataset construction, which is costly and faceslimitations in data diversity. In this paper, wepropose LOVER, an unsupervised verifier regularized by logical rules. LOVER treats theverifier as a binary latent variable, utilizinginternal activations and enforcing three logical constraints on multiple reasoning paths:negation consistency, intra-group consistency,and inter-group consistency (grouped by thefinal answer). By incorporating logical rulesas priors, LOVER can leverage unlabeled examples and is directly compatible with any offthe-shelf LLMs. Experiments on 10 datasetsdemonstrate that LOVER significantly outperforms unsupervised baselines, achieving performance comparable to the supervised verifier(reaching its 95% level on average). The sourcecode is publicly available at https://github.com/wangxinyufighting/llm-lover.

cs.CL↗
arXiv2026

PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations

Vision-Language-Action (VLA) models advance robotic control via strong visual-linguistic priors. However, existing VLAs predominantly frame pretraining as supervised behavior cloning, overlooking the fundamental nature of robot learning as a goal-reaching process that requires understanding temporal task progress. We present \textbf{PRTS} (\textbf{P}rimitive \textbf{R}easoning and \textbf{T}asking \textbf{S}ystem), a VLA foundation model that reformulates pretraining through Goal-Conditioned Reinforcement Learning. By treating language instructions as goals and employing contrastive reinforcement learning, PRTS learns a unified embedding space where the inner product of state-action and goal embeddings approximates the log-discounted goal occupancy, the probability of reaching the language-specified goal from the current state-action, quantitatively assessing physical feasibility beyond static semantic matching. PRTS draws this dense goal-reachability supervision directly from offline trajectories without reward annotations, and folds it into the VLM backbone via a role-aware causal mask, incurring negligible overhead over vanilla behavior cloning. This paradigm endows the high-level reasoning system with intrinsic goal reachability awareness, bridging semantic reasoning and temporal task progress, and further benefits goal-conditioned action prediction. Pretrained on 167B tokens of diverse manipulation and embodied-reasoning data, PRTS reaches state-of-the-art performance on LIBERO, LIBERO-Pro, LIBERO-Plus, SimplerEnv, and a real-world suite of 14 complex tasks, with particularly substantial gains on long-horizon, contact-rich, and zero-shot novel-instruction settings, confirming that injecting goal-reachability awareness significantly improves both execution success and long-horizon planning of general-purpose robotic foundation policies.

cs.AI↗
arXiv2026

Awakening Dormant Experts:Counterfactual Routing to Mitigate MoE Hallucinations

Sparse Mixture-of-Experts (MoE) models have achieved remarkable scalability, yet they remain vulnerable to hallucinations, particularly when processing long-tail knowledge. We identify that this fragility stems from static Top-$k$ routing: routers tend to favor high-frequency patterns over rare factual associations. Consequently, ``specialist experts'' possessing critical long-tail knowledge are often assigned low gating scores and remain ``dormant'' -- under-prioritized for specific tokens despite their proven causal importance on other inputs. To address this, we propose Counterfactual Routing (CoR), a training-free inference framework designed to awaken these dormant experts. CoR integrates layer-wise perturbation analysis with the Counterfactual Expert Impact (CEI) metric to dynamically shift computational resources from syntax-dominant to knowledge-intensive layers while maintaining a constant total activation count, effectively retrieving causally decisive experts via virtual ablation. Extensive experiments on TruthfulQA, FACTOR, and TriviaQA demonstrate that CoR improves factual accuracy by 3.1\% on average without increasing the inference budget, establishing a superior Pareto frontier compared to static scaling strategies.

cs.LG↗
arXiv2026

Membership Inference for Contrastive Pre-training Models with Text-only PII Queries

Contrastive pretraining models such as CLIP and CLAP, serve as the ubiquitous perceptual backbones for modern multimodal large models, yet their reliance on web-scale data raises growing concerns about memorizing Personally Identifiable Information (PII). Auditing such models via membership inference is challenging in practice: shadow-model MIAs are computationally prohibitive for large multimodal backbones, and existing multimodal auditing methods typically require querying the target with paired biometric inputs, thereby directly exposing sensitive biometric information to the target model. To bypass this critical limitation, we demonstrate a highly desirable capability for privacy auditing: multimodal memorization within these foundational encoders can be accurately inferred using exclusively the text modality. We propose Unimodal Membership Inference Detector (UMID), a text-only auditing framework that performs text-guided cross-modal latent inversion and extracts two complementary signals, similarity (alignment to the queried text) and variability (consistency across randomized inversions). UMID compares these statistics to a lightweight non-member reference constructed from synthetic gibberish and makes decisions via an ensemble of unsupervised anomaly detectors. Comprehensive experiments across diverse CLIP and CLAP architectures demonstrate that UMID significantly improves the effectiveness and efficiency over prior MIAs, delivering strong detection performance with sub-second auditing cost using solely text queries, completely circumventing the need for biometric inputs and complying with strict privacy constraints.

cs.CR↗
arXiv2026

VCE: A zero-cost hallucination mitigation method of LVLMs via visual contrastive editing

Large vision-language models (LVLMs) frequently suffer from Object Hallucination (OH), wherein they generate descriptions containing objects that are not actually present in the input image. This phenomenon is particularly problematic in real-world applications such as medical imaging and autonomous driving, where accuracy is critical. Recent studies suggest that the hallucination problem may stem from language priors: biases learned during pretraining that cause LVLMs to generate words based on their statistical co-occurrence. To mitigate this problem, we propose Visual Contrastive Editing (VCE), a novel post-hoc method that identifies and suppresses hallucinatory tendencies by analyzing the model's response to contrastive visual perturbations. Using Singular Value Decomposition (SVD), we decompose the model's activation patterns to isolate hallucination subspaces and apply targeted parameter edits to attenuate its influence. Unlike existing approaches that require fine-tuning or labeled data, VCE operates as a label-free intervention, making it both scalable and practical for deployment in resource-constrained settings. Experimental results demonstrate that VCE effectively reduces object hallucination across multiple benchmarks while maintaining the model's original computational efficiency.

cs.CV↗
arXiv2026

Multi-Domain Learning with Global Expert Mapping

Human perception generalizes well across different domains, but most vision models struggle beyond their training data. This gap motivates multi-dataset learning, where a single model is trained on diverse datasets to improve robustness under domain shifts. However, unified training remains challenging due to inconsistencies in data distributions and label semantics. Mixture-of-Experts (MoE) models provide a scalable solution by routing inputs to specialized subnetworks (experts). Yet, existing MoEs often fail to specialize effectively, as their load-balancing mechanisms enforce uniform input distribution across experts. This fairness conflicts with domain-aware routing, causing experts to learn redundant representations, and reducing performance especially on rare or out-of-distribution domains. We propose GEM (Global Expert Mapping), a planner-compiler framework that replaces the learned router with a global scheduler. Our planner, based on linear programming relaxation, computes a fractional assignment of datasets to experts, while the compiler applies hierarchical rounding to convert this soft plan into a deterministic, capacity-aware mapping. Unlike prior MoEs, GEM avoids balancing loss, resolves the conflict between fairness and specialization, and produces interpretable routing. Experiments show that GEM-DINO achieves state-of-the-art performance on the UODB benchmark, with notable gains on underrepresented datasets and solves task interference in few-shot adaptation scenarios.

cs.CV↗
arXiv2026

D-QRELO: Training- and Data-Free Delta Compression for Large Language Models via Quantization and Residual Low-Rank Approximation

Supervised Fine-Tuning (SFT) accelerates taskspecific large language models (LLMs) development, but the resulting proliferation of finetuned models incurs substantial memory overhead. Delta compression addresses this by retaining a single pre-trained LLM with multiple compressed delta weights. However, existing methods fail on models fine-tuned with largescale datasets. We find that larger SFT data scale amplifies delta parameter magnitude, singular values, and entropy, exacerbating compression errors. To tackle this, we propose DQRELO (Delta Compression via Quantization and Residual Low-Rank), a novel training- and data-free delta compression method. It combines coarse-grained one-bit quantization to capture the dominant structure of the delta, followed by compensated residual low-rank approximation to recover fine-grained details from the smaller residual error. Experiments on various LLMs spanning dense and MoE architectures across multiple domains under this challenging setting demonstrate that DQRELO outperforms existing methods. Moreover, we establish key design principles for delta compression through extensive empirical analysis, demonstrating how task difficulty, architecture, and layer positioning create predictable patterns that can guide optimal compression strategies in production systems.

cs.LG↗
arXiv2026

Boosting Robust AIGI Detection with LoRA-based Pairwise Training

The proliferation of highly realistic AI-Generated Image (AIGI) has necessitated the development of practical detection methods. While current AIGI detectors perform admirably on clean datasets, their detection performance frequently decreases when deployed "in the wild", where images are subjected to unpredictable, complex distortions. To resolve the critical vulnerability, we propose a novel LoRA-based Pairwise Training (LPT) strategy designed specifically to achieve robust detection for AIGI under severe distortions. The core of our strategy involves the targeted finetuning of a visual foundation model, the deliberate simulation of data distribution during the training phase, and a unique pairwise training process. Specifically, we introduce distortion and size simulations to better fit the distribution from the validation and test sets. Based on the strong visual representation capability of the visual foundation model, we finetune the model to achieve AIGI detection. The pairwise training is utilized to improve the detection via decoupling the generalization and robustness optimization. Experiments show that our approach secured the 3th placement in the NTIRE Robust AI-Generated Image Detection in the Wild challenge

cs.CV↗
arXiv2026

DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation

Long-horizon collaborative vision-language navigation (VLN) is critical for multi-robot systems to accomplish complex tasks beyond the capability of a single agent. CoNavBench takes a first step by introducing the first collaborative long-horizon VLN benchmark with relay-style multi-robot tasks, a collaboration taxonomy, along with graph-grounded generation and evaluation to model handoffs and rendezvous in shared environments. However, existing benchmarks and evaluations often do not enforce strictly synchronized dual-robot rollout on a shared world timeline, and they typically rely on static coordination policies that cannot adapt when new cross-agent evidence emerges. We present Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation (DeCoNav), a decentralized framework that couples event-triggered dialogue with dynamic task allocation and replanning for real-time, adaptive coordination. In DeCoNav, robots exchange compact semantic states via dialogue without a central controller. When informative events such as new evidence, uncertainty, or conflicts arise, dialogue is triggered to dynamically reassign subgoals and replan under synchronized execution. Implemented in DeCoNavBench with 1,213 tasks across 176 HM3D scenes, DeCoNav improves the both-success rate (BSR) by 69.2%, demonstrating the effectiveness of dialogue-driven, dynamically reallocated planning for multi-robot collaboration.

cs.RO↗
arXiv2026

Silicon Bureaucracy and AI Test-Oriented Education: Contamination Sensitivity and Score Confidence in LLM Benchmarks

Public benchmarks increasingly govern how large language models (LLMs) are ranked, selected, and deployed. We frame this benchmark-centered regime as Silicon Bureaucracy and AI Test-Oriented Education, and argue that it rests on a fragile assumption: that benchmark scores directly reflect genuine generalization. In practice, however, such scores may conflate exam-oriented competence with principled capability, especially when contamination and semantic leakage are difficult to exclude from modern training pipelines. We therefore propose an audit framework for analyzing contamination sensitivity and score confidence in LLM benchmarks. Using a router-worker setup, we compare a clean-control condition with noisy conditions in which benchmark problems are systematically deleted, rewritten, and perturbed before being passed downstream. For a genuinely clean benchmark, noisy conditions should not consistently outperform the clean-control baseline. Yet across multiple models, we find widespread but heterogeneous above-baseline gains under noisy conditions, indicating that benchmark-related cues may be reassembled and can reactivate contamination-related memory. These results suggest that similar benchmark scores may carry substantially different levels of confidence. Rather than rejecting benchmarks altogether, we argue that benchmark-based evaluation should be supplemented with explicit audits of contamination sensitivity and score confidence.

cs.AI↗