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Yihao Wang

Publications and source records attributed to Yihao Wang.

At least 19 recordsLinked to original sources
arXiv2026

How Do Document Parsers Break? Auditing Structural Vulnerability in Document Intelligence

Document Layout Analysis (DLA) pipelines provide structured page representations for retrieval-augmented generation, long-document question answering, and related applications. Yet their robustness evaluation remains largely area-centric. We identify this Footprint Bias and propose ProSA, a lightweight output-level auditing framework that decouples controlled probing, policy-driven targeting, and structure-aware diagnosis. ProSA combines Block-level Structural Loss Rate (B-SLR), granularity-aware exposure descriptors, and pathway attribution to analyze where structural identity is lost, at what exposure granularity failures emerge, and how failures propagate. Across MinerU and PP-StructureV3 on 1,000 pages, affected area weakly tracks perturbation-induced OCR instability ($R^2=0.384/0.110$), whereas B-SLR aligns much more closely with it ($R^2=0.727/0.916$). Exposure descriptors further separate occlusion- and topology-dominant pathways, while matched-footprint structural probes cause much larger downstream QA/retrieval drops than area-matched erasure. These results shift DLA robustness evaluation from footprint-based measurement toward structure-aware vulnerability auditing.

cs.CL↗
arXiv2026

DIDO: Distilling Interaction-Centric Dynamics into One-Step Denoising for World Action Models

World Action Models (WAMs) use video generation models to predict future visual dynamics for robotic manipulation, but iterative denoising introduces additional latency for closed-loop control. We empirically find that visual content converges at different rates during denoising. Static background structure forms early, whereas the gripper and manipulated object remain blurry after the first step, with their interaction dynamics emerging only through subsequent denoising. Consequently, naively truncating a multi-step video model to one step preserves scene structure but loses the interaction-centric dynamics most critical for manipulation. To address this issue, we propose DIDO, which distills the converged dynamics of a multi-step video model into a single denoising step. DIDO combines distribution matching distillation with interaction-centric representation guidance. Beyond compressing multi-step generation into one forward pass, DIDO explicitly models the gripper, manipulated object, and their interaction using supervised bounding-box visual reasoning tokens. Additionally, DIDO aligns the target object's representations across multiple model layers with features from a pretrained DINOv3 encoder. This interaction-centric guidance helps the distilled model preserve both the relevant entities and their future dynamics in a single step, while substantially reducing inference latency. DIDO achieves an average success rate of 99.0\% on LIBERO, 76.6\% on LIBERO-Plus, and 92.0\% on RoboTwin, while also demonstrating effective transfer to long-horizon and generalization tasks in real-world robotic manipulation.

cs.RO↗
arXiv2026

SplatGuide: Geometric Priors from 3D Gaussians for Pose-Free Novel View Synthesis

Generating photorealistic novel views from unposed images requires both 3D geometric understanding and the ability to synthesize unseen content. A natural strategy combines feed-forward 3DGS reconstruction with multi-view diffusion. Yet prior pipelines extract at most one signal from the reconstruction, either pixel rendering or learned features, while none exploits per-Gaussian visibility for occlusion-aware reference selection. This *information disconnect* leaves renderable geometry, visibility cues, and learned features unused. SplatGuide closes this disconnect by reusing a single 3DGS scene across three complementary roles. Rendered images provide pixel-aligned geometric conditioning. Per-Gaussian source-view indices are rendered into a target-view voting map for occlusion-aware reference selection. Reconstruction tokens supply feature-level guidance via cross-attention. All three signals derive from the same reconstruction forward pass. Across RealEstate10K, DL3DV, Tanks-and-Temples, and Mip-NeRF 360, SplatGuide achieves state-of-the-art pose-free novel view synthesis. On RealEstate10K, with a moderate number of input views, it surpasses the ground-truth-pose baseline.

cs.CV↗
arXiv2026

PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment

Fine-grained robotic evaluation matters for understanding embodied models, going beyond binary success rates and rule-based process scores. We present PRM-as-a-Judge 1.5, a toolkit for robot process assessment that turns rollout videos into dense progress curves and derives multiple fine metrics. PRM-as-a-Judge 1.5 introduces three metrics, building on version 1.0, that characterize failure-side progress, post-drawdown recovery, and success-side execution quality, helping users understand embodied model capability. Based on the rollout videos from benchmarks, we perform a comprehensive assessment of the embodied models, providing some fine-grained metric results and key findings. We further introduce RoboPulse++ to evaluate the reliability of process reward models (PRM), providing evaluators with a more accurate testing platform. Moreover, we release a user-friendly assessment suite, including the benchmark, metric implementation, and visualization tools, to support reproducible manipulation process evaluation. We call on the community to rethink how robots are evaluated and establish transparent, procedural, and reproducible assessment as a foundation for the next generation of embodied intelligence.

cs.RO↗
arXiv2026

LoCA: Forward-Only LLM Tuning after One-Shot Calibration with Local Credit Assignment

Parameter-efficient post-training reduces the number of trainable parameters, but still requires repeated end-to-end backpropagation through the frozen backbone. Every adaptation step therefore needs backward-capable hardware and must store or recompute activations. We ask whether this repeated backward chain can be replaced by a one-time calibration. We introduce Local Credit Assignment (LoCA), a two-stage method for small-shift adaptation. One probe backward pass fits a low-rank map at each transformer block from the final prediction error to a local hidden-state correction. LoCA then reuses these maps to form blockwise regression targets from forward activations and fits low-rank adapters with closed-form ridge solves. No further backbone backward pass is required. We evaluate LoCA on five discriminative benchmarks with Qwen2.5 models from 0.5B to 14B. In 16 of 25 reported task--scale comparisons, LoCA yields lower evaluation cross-entropy than the corresponding LoRA run. Its measured full-run GPU peak, including calibration, is 26--29\% lower than LoRA's. After calibration, its CPU steady-state memory is 36--52\% lower and its per-pass time is 43--48\% lower. A shared scale-normalized candidate set is reused across all tested Qwen2.5 sizes and on SmolLM2-1.7B. LoCA thus amortizes global credit assignment into one calibration and enables later forward-only tuning when repeated backpropagation is impractical. The code associated with this paper is available \href{https://github.com/Xia12121/LoCA}{here}.

cs.AI↗
arXiv2026

Evolving in the Agent Jungle via History-Informed Opponent Awareness

Learning to adapt strategies through interaction is a key step toward more general and autonomous LLM agents. Existing approaches typically achieve behavioral adaptation by revising skill libraries. However, in multi-agent environments, opponents may simultaneously update their strategies, causing the environment itself to evolve continuously. Applying skill-revision methods designed for static environments in such settings therefore amounts to updating against an obsolete reference. To address this challenge, we introduce OASE (Opponent-Aware Selective Evolution), which identifies and adopts genuinely beneficial skill revisions in dynamic multi-agent environments. Specifically, OASE conducts paired comparisons between a candidate skill and the incumbent under identical conditions anchored by historical snapshots of opponent strategies, and adopts the candidate only when its estimated payoff gain exceeds an acceptance threshold. We evaluate OASE in two decision-making scenarios: first-price auctions and private-cost Cournot competition. Experimental results show that, compared with a Reflexion-style baseline, OASE achieves a lower final equilibrium distance in both environments while accepting substantially fewer skill revisions, thereby suppressing strategy changes that lack sufficient payoff support. OASE therefore replaces blind updating with evidence-anchored selection, allowing agents to adapt stably and efficiently even as opponents continuously evolve.

cs.AI↗
arXiv2026

SceneExpander: Text-Guided 3D Scene Expansion via Free-Form View Insertion

World building with 3D scene representations is increasingly important for content creation, simulation, and interactive experiences, yet real workflows are inherently iterative: creators repeatedly extend existing scenes under user control. Motivated by this gap, we study text-guided 3D scene expansion via free-form view insertion. Starting from a real scene captured by multi-view images, a user specifies a text expansion intent, which a generative model materializes as an inserted view extending the scene coverage. Unlike simple object editing or style transfer within a fixed scene, the inserted view may be 3D-misaligned with the original reconstruction, introducing geometric shifts, hallucinated content, or view-dependent artifacts that disrupt global multi-view consistency. To address this challenge, we propose SceneExpander, which applies test-time adaptation to a parametric feed-forward 3D reconstruction model with two complementary distillation signals: anchor distillation stabilizes the captured scene using geometric cues from the captured views, while inserted-view self-distillation retains insertion-supported predictions to accommodate the misaligned view. Experiments on ETH scenes and online data demonstrate improved expansion behavior and reconstruction quality under misalignment.

cs.CV↗
arXiv2026

Squid: Long Context as a New Modality for Energy-Efficient On-Device Language Models

This paper presents Dolphin, a novel decoder-decoder architecture for energy-efficient processing of long contexts in language models. Our approach addresses the significant energy consumption and latency challenges inherent in on-device models. Dolphin employs a compact 0.5B parameter decoder to distill extensive contextual information into a memory embedding, substantially reducing the input length for the primary 7B parameter decoder model. Inspired by vision-language models, we repurpose the image embedding projector to encode long textual contexts, effectively treating extended context as a distinct modality. This innovative method enables processing of substantially longer contexts without the typical computational overhead associated with extended input sequences. Empirical evaluations demonstrate a 10-fold improvement in energy efficiency and a 5-fold reduction in latency compared to conventional full-length context processing methods without losing quality of the response. Our work contributes to the development of more sustainable and scalable language models for on-device applications, addressing the critical need for energy-efficient and responsive AI technologies in resource-constrained environments while maintaining the accuracy to understand long contexts. This research has implications for the broader field of natural language processing, particularly in the domain of efficient model design for resource-limited settings. By enabling more sophisticated AI capabilities on edge devices, Dolphin paves the way for advanced language processing in a wide range of applications where computational resources are at a premium. The Dolphin model is publicly available at https://huggingface.co/NexaAIDev/Dolphin.

cs.CL↗
arXiv2026

Orca: The World is in Your Mind

We introduce Orca, an initial instantiation of a general world foundation model. Orca learns a unified world latent space from multimodal world signals and exposes it through multimodal readout interfaces. Rather than optimizing isolated next-token, next-frame, or next-action prediction, we are centered on Next-State-Prediction modeling, offering a unified state-transition modeling route toward understanding, predicting, and acting upon the world. Orca learns through two complementary paradigms: unconscious learning captures dense natural state transitions from continuous videos, and conscious learning models sparse meaningful state transitions by language-described events and VQA supervision. For pre-training, we construct a large-scale world-learning inventory data, including 125K hours of video data and 160M event annotations. After pre-training, Orca learns a unified world latent space. To examine whether the learned latent supports downstream, we evaluate it by three representative downstream readouts: text generation, image prediction, and embodied action generation. Orca's backbone is frozen, and only the lightweight modality-specific decoders are trainable. Experiments show the scalability of the proposed paradigm and verify that stronger world latent enables stronger downstream readouts. Orca outperforms similar-sized specialized baselines. These results show that Orca, as a general world foundation model, presents a promising approach to understanding, predicting, and acting upon the world. Finally, we discuss the current limitations, aiming to provide useful insights and inspiration for the community.

cs.CV↗
arXiv2026

ROSE: Benchmarking the Perception-to-Action Gap in Multimodal Models

Multimodal large language models (MLLMs) are increasingly expected to act on visual information, yet the same scene may require different actions under different task contexts. How reliably can a model turn the same visual evidence into the action required by the current context? To answer this question, we introduce \textsc{ROSE} (\textbf{R}eference-conditioned \textbf{O}ddity and \textbf{S}ymbolic \textbf{E}xecution), a controlled benchmark that holds the visual scene fixed while varying region constraints and required symbolic outputs. Through coupled counting and coordinate-action tasks, \textsc{ROSE} tests whether models can infer an implicit majority reference and act on the resulting fine-grained visual evidence under changing contexts. Across nine recent MLLMs, performance drops by as much as 44.5 percentage points from counting-oriented tasks to region-conditioned action, despite 98.8\% human performance. The gap persists on paired scenes and regions for which the same model returns the correct count, while global-click and matched local controls show that coordinate grounding explains only part of the loss, revealing a distinct, model-dependent bottleneck in turning shared visual evidence into context-specific actions.

cs.CV↗
arXiv2026

Ultrafast optical route to coupled ferroelectric and altermagnetic switching

Exploring novel magnetoelectric coupling mechanisms to achieve control of ferroelectric polarization and magnetism is highly significant for both fundamental science and electronic device applications. Although extensive studies have been conducted on electrical switching of magnetism in multiferroic materials, simultaneous ultrafast laser switching of ferroelectric polarization and altermagnetism remains unexplored. In this letter, we propose that the ultrafast laser can be used to switch ferroelectric polarization and altermagnetism concurrently in charge-order-induced altermagnetic ferroelectrics. Building on this idea, we further demonstrate that such dual switching can be realized in charge-order-induced altermagnetic ferroelectric LiV$_2$F$_6$ by symmetry analysis and time-dependent density functional theory (TDDFT) calculation. Given that LiV$_2$F$_6$ has already been experimentally synthesized, our work not only provides an ideal material platform for experimentally realizing simultaneous switching of ferroelectric polarization and altermagnetism but also holds potential application value in future ultrafast spintronic devices.

cond-mat.mtrl-sci↗
arXiv2026

Bridging the Detection-to-Abstention Gap in Reasoning Models under Insufficient Information

We highlight a failure mode of large reasoning models on questions with insufficient information: models may recognize that a problem is under-specified, yet still continue reasoning and produce unsupported final answers instead of abstaining. We formalize this mismatch as the detection-to-abstention gap, where detected insufficiency fails to translate into final abstention. This gap is especially concerning in high-risk domains such as medical AI, where answers based on incomplete evidence can be more harmful than refusal. To close this gap, we propose Judge-Then-Solve (JTS), a trajectory-level reasoning-control framework that trains models to make an explicit answerability commitment before solution generation. Rather than treating abstention as a final-answer style, JTS casts it as a control decision: the model either proceeds to solve or terminates early based on its answerability judgment. We instantiate this policy through supervised warm-up and missing-premise reinforcement learning with consistency and length-shaping rewards. Experiments on dense and MoE reasoning models show that JTS substantially improves reliable abstention across datasets and pushes Abstention@Detection (A@D) to near-saturation, indicating that models not only detect missing information but also act on that detection. By terminating unanswerable trajectories immediately after the answerability judgment, JTS reduces unnecessary reasoning and improves inference efficiency when continued deliberation would amplify unsupported assumptions. We also observe that missing-premise training can alter reasoning behavior on difficult but answerable problems, reducing unproductive self-reflection. These results suggest that abstention under insufficient information is a key form of reasoning control for deploying reasoning models safely and efficiently.

cs.AI↗
arXiv2026

RotMoLE: Enhancing Mixture of Low-Rank Experts through Rotational Gating Mechanism

While Large Language Models (LLMs) are commonly fine-tuned to handle domain-specific tasks before being applied to vertical applications, adapting them to complex scenarios with diverse specialized knowledge remains challenging. Meanwhile, Mixture-of-Experts (MoE) architecture has risen as a crucial paradigm for training LLMs, and some recent works have also incorporated MoE into Parameter-Efficient Fine-Tuning (PEFT) to propose the Mixture of Low-rank Experts (MoE-LoRA), to enhance the power of low-rank adapters for learning complicated knowledge. However, conventional gating mechanisms in MoE typically apply only a scalar reweighing to selected experts, thereby limiting their underlying capacity of representation and generalization. Motivated and enabled by the low-rank structures in MoE-LoRA, we propose RotMoLE, a specialized MoE framework for low-rank experts featuring an additional rotation gate. Beyond simple scaling, RotMoLE implements a rotation mechanism for each selected expert, enabling superior expert exploitation and specialization for learning diverse data, especially when expert candidates are limited. Empirical results on complex multi-task and multilingual training scenarios validate our effectiveness.

cs.LG↗
arXiv2026

MedMemoryBench: Benchmarking Agent Memory in Personalized Healthcare

The large-scale deployment of personalized healthcare agents demands memory mechanisms that are exceptionally precise, safe, and capable of long-term clinical tracking. However, existing benchmarks primarily focus on daily open-domain conversations, failing to capture the high-stakes complexity of real-world medical applications. Motivated by the stringent production requirements of an industry-leading health management agent serving tens of millions of active users, we introduce MedMemoryBench. We develop a human-agent collaborative pipeline to synthesize highly realistic, long-horizon medical trajectories based on clinically grounded, synthetic patient archetypes. This process yields a massive, expertly validated dataset comprising approximately 2,000 sessions and 16,000 interaction turns. Crucially, MedMemoryBench departs from traditional static evaluations by pioneering an "evaluate-while-constructing" streaming assessment protocol, which precisely mirrors dynamic memory accumulation in production environments. Furthermore, we formalize and systematically investigate the critical phenomenon of memory saturation, where sustained information influx actively degrades retrieval and reasoning robustness. Comprehensive benchmarking reveals severe bottlenecks in mainstream architectures, particularly concerning complex medical reasoning and noise resilience. By exposing these fundamental flaws, MedMemoryBench establishes a vital foundation for developing robust, production-ready medical agents.

cs.AI↗
arXiv2026

ChunQiuTR: Time-Keyed Temporal Retrieval in Classical Chinese Annals

Retrieval shapes how language models access and ground knowledge in retrieval-augmented generation (RAG). In historical research, the target is often not an arbitrary relevant passage, but the exact record for a specific regnal month, where temporal consistency matters as much as topical relevance. This is especially challenging for Classical Chinese annals, where time is expressed through terse, implicit, non-Gregorian reign phrases that must be interpreted from surrounding context, so semantically plausible evidence can still be temporally invalid. We introduce \textbf{ChunQiuTR}, a time-keyed retrieval benchmark built from the \textit{Spring and Autumn Annals} and its exegetical tradition. ChunQiuTR organizes records by month-level reign keys and includes chrono-near confounders that mirror realistic retrieval failures. We further propose \textbf{CTD} (Calendrical Temporal Dual-encoder), a time-aware dual-encoder that combines Fourier-based absolute calendrical context with relative offset biasing. Experiments show consistent gains over strong semantic dual-encoder baselines under time-keyed evaluation, supporting retrieval-time temporal consistency as a key prerequisite for faithful downstream historical RAG. Our code and datasets are available at \href{https://github.com/xbdxwyh/ChunQiuTR}{\texttt{github.com/xbdxwyh/ChunQiuTR}}.

cs.CL↗
arXiv2026

PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videos

Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely heavily on supervised training with high-quality 3D data and manual annotations, limiting scalability and diversity. To address this limitation, we propose PAWS, a method that directly extracts object articulations from hand-object interactions in large-scale in-the-wild egocentric videos. We evaluate our method on the public data sets, including HD-EPIC and Arti4D data sets, achieving significant improvements over baselines. We further demonstrate that the extracted articulations benefit downstream tasks, including fine-tuning 3D articulation prediction models and enabling robot manipulation. See the project website at https://aaltoml.github.io/PAWS/.

cs.CV↗
arXiv2026

ResAgent: Entropy-based Prior Point Discovery and Visual Reasoning for Referring Expression Segmentation

Referring Expression Segmentation (RES) is a core vision-language segmentation task that enables pixel-level understanding of targets via free-form linguistic expressions, supporting critical applications such as human-robot interaction and augmented reality. Despite the progress of Multimodal Large Language Model (MLLM)-based approaches, existing RES methods still suffer from two key limitations: first, the coarse bounding boxes from MLLMs lead to redundant or non-discriminative point prompts; second, the prevalent reliance on textual coordinate reasoning is unreliable, as it fails to distinguish targets from visually similar distractors. To address these issues, we propose \textbf{\model}, a novel RES framework integrating \textbf{E}ntropy-\textbf{B}ased Point \textbf{D}iscovery (\textbf{EBD}) and \textbf{V}ision-\textbf{B}ased \textbf{R}easoning (\textbf{VBR}). Specifically, EBD identifies high-information candidate points by modeling spatial uncertainty within coarse bounding boxes, treating point selection as an information maximization process. VBR verifies point correctness through joint visual-semantic alignment, abandoning text-only coordinate inference for more robust validation. Built on these components, \model implements a coarse-to-fine workflow: bounding box initialization, entropy-guided point discovery, vision-based validation, and mask decoding. Extensive evaluations on four benchmark datasets (RefCOCO, RefCOCO+, RefCOCOg, and ReasonSeg) demonstrate that \model achieves new state-of-the-art performance across all four benchmarks, highlighting its effectiveness in generating accurate and semantically grounded segmentation masks with minimal prompts.

cs.CV↗
arXiv2026

Subsystem fidelity in two-dimensional conformal field theories

We investigate the short-interval expansion of the subsystem fidelity in two-dimensional conformal field theories (2D CFTs) using the operator product expansion (OPE) of twist operators. We obtain universal contributions from general quasiprimary operators valid for arbitrary 2D CFTs, along with specific results in free massless boson and fermion theories. The analytical predictions demonstrate excellent agreement with established analytical results in field theories and numerical calculations in integrable models. Furthermore, we extend the method to holographic CFTs, where subsystem fidelity serves to analyze the distinguishability of black hole microstates through the AdS/CFT correspondence. This work establishes a unified framework for quantifying quantum state distinguishability across various 2D CFTs, bridging quantum information techniques with applications in quantum gravity.

hep-th↗