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Yuchen Zhang

Publications and source records attributed to Yuchen Zhang.

At least 91 records · Page 5Linked to original sources

How Far Can Unsupervised RLVR Scale LLM Training?

Unsupervised reinforcement learning with verifiable rewards (URLVR) offers a pathway to scale LLM training beyond the supervision bottleneck by deriving rewards without ground truth labels. Recent works leverage model intrinsic signals, showing promising early gains, yet their potential and limitations remain unclear. In this work, we revisit URLVR and provide a comprehensive analysis spanning taxonomy, theory and extensive experiments. We first classify URLVR methods into intrinsic versus external based on reward sources, then establish a unified theoretical framework revealing that all intrinsic methods converge toward sharpening the model's initial distribution This sharpening mechanism succeeds when initial confidence aligns with correctness but fails catastrophically when misaligned. Through systematic experiments, we show intrinsic rewards consistently follow a rise-then-fall pattern across methods, with collapse timing determined by model prior rather than engineering choices. Despite these scaling limits, we find intrinsic rewards remain valuable in test-time training on small datasets, and propose Model Collapse Step to measure model prior, serving as a practical indicator for RL trainability. Finally, we explore external reward methods that ground verification in computational asymmetries, showing preliminary evidence they may escape the confidence-correctness ceiling. Our findings chart boundaries for intrinsic URLVR while motivating paths toward scalable alternatives.

cs.LG↗

Beyond Flat Unknown Labels in Open-World Object Detection

Most object detectors operate under a closed-world assumption, recognizing only the classes annotated in the training dataset and failing when encountering novel objects. Open-World Object Detection (OWOD) relaxes this assumption by enabling unseen objects to be detected as "Unknown". However, collapsing all novel objects into a single undifferentiated label eliminates semantic granularity and limits informed decision-making. In this paper, we introduce BOUND, an open-world detector that advances OWOD by inferring coarse-grained categories of unknown objects rather than merely flagging their existence. This enriched representation offers semantic cues that may benefit real-world systems. For example, in autonomous driving, distinguishing between an "Unknown Animal" (requiring yielding) and an "Unknown Debris" (requiring rerouting) leads to fundamentally different planning behaviors. Technically, BOUND integrates a sparsemax-based head for modeling objectness, a hierarchy-guided relabeling component that provides auxiliary supervision, and a classification module that learns hierarchical relationships. Experiments on OWOD benchmarks demonstrate that BOUND achieves higher unknown recall than existing baselines without sacrificing known-class mAP, while additionally enabling structured hierarchical categorization of unknown instances. Furthermore, evaluations on the long-tail LVIS dataset demonstrate robust generalization. Code will be made available.

cs.CV↗

A Survey on Reconfigurable and Movable Antennas for Wireless Communications and Sensing

Reconfigurable antennas (RAs) and movable antennas (MAs) have been recognized as promising technologies to enhance the performance of wireless communication and sensing systems by introducing additional degrees of freedom (DoFs) in tuning antenna radiation and/or placement. This paradigm shift from conventional non-reconfigurable/movable antennas offers tremendous new opportunities for realizing multi-functional, more adaptive, and efficient next-generation wireless networks. In this paper, we provide a comprehensive survey on the fundamentals, architectures, and applications of these two emerging antenna technologies. First, we provide a chronological overview of the parallel historical development of both RA and MA technologies. Next, we review and classify the state-of-the-art hardware architectures for implementing RAs and MAs, followed by a detailed comparison of their distinct mechanisms, performance metrics, and functionalities. Subsequently, we focus on various applications of RAs and MAs in wireless communication systems, analyzing their respective performance advantages and key design considerations such as mode selection, movement optimization, and channel acquisition. We also explore the significant roles of RAs and MAs in advancing wireless sensing and integrated sensing and communication (ISAC). Furthermore, we present numerical performance comparisons to illustrate the distinct characteristics and complementary advantages of RA and MA systems. Finally, we outline key challenges and identify promising future research directions to inspire further innovations in this burgeoning field.

eess.SP↗

Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis

For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of autonomous driving systems. Traditional scenario generation relies on rule-based systems, knowledge-driven models, and data-driven synthesis, often producing limited diversity and unrealistic safety-critical cases. With the emergence of foundation models, which represent a new generation of pre-trained, general-purpose AI models, developers can process heterogeneous inputs (e.g., natural language, sensor data, HD maps, and control actions), enabling the synthesis and interpretation of complex driving scenarios. In this paper, we conduct a survey about the application of foundation models for scenario generation and scenario analysis in autonomous driving (as of May 2025). Our survey presents a unified taxonomy that includes large language models, vision-language models, multimodal large language models, diffusion models, and world models for the generation and analysis of autonomous driving scenarios. In addition, we review the methodologies, open-source datasets, simulation platforms, and benchmark challenges, and we examine the evaluation metrics tailored explicitly to scenario generation and analysis. Finally, the survey concludes by highlighting the open challenges and research questions, and outlining promising future research directions. All reviewed papers are listed in a continuously maintained repository, which contains supplementary materials and is available at https://github.com/TUM-AVS/FM-for-Scenario-Generation-Analysis.

cs.RO↗

UFM: A Simple Path towards Unified Dense Correspondence with Flow

Dense image correspondence is central to many applications, such as visual odometry, 3D reconstruction, object association, and re-identification. Historically, dense correspondence has been tackled separately for wide-baseline scenarios and optical flow estimation, despite the common goal of matching content between two images. In this paper, we develop a Unified Flow & Matching model (UFM), which is trained on unified data for pixels that are co-visible in both source and target images. UFM uses a simple, generic transformer architecture that directly regresses the (u,v) flow. It is easier to train and more accurate for large flows compared to the typical coarse-to-fine cost volumes in prior work. UFM is 28% more accurate than state-of-the-art flow methods (Unimatch), while also having 62% less error and 6.7x faster than dense wide-baseline matchers (RoMa). UFM is the first to demonstrate that unified training can outperform specialized approaches across both domains. This result enables fast, general-purpose correspondence and opens new directions for multi-modal, long-range, and real-time correspondence tasks.

cs.CV↗

P1-VL: Bridging Visual Perception and Scientific Reasoning in Physics Olympiads

The transition from symbolic manipulation to science-grade reasoning represents a pivotal frontier for Large Language Models (LLMs), with physics serving as the critical test anchor for binding abstract logic to physical reality. Physics demands that a model maintain physical consistency with the laws governing the universe, a task that fundamentally requires multimodal perception to ground abstract logic in reality. At the Olympiad level, diagrams are often constitutive rather than illustrative, containing essential constraints, such as boundary conditions and spatial symmetries, that are absent from the text. To bridge this visual-logical gap, we introduce P1-VL, a family of open-source vision-language models engineered for advanced scientific reasoning. Our method harmonizes Curriculum Reinforcement Learning, which employs progressive difficulty expansion to stabilize post-training, with Agentic Augmentation, enabling iterative self-verification at inference. Evaluated on HiPhO, a rigorous benchmark of 13 exams from 2024-2025, our flagship P1-VL-235B-A22B becomes the first open-source Vision-Language Model (VLM) to secure 12 gold medals and achieves the state-of-the-art performance in the open-source models. Our agent-augmented system achieves the No.2 overall rank globally, trailing only Gemini-3-Pro. Beyond physics, P1-VL demonstrates remarkable scientific reasoning capacity and generalizability, establishing significant leads over base models in STEM benchmarks. By open-sourcing P1-VL, we provide a foundational step toward general-purpose physical intelligence to better align visual perceptions with abstract physical laws for machine scientific discovery.

cs.AI↗

LFQA-E: Carefully Benchmarking Long-form QA Evaluation

Long-Form Question Answering (LFQA) involves generating comprehensive, paragraph-level responses to open-ended questions, which poses a significant challenge for evaluation due to the richness of information and flexible response format. Existing LFQA-evaluation benchmarks often lack reference answers and are limited in size and topic coverage, reducing their reliability. To address this gap, we introduce LFQA-E, a well-constructed, multilingual, and reference-based benchmark designed to rigorously evaluate automatic metrics for LFQA. LFQA-E comprises 1618 questions and 7323 pairwise comparisons across 15 topics, drawn from diverse sources such as online queries and examination questions, thereby enabling a comprehensive assessment of evaluation metrics. We examine five categories of metrics, encompassing 17 specific methods, using LFQA-E. The results demonstrate that none of the existing automatic metrics perform comparably to human judgments, highlighting their inability to capture the dense information in long-form responses. Furthermore, we present a detailed analysis of the failure cases and the generalization capacity of these metrics, offering insights to guide the future development of LFQA evaluation methods. The benchmark and code are available at https://github.com/YuchenFan48/LFQA-E.

cs.CL↗

MultiHateLoc: Towards Temporal Localisation of Multimodal Hate Content in Online Videos

The rapid growth of video content on platforms such as TikTok and YouTube has intensified the spread of multimodal hate speech, where harmful cues emerge subtly and asynchronously across visual, acoustic, and textual streams. Existing research primarily focuses on video-level classification, leaving the practically crucial task of temporal localisation, identifying when hateful segments occur, largely unaddressed. This challenge is even more noticeable under weak supervision, where only video-level labels are available, and static fusion or classification-based architectures struggle to capture cross-modal and temporal dynamics. To address these challenges, we propose MultiHateLoc, the first framework designed for weakly-supervised multimodal hate localisation. MultiHateLoc incorporates (1) modality-aware temporal encoders to model heterogeneous sequential patterns, including a tailored text-based preprocessing module for feature enhancement; (2) dynamic cross-modal fusion to adaptively emphasise the most informative modality at each moment and a cross-modal contrastive alignment strategy to enhance multimodal feature consistency; (3) a modality-aware MIL objective to identify discriminative segments under video-level supervision. Despite relying solely on coarse labels, MultiHateLoc produces fine-grained, interpretable frame-level predictions. Experiments on HateMM and MultiHateClip show that our method achieves state-of-the-art performance in the localisation task.

cs.CV↗

User Localization via Active Sensing with Electromagnetically Reconfigurable Antennas

This paper presents an end-to-end deep learning framework for electromagnetically reconfigurable antenna (ERA)-aided user localization with active sensing, where ERAs provide additional electromagnetic reconfigurability to diversify the received measurements and enhance localization informativeness. To balance sensing flexibility and overhead, we adopt a two-timescale design: the digital combiner is updated at each stage, while the ERA patterns are reconfigured at each substage via a spherical-harmonic representation. The proposed mechanism integrates attention-based feature extraction and LSTM-based temporal learning, enabling the system to learn an optimized sensing strategy and progressively refine the UE position estimate from sequential observations. Simulation results show that the proposed approach consistently outperforms conventional digital beamforming-only and single-stage sensing baselines in terms of localization accuracy. These results highlight the effectiveness of ERA-enabled active sensing for user localization in future wireless systems.

eess.SP↗

MapAnything: Universal Feed-Forward Metric 3D Reconstruction

We introduce MapAnything, a unified transformer-based feed-forward model that ingests one or more images along with optional geometric inputs such as camera intrinsics, poses, depth, or partial reconstructions, and then directly regresses the metric 3D scene geometry and cameras. MapAnything leverages a factored representation of multi-view scene geometry, i.e., a collection of depth maps, local ray maps, camera poses, and a metric scale factor that effectively upgrades local reconstructions into a globally consistent metric frame. Standardizing the supervision and training across diverse datasets, along with flexible input augmentation, enables MapAnything to address a broad range of 3D vision tasks in a single feed-forward pass, including uncalibrated structure-from-motion, calibrated multi-view stereo, monocular depth estimation, camera localization, depth completion, and more. We provide extensive experimental analyses and model ablations demonstrating that MapAnything outperforms or matches specialist feed-forward models while offering more efficient joint training behavior, thus paving the way toward a universal 3D reconstruction backbone.

cs.CV↗

Photon rest mass from localized fast radio bursts with improved distribution of dispersion measure from extragalactic gas

The assumption that photons are massless is a foundational postulate of modern physics, yet it remains subject to experimental verification. Fast radio bursts (FRBs), with their cosmological distances and precisely measured dispersion, offer an excellent laboratory for testing this hypothesis. In this work, we propose an improved distribution function for the dispersion measure arising from extragalactic gas and demonstrate that it provides an excellent fit to mock data. We then apply this distribution to constrain the photon rest mass under the $Λ$CDM, $w$CDM, and $w_{0}w_{a}$CDM cosmological models, the last of which is favored by recent DESI baryon acoustic oscillation observations. The corresponding 1$σ$ upper limits on the photon mass are found to be $4.83\times10^{-51}\,\mathrm{kg}$, $4.71\times10^{-51}\,\mathrm{kg}$, and $4.86\times10^{-51}\,\mathrm{kg}$, respectively, which are the most stringent constraints derived from FRBs to date. These results indicate that the choice of cosmological model has only a minor impact on photon-mass bounds, demonstrate that FRBs provide robust and reliable constraints, and offer strong empirical support for the massless nature of the photon.

astro-ph.CO↗

Training-Free and Interpretable Hateful Video Detection via Multi-stage Adversarial Reasoning

Hateful videos pose serious risks by amplifying discrimination, inciting violence, and undermining online safety. Existing training-based hateful video detection methods are constrained by limited training data and lack of interpretability, while directly prompting large vision-language models often struggle to deliver reliable hate detection. To address these challenges, this paper introduces MARS, a training-free Multi-stage Adversarial ReaSoning framework that enables reliable and interpretable hateful content detection. MARS begins with the objective description of video content, establishing a neutral foundation for subsequent analysis. Building on this, it develops evidence-based reasoning that supports potential hateful interpretations, while in parallel incorporating counter-evidence reasoning to capture plausible non-hateful perspectives. Finally, these perspectives are synthesized into a conclusive and explainable decision. Extensive evaluation on two real-world datasets shows that MARS achieves up to 10% improvement under certain backbones and settings compared to other training-free approaches and outperforms state-of-the-art training-based methods on one dataset. In addition, MARS produces human-understandable justifications, thereby supporting compliance oversight and enhancing the transparency of content moderation workflows. The code is available at https://github.com/Multimodal-Intelligence-Lab-MIL/MARS.

cs.CV↗

Positioning-Aided Channel Estimation for Multi-LEO Satellite Cooperative Beamforming

We investigate a multi-low Earth orbit (LEO) satellite system that simultaneously provides positioning and communication services to terrestrial user terminals. To address the challenges of accurately acquiring channel state information in LEO satellite systems, we propose a novel two-timescale positioning-aided channel estimation framework, exploiting the distinct variation rates of position-related parameters and channel gains inherent in LEO satellite channels. Using the misspecified Cramér-Rao bound (MCRB) theory, we systematically analyze positioning performance under practical imperfections, such as inter-satellite clock bias and carrier frequency offset. Furthermore, we theoretically demonstrate how position information derived from downlink positioning can enhance uplink channel estimation accuracy, even in the presence of positioning errors, through an MCRB-based analysis. To address the limited link budgets and communication rates of single-satellite communication, we develop a multi-LEO cooperative beamforming strategy for downlink transmission that leverages cluster-wise satellite cooperation while maintaining reduced complexity. Theoretical analyses and numerical results confirm the effectiveness of the proposed framework in facilitating high-precision downlink positioning under practical imperfections, facilitating uplink channel estimation, and enabling efficient downlink communication.

eess.SP↗

Distributed Integrated Sensing, Localization, and Communications over LEO Satellite Constellations

Low Earth orbit (LEO) satellite constellations are rapidly becoming essential enablers of next-generation wireless systems, offering global broadband access, high-precision localization, and reliable sensing beyond terrestrial coverage. However, the inherent limitations of individual LEO satellites, including restricted power, limited antenna aperture, and constrained onboard processing, hinder their ability to meet the growing demands of 6G applications. To address these challenges, this article introduces the concept of distributed integrated sensing, localization, and communication (DISLAC) over LEO constellations, inspired by distributed multiple input multiple output architectures. By enabling inter-satellite cooperation through inter-satellite links, DISLAC jointly exploits communication, localization, and sensing functionalities, achieving synergistic gains in throughput, positioning accuracy, and sensing robustness through shared resources and cooperative design. We present illustrative case studies that quantify these benefits and analyze key system-level considerations, including synchronization, antenna reconfigurability, and inter-satellite link design. The article concludes by outlining open research directions to advance the practical deployment of DISLAC in future non-terrestrial networks.

eess.SP↗

Nonlinear virtual lens for programmable and multispectral infrared upconversion imaging

Conventional infrared (IR) imaging techniques depend on IR cameras based on narrow-bandgap semiconductors, which offer limited spectral bandwidth, coupled with a separate lens. Recently, advances in nonlinear flat optics have opened a novel pathway for converting IR signals into the visible through nonlinear generations, enabling the direct visualisation of IR images using standard visible cameras. However, the narrow spectral bandwidth and the requirement for an additional lens remain the key challenges. Here, we address both issues via a novel adaptive and multifunctional IR-to-visible imaging platform offering tunable bandwidth and focusing simultaneously. We utilise sum-frequency generation (SFG) to convert IR light into the visible, by introducing a pump beam modulated by a spatial light modulator (SLM) to construct a virtual metalens enabling precisely controlled focusing of the generated nonlinear optical field. As a result, we demonstrate both theoretically and experimentally an optical focusing mechanism with a tunable focal length, achieved by varying the pump and signal wavelengths and modulating the phase distribution. Furthermore, since the focal length depends on the input signal wavelength, the imaging plane position varies accordingly, indicating a promising potential for the multispectral IR imaging applications. Our upconversion platform delivers SLM-controlled, programmable multispectral focusing for next-generation IR imaging, opening new avenues in the fields of computational and multispectral imaging techniques.

physics.optics↗

6D Movable Antenna Enhanced Cell-free MIMO: Two-timescale Decentralized Beamforming and Antenna Movement Optimization

This paper investigates a six-dimensional movable antenna (6DMA)-aided cell-free multi-user multiple-input multiple-output (MIMO) communication system. In this system, each distributed access point (AP) can flexibly adjust its array orientation and antenna positions to adapt to spatial channel variations and enhance communication performance. However, frequent antenna movements and centralized beamforming based on global instantaneous channel state information (CSI) sharing among APs entail extremely high signal processing delay and system overhead, which is difficult to be practically implemented in high-mobility scenarios with short channel coherence time. To address these practical implementation challenges and improve scalability, a two-timescale decentralized optimization framework is proposed in this paper to jointly design the beamformer, antenna positions, and array orientations. In the short timescale, each AP updates its receive beamformer based on local instantaneous CSI and global statistical CSI. In the long timescale, the central processing unit optimizes the antenna positions and array orientations at all APs based on global statistical CSI to maximize the ergodic sum rate of all users. The resulting optimization problem is non-convex and involves highly coupled variables, thus posing significant challenges for obtaining efficient solutions. To address this problem, a constrained stochastic successive convex approximation algorithm is developed. Numerical results demonstrate that the proposed 6DMA-aided cell-free system with decentralized beamforming significantly outperforms other antenna movement schemes with less flexibility and even achieves a performance comparable to that of the centralized beamforming benchmark.

eess.SP↗

The RoboSense Challenge: Sense Anything, Navigate Anywhere, Adapt Across Platforms

Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts. However, even state-of-the-art methods often degrade under unseen conditions, highlighting the need for robust and generalizable robot sensing. The RoboSense 2025 Challenge is designed to advance robustness and adaptability in robot perception across diverse sensing scenarios. It unifies five complementary research tracks spanning language-grounded decision making, socially compliant navigation, sensor configuration generalization, cross-view and cross-modal correspondence, and cross-platform 3D perception. Together, these tasks form a comprehensive benchmark for evaluating real-world sensing reliability under domain shifts, sensor failures, and platform discrepancies. RoboSense 2025 provides standardized datasets, baseline models, and unified evaluation protocols, enabling large-scale and reproducible comparison of robust perception methods. The challenge attracted 143 teams from 85 institutions across 16 countries, reflecting broad community engagement. By consolidating insights from 23 winning solutions, this report highlights emerging methodological trends, shared design principles, and open challenges across all tracks, marking a step toward building robots that can sense reliably, act robustly, and adapt across platforms in real-world environments.

cs.RO↗

Precoding Matrix Indicator in the 5G NR Protocol: A Tutorial on 3GPP Beamforming Codebooks

This paper bridges this critical gap by providing a systematic examination of the beamforming codebook technology, i.e., precoding matrix indicator (PMI), in the 5G NR from theoretical, standardization, and implementation perspectives. We begin by introducing the background of beamforming in multiple-input multiple-output (MIMO) systems and the signaling procedures for codebook-based beamforming in practical 5G systems. Then, we establish the fundamentals of regular codebooks and port-selection codebooks in 3GPP standards. Next, we provide rigorous technical analysis of 3GPP codebook evolution spanning Releases 15-18, with particular focus on: 1) We elucidate the core principles underlying codebook design, 2) provide clear physical interpretations for each symbolic variable in the codebook formulas, summarized in tabular form, and 3) offer intuitive visual illustrations to explain how codebook parameters convey information. These essential pedagogical elements are almost entirely absent in the often-obscure standardization documents. Through mathematical modeling, performance benchmarking, feedback comparisons, and scenario-dependent applicability analysis, we provide researchers and engineers with a unified understanding of beamforming codebooks in real-world systems. Furthermore, we identify future directions and other beamforming scenarios for ongoing research and development efforts. This work serves as both an informative tutorial and a guidance for future research, facilitating more effective collaboration between academia and industry in advancing wireless communication technologies.

cs.IT↗