arXiv subjects

Yuxuan Wang

Publications and source records attributed to Yuxuan Wang.

At least 91 records · Page 5Linked to original sources

arXiv2026

General Humanoid Whole-Body Control via Pretraining and Fast Adaptation

Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches often require task-specific training or suffer from performance degradation when adapting to new motions. In this paper, we present FAST, a general humanoid whole-body control framework that enables Fast Adaptation and Stable Motion Tracking. FAST introduces Parseval-Guided Residual Policy Adaptation, which learns a lightweight delta action policy under orthogonality and KL constraints, enabling efficient adaptation to out-of-distribution motions while mitigating catastrophic forgetting. To further improve physical robustness, we propose Center-of-Mass-Aware Control, which incorporates CoM-related observations and objectives to enhance balance when tracking challenging reference motions. Extensive experiments in simulation and real-world deployment demonstrate that FAST consistently outperforms state-of-the-art baselines in robustness, adaptation efficiency, and generalization.

cs.RO↗

arXiv2026

DragNeXt: Rethinking Drag-Based Image Editing

Drag-Based Image Editing (DBIE), which allows users to manipulate images by directly dragging objects within them, has recently attracted much attention from the community. However, it faces two key challenges: (\emph{\textcolor{magenta}{i}}) point-based drag is often highly ambiguous and difficult to align with users' intentions; (\emph{\textcolor{magenta}{ii}}) current DBIE methods primarily rely on alternating between motion supervision and point tracking, which is not only cumbersome but also fails to produce high-quality results. These limitations motivate us to explore DBIE from a new perspective -- redefining it as deformation, rotation, and translation of user-specified handle regions. Thereby, by requiring users to explicitly specify both drag areas and types, we can effectively address the ambiguity issue. Furthermore, we propose a simple-yet-effective editing framework, dubbed \textcolor{SkyBlue}{\textbf{DragNeXt}}. It unifies DBIE as a Latent Region Optimization (LRO) problem and solves it through Progressive Backward Self-Intervention (PBSI), simplifying the overall procedure of DBIE while further enhancing quality by fully leveraging region-level structure information and progressive guidance from intermediate drag states. We validate \textcolor{SkyBlue}{\textbf{DragNeXt}} on our NextBench, and extensive experiments demonstrate that our proposed method can significantly outperform existing approaches. Code will be released on github.

cs.CV↗

arXiv2026

Multi-scale Temporal Prediction via Incremental Generation and Multi-agent Collaboration

Accurate temporal prediction is the bridge between comprehensive scene understanding and embodied artificial intelligence. However, predicting multiple fine-grained states of a scene at multiple temporal scales is difficult for vision-language models. We formalize the Multi-Scale Temporal Prediction (MSTP) task in general and surgical scenes by decomposing multi-scale into two orthogonal dimensions: the temporal scale, forecasting states of humans and surgery at varying look-ahead intervals, and the state scale, modeling a hierarchy of states in general and surgical scenes. For example, in general scenes, states of contact relationships are finer-grained than states of spatial relationships. In surgical scenes, medium-level steps are finer-grained than high-level phases yet remain constrained by their encompassing phase. To support this unified task, we introduce the first MSTP Benchmark, featuring synchronized annotations across multiple state scales and temporal scales. We further propose a method, Incremental Generation and Multi-agent Collaboration (IG-MC), which integrates two key innovations. First, we present a plug-and-play incremental generation module that continuously synthesizes up-to-date visual previews at expanding temporal scales to inform multiple decision-making agents, keeping decisions and generated visuals synchronized and preventing performance degradation as look-ahead intervals lengthen. Second, we present a decision-driven multi-agent collaboration framework for multi-state prediction, comprising generation, initiation, and multi-state assessment agents that dynamically trigger and evaluate prediction cycles to balance global coherence and local fidelity.

cs.CV↗

arXiv2026

Simulated Ignorance Fails: A Systematic Study of LLM Behaviors on Forecasting Problems Before Model Knowledge Cutoff

Evaluating LLM forecasting capabilities is constrained by a fundamental tension: prospective evaluation offers methodological rigor but prohibitive latency, while retrospective forecasting (RF) -- evaluating on already-resolved events -- faces rapidly shrinking clean evaluation data as SOTA models possess increasingly recent knowledge cutoffs. Simulated Ignorance (SI), prompting models to suppress pre-cutoff knowledge, has emerged as a potential solution. We provide the first systematic test of whether SI can approximate True Ignorance (TI). Across 477 competition-level questions and 9 models, we find that SI fails systematically: (1) cutoff instructions leave a 52% performance gap between SI and TI; (2) chain-of-thought reasoning fails to suppress prior knowledge, even when reasoning traces contain no explicit post-cutoff references; (3) reasoning-optimized models exhibit worse SI fidelity despite superior reasoning trace quality. These findings demonstrate that prompts cannot reliably "rewind" model knowledge. We conclude that RF on pre-cutoff events is methodologically flawed; we recommend against using SI-based retrospective setups to benchmark forecasting capabilities.

cs.CL↗

arXiv2026

engGNN: A Dual-Graph Neural Network for Omics-Based Disease Classification and Feature Selection

Omics data, such as transcriptomics, proteomics, and metabolomics, provide critical insights into disease mechanisms and clinical outcomes. However, their high dimensionality, small sample sizes, and intricate biological networks pose major challenges for reliable prediction and meaningful interpretation. Graph Neural Networks (GNNs) offer a promising way to integrate prior knowledge by encoding feature relationships as graphs. Yet, existing methods typically rely solely on either an externally curated feature graph or a data-driven generated one, which limits their ability to capture complementary information. To address this, we propose the external and generated Graph Neural Network (engGNN), a dual-graph framework that jointly leverages both external known biological networks and data-driven generated graphs. Specifically, engGNN constructs a biologically informed undirected feature graph from established network databases and complements it with a directed feature graph derived from tree-ensemble models. This dual-graph design produces more comprehensive embeddings, thereby improving predictive performance and interpretability. Through extensive simulations and real-world applications to gene expression data, engGNN consistently outperforms state-of-the-art baselines. Beyond classification, engGNN provides interpretable feature importance scores that facilitate biologically meaningful discoveries, such as pathway enrichment analysis. Taken together, these results highlight engGNN as a robust, flexible, and interpretable framework for disease classification and biomarker discovery in high-dimensional omics contexts.

cs.LG↗

arXiv2026

Seek in the Dark: Reasoning via Test-Time Instance-Level Policy Gradient in Latent Space

Reasoning ability, a core component of human intelligence, continues to pose a significant challenge for Large Language Models (LLMs) in the pursuit of AGI. Although model performance has improved under the training scaling law, significant challenges remain, particularly with respect to training algorithms, such as catastrophic forgetting, and the limited availability of novel training data. As an alternative, test-time scaling enhances reasoning performance by increasing test-time computation without parameter updating. Unlike prior methods in this paradigm focused on token space, we propose leveraging latent space for more effective reasoning and better adherence to the test-time scaling law. We introduce LatentSeek, a novel framework that enhances LLM reasoning through Test-Time Instance-level Adaptation (TTIA) within the model's latent space. Specifically, LatentSeek leverages policy gradient to iteratively update latent representations, guided by self-generated reward signals. LatentSeek is evaluated on a range of reasoning benchmarks, including GSM8K, MATH-500, and AIME2024, across multiple LLM architectures. Results show that LatentSeek consistently outperforms strong baselines, such as Chain-of-Thought prompting and fine-tuning-based methods. Furthermore, our analysis demonstrates that LatentSeek is highly efficient, typically converging within a few iterations for problems of average complexity, while also benefiting from additional iterations, thereby highlighting the potential of test-time scaling in the latent space. These findings position LatentSeek as a lightweight, scalable, and effective solution for enhancing the reasoning capabilities of LLMs.

cs.LG↗

arXiv2026

The AI Hippocampus: How Far are We From Human Memory?

Memory plays a foundational role in augmenting the reasoning, adaptability, and contextual fidelity of modern Large Language Models and Multi-Modal LLMs. As these models transition from static predictors to interactive systems capable of continual learning and personalized inference, the incorporation of memory mechanisms has emerged as a central theme in their architectural and functional evolution. This survey presents a comprehensive and structured synthesis of memory in LLMs and MLLMs, organizing the literature into a cohesive taxonomy comprising implicit, explicit, and agentic memory paradigms. Specifically, the survey delineates three primary memory frameworks. Implicit memory refers to the knowledge embedded within the internal parameters of pre-trained transformers, encompassing their capacity for memorization, associative retrieval, and contextual reasoning. Recent work has explored methods to interpret, manipulate, and reconfigure this latent memory. Explicit memory involves external storage and retrieval components designed to augment model outputs with dynamic, queryable knowledge representations, such as textual corpora, dense vectors, and graph-based structures, thereby enabling scalable and updatable interaction with information sources. Agentic memory introduces persistent, temporally extended memory structures within autonomous agents, facilitating long-term planning, self-consistency, and collaborative behavior in multi-agent systems, with relevance to embodied and interactive AI. Extending beyond text, the survey examines the integration of memory within multi-modal settings, where coherence across vision, language, audio, and action modalities is essential. Key architectural advances, benchmark tasks, and open challenges are discussed, including issues related to memory capacity, alignment, factual consistency, and cross-system interoperability.

cs.AI↗

arXiv2026

Variable Basis Mapping for Real-Time Volumetric Visualization

Real-time visualization of large-scale volumetric data remains challenging, as direct volume rendering and voxel-based methods suffer from prohibitively high computational cost. We propose Variable Basis Mapping (VBM), a framework that transforms volumetric fields into 3D Gaussian Splatting (3DGS) representations through wavelet-domain analysis. First, we precompute a compact Wavelet-to-Gaussian Transition Bank that provides optimal Gaussian surrogates for canonical wavelet atoms across multiple scales. Second, we perform analytical Gaussian construction that maps discrete wavelet coefficients directly to 3DGS parameters using a closed-form, mathematically principled rule. Finally, a lightweight image-space fine-tuning stage further refines the representation to improve rendering fidelity. Experiments on diverse datasets demonstrate that VBM significantly accelerates convergence and enhances rendering quality, enabling real-time volumetric visualization.

cs.GR↗

arXiv2026

How vehicles change lanes after encountering crashes: Empirical analysis and modeling

When a traffic crash occurs, following vehicles need to change lanes to bypass the obstruction. We define these maneuvers as post crash lane changes. In such scenarios, vehicles in the target lane may refuse to yield even after the lane change has already begun, increasing the complexity and crash risk of post crash LCs. However, the behavioral characteristics and motion patterns of post crash LCs remain unknown. To address this gap, we construct a post crash LC dataset by extracting vehicle trajectories from drone videos captured after crashes. Our empirical analysis reveals that, compared to mandatory LCs (MLCs) and discretionary LCs (DLCs), post crash LCs exhibit longer durations, lower insertion speeds, and higher crash risks. Notably, 79.4% of post crash LCs involve at least one instance of non yielding behavior from the new follower, compared to 21.7% for DLCs and 28.6% for MLCs. Building on these findings, we develop a novel trajectory prediction framework for post crash LCs. At its core is a graph based attention module that explicitly models yielding behavior as an auxiliary interaction aware task. This module is designed to guide both a conditional variational autoencoder and a Transformer based decoder to predict the lane changer's trajectory. By incorporating the interaction aware module, our model outperforms existing baselines in trajectory prediction performance by more than 10% in both average displacement error and final displacement error across different prediction horizons. Moreover, our model provides more reliable crash risk analysis by reducing false crash rates and improving conflict prediction accuracy. Finally, we validate the model's transferability using additional post crash LC datasets collected from different sites.

cs.AI↗

arXiv2025

BEDA: Belief Estimation as Probabilistic Constraints for Performing Strategic Dialogue Acts

Strategic dialogue requires agents to execute distinct dialogue acts, for which belief estimation is essential. While prior work often estimates beliefs accurately, it lacks a principled mechanism to use those beliefs during generation. We bridge this gap by first formalizing two core acts Adversarial and Alignment, and by operationalizing them via probabilistic constraints on what an agent may generate. We instantiate this idea in BEDA, a framework that consists of the world set, the belief estimator for belief estimation, and the conditional generator that selects acts and realizes utterances consistent with the inferred beliefs. Across three settings, Conditional Keeper Burglar (CKBG, adversarial), Mutual Friends (MF, cooperative), and CaSiNo (negotiation), BEDA consistently outperforms strong baselines: on CKBG it improves success rate by at least 5.0 points across backbones and by 20.6 points with GPT-4.1-nano; on Mutual Friends it achieves an average improvement of 9.3 points; and on CaSiNo it achieves the optimal deal relative to all baselines. These results indicate that casting belief estimation as constraints provides a simple, general mechanism for reliable strategic dialogue.

cs.CL↗

arXiv2025

Co-GRPO: Co-Optimized Group Relative Policy Optimization for Masked Diffusion Model

Recently, Masked Diffusion Models (MDMs) have shown promising potential across vision, language, and cross-modal generation. However, a notable discrepancy exists between their training and inference procedures. In particular, MDM inference is a multi-step, iterative process governed not only by the model itself but also by various schedules that dictate the token-decoding trajectory (e.g., how many tokens to decode at each step). In contrast, MDMs are typically trained using a simplified, single-step BERT-style objective that masks a subset of tokens and predicts all of them simultaneously. This step-level simplification fundamentally disconnects the training paradigm from the trajectory-level nature of inference, leaving the inference schedules never optimized during training. In this paper, we introduce Co-GRPO, which reformulates MDM generation as a unified Markov Decision Process (MDP) that jointly incorporates both the model and the inference schedule. By applying Group Relative Policy Optimization at the trajectory level, Co-GRPO cooperatively optimizes model parameters and schedule parameters under a shared reward, without requiring costly backpropagation through the multi-step generation process. This holistic optimization aligns training with inference more thoroughly and substantially improves generation quality. Empirical results across four benchmarks-ImageReward, HPS, GenEval, and DPG-Bench-demonstrate the effectiveness of our approach. For more details, please refer to our project page: https://co-grpo.github.io/ .

cs.LG↗

arXiv2025

Personalize Your Gaussian: Consistent 3D Scene Personalization from a Single Image

Personalizing 3D scenes from a single reference image enables intuitive user-guided editing, which requires achieving both multi-view consistency across perspectives and referential consistency with the input image. However, these goals are particularly challenging due to the viewpoint bias caused by the limited perspective provided in a single image. Lacking the mechanisms to effectively expand reference information beyond the original view, existing methods of image-conditioned 3DGS personalization often suffer from this viewpoint bias and struggle to produce consistent results. Therefore, in this paper, we present Consistent Personalization for 3D Gaussian Splatting (CP-GS), a framework that progressively propagates the single-view reference appearance to novel perspectives. In particular, CP-GS integrates pre-trained image-to-3D generation and iterative LoRA fine-tuning to extract and extend the reference appearance, and finally produces faithful multi-view guidance images and the personalized 3DGS outputs through a view-consistent generation process guided by geometric cues. Extensive experiments on real-world scenes show that our CP-GS effectively mitigates the viewpoint bias, achieving high-quality personalization that significantly outperforms existing methods.

cs.CV↗

arXiv2025

JoyVoice: Long-Context Conditioning for Anthropomorphic Multi-Speaker Conversational Synthesis

Large speech generation models are evolving from single-speaker, short sentence synthesis to multi-speaker, long conversation geneartion. Current long-form speech generation models are predominately constrained to dyadic, turn-based interactions. To address this, we introduce JoyVoice, a novel anthropomorphic foundation model designed for flexible, boundary-free synthesis of up to eight speakers. Unlike conventional cascaded systems, JoyVoice employs a unified E2E-Transformer-DiT architecture that utilizes autoregressive hidden representations directly for diffusion inputs, enabling holistic end-to-end optimization. We further propose a MM-Tokenizer operating at a low bitrate of 12.5 Hz, which integrates multitask semantic and MMSE losses to effectively model both semantic and acoustic information. Additionally, the model incorporates robust text front-end processing via large-scale data perturbation. Experiments show that JoyVoice achieves state-of-the-art results in multilingual generation (Chinese, English, Japanese, Korean) and zero-shot voice cloning. JoyVoice achieves top-tier results on both the Seed-TTS-Eval Benchmark and multi-speaker long-form conversational voice cloning tasks, demonstrating superior audio quality and generalization. It achieves significant improvements in prosodic continuity for long-form speech, rhythm richness in multi-speaker conversations, paralinguistic naturalness, besides superior intelligibility. We encourage readers to listen to the demo at https://jea-speech.github.io/JoyVoice

cs.SD↗

arXiv2025

A Digital SRAM-Based Compute-In-Memory Macro for Weight-Stationary Dynamic Matrix Multiplication in Transformer Attention Score Computation

Compute-in-memory (CIM) techniques are widely employed in energy-efficient artificial intelligent (AI) processors. They alleviate power and latency bottlenecks caused by extensive data movements between compute and storage units. To extend these benefits to Transformer, this brief proposes a digital CIM macro to compute attention score. To eliminate dynamic matrix multiplication (MM), we reconstruct the computation as static MM using a combined QK-weight matrix, so that inputs can be directly fed to a single CIM macro to obtain the score results. However, this introduces a new challenge of 2-input static MM. The computation is further decomposed into four groups of bit-serial logical and addition operations. This allows 2-input to directly activate the word line via AND gate, thus realizing 2-input static MM with minimal overhead. A hierarchical zero-value bit skipping mechanism is introduced to prioritize skipping zero-value bits in the 2-input case. This mechanism effectively utilizes data sparsity of 2-input, significantly reducing redundant operations. Implemented in a 65-nm process, the 0.35 mm2 macro delivers 42.27 GOPS at 1.24 mW, yielding 34.1 TOPS/W energy and 120.77 GOPS/mm2 area efficiency. Compared to CPUs and GPUs, it achieves ~25x and ~13x higher efficiency, respectively. Against other Transformer-CIMs, it demonstrates at least 7x energy and 2x area efficiency gains, highlighting its strong potential for edge intelligence.

cs.AR↗

arXiv2025

DiTAR: Diffusion Transformer Autoregressive Modeling for Speech Generation

Several recent studies have attempted to autoregressively generate continuous speech representations without discrete speech tokens by combining diffusion and autoregressive models, yet they often face challenges with excessive computational loads or suboptimal outcomes. In this work, we propose Diffusion Transformer Autoregressive Modeling (DiTAR), a patch-based autoregressive framework combining a language model with a diffusion transformer. This approach significantly enhances the efficacy of autoregressive models for continuous tokens and reduces computational demands. DiTAR utilizes a divide-and-conquer strategy for patch generation, where the language model processes aggregated patch embeddings and the diffusion transformer subsequently generates the next patch based on the output of the language model. For inference, we propose defining temperature as the time point of introducing noise during the reverse diffusion ODE to balance diversity and determinism. We also show in the extensive scaling analysis that DiTAR has superb scalability. In zero-shot speech generation, DiTAR achieves state-of-the-art performance in robustness, speaker similarity, and naturalness.

eess.AS↗

arXiv2025

Qwen3-VL Technical Report

We introduce Qwen3-VL, the most capable vision-language model in the Qwen series to date, achieving superior performance across a broad range of multimodal benchmarks. It natively supports interleaved contexts of up to 256K tokens, seamlessly integrating text, images, and video. The model family includes both dense (2B/4B/8B/32B) and mixture-of-experts (30B-A3B/235B-A22B) variants to accommodate diverse latency-quality trade-offs. Qwen3-VL delivers three core pillars: (i) markedly stronger pure-text understanding, surpassing comparable text-only backbones in several cases; (ii) robust long-context comprehension with a native 256K-token window for both text and interleaved multimodal inputs, enabling faithful retention, retrieval, and cross-referencing across long documents and videos; and (iii) advanced multimodal reasoning across single-image, multi-image, and video tasks, demonstrating leading performance on comprehensive evaluations such as MMMU and visual-math benchmarks (e.g., MathVista and MathVision). Architecturally, we introduce three key upgrades: (i) an enhanced interleaved-MRoPE for stronger spatial-temporal modeling across images and video; (ii) DeepStack integration, which effectively leverages multi-level ViT features to tighten vision-language alignment; and (iii) text-based time alignment for video, evolving from T-RoPE to explicit textual timestamp alignment for more precise temporal grounding. Under comparable token budgets and latency constraints, Qwen3-VL achieves superior performance in both dense and Mixture-of-Experts (MoE) architectures. We envision Qwen3-VL serving as a foundational engine for image-grounded reasoning, agentic decision-making, and multimodal code intelligence in real-world workflows.

cs.CV↗

arXiv2025

SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control

Existing humanoid control systems often rely on teleoperation or modular generation pipelines that separate language understanding from physical execution. However, the former is entirely human-driven, and the latter lacks tight alignment between language commands and physical behaviors. In this paper, we present SENTINEL, a fully end-to-end language-action model for humanoid whole-body control. We construct a large-scale dataset by tracking human motions in simulation using a pretrained whole body controller, combined with their text annotations. The model directly maps language commands and proprioceptive inputs to low-level actions without any intermediate representation. The model generates action chunks using flow matching, which can be subsequently refined by a residual action head for real-world deployment. Our method exhibits strong semantic understanding and stable execution on humanoid robots in both simulation and real-world deployment, and also supports multi-modal extensions by converting inputs into texts.

cs.RO↗

arXiv2025

VideoLLM Knows When to Speak: Enhancing Time-Sensitive Video Comprehension with Video-Text Duet Interaction Format

Recent researches on video large language models (VideoLLM) predominantly focus on model architectures and training datasets, leaving the interaction format between the user and the model under-explored. In existing works, users often interact with VideoLLMs by using the entire video and a query as input, after which the model generates a response. This interaction format constrains the application of VideoLLMs in scenarios such as live-streaming comprehension where videos do not end and responses are required in a real-time manner, and also results in unsatisfactory performance on time-sensitive tasks that requires localizing video segments. In this paper, we focus on a video-text duet interaction format. This interaction format is characterized by the continuous playback of the video, and both the user and the model can insert their text messages at any position during the video playback. When a text message ends, the video continues to play, akin to the alternative of two performers in a duet. We construct MMDuetIT, a video-text training dataset designed to adapt VideoLLMs to video-text duet interaction format. We also introduce the Multi-Answer Grounded Video Question Answering (MAGQA) task to benchmark the real-time response ability of VideoLLMs. Trained on MMDuetIT, MMDuet demonstrates that adopting the video-text duet interaction format enables the model to achieve significant improvements in various time-sensitive tasks (76% CIDEr on YouCook2 dense video captioning, 90\% mAP on QVHighlights highlight detection and 25% R@0.5 on Charades-STA temporal video grounding) with minimal training efforts, and also enable VideoLLMs to reply in a real-time manner as the video plays.

cs.CV↗