arXiv subjects

Zheng Wu

Publications and source records attributed to Zheng Wu.

At least 19 recordsLinked to original sources

arXiv2026

$λ_0$: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation

Humanoid loco-manipulation requires coordinated whole-body interaction with the physical world, yet collecting robot demonstrations at scale remains costly. Human demonstrations offer a scalable alternative, but existing egocentric human supervision often omits locomotion and posture, while embodiment differences and controller dynamics hinder accurate end-effector execution. We introduce HumanVerse, a 500-hour dataset of open-world human loco-manipulation pairing egocentric video with synchronized body and hand motion. Our human-to-humanoid pipeline aligns camera viewpoints and arm appearance, and refines motion references and controller inputs offline to reduce end-effector errors while preserving whole-body coordination. We validate the pipeline through zero-shot transfer to Unitree G1 on representative whole-body manipulation and long-range loco-manipulation tasks, without target-task robot demonstrations. Building on this pipeline, we develop $λ_0$, a humanoid foundation model for whole-body loco-manipulation, with robot-aligned human demonstrations providing supervision for mid-training. Increasing whole-body human data consistently improves downstream task progress. $λ_0$ achieves 90.0% success on SIMPLE and 62.5% across real-world loco-manipulation tasks. We expect this study to guide scalable whole-body human data collection toward humanoid foundation models for richer interaction with the physical world. Homepage: https://lambdahumanoid.github.io/

cs.RO↗

arXiv2026

UrbanGround: From Local Perception to Spatial Agency in a Real-Scale City

Multimodal large language models (MLLMs) can interpret a street view, but reliable urban action depends on whether such local evidence remains useful after the agent starts to move. In this paper, we investigate how far current MLLM agents can turn local urban perception into reliable action in a real-scale city. We propose UrbanGround, an urban sandbox built from Hong Kong's territory-wide 3D geospatial data. It combines the city's geographic structure with continuous, collision-constrained control through a shared evaluation interface. Agents use first-person observations and an interactive map to select actions across tasks ranging from local question answering to long-horizon navigation. Our analysis follows the growth of the spatial problem through three research questions. We first test whether an agent can gather and interpret local visual evidence to answer spatial questions. Then we ask whether these abilities support navigation as destinations become farther away and less explicit. Finally, we examine whether the resulting behavior survives changes in route availability and pedestrian motion. MLLM agents usually show useful atomic abilities in visual recognition and short-range spatial reasoning, while orientation and pedestrian-aware movement remain unreliable. Their central failure emerges over extended exploration, where local abilities do not compose into sustained goal-directed behavior and errors accumulate without effective correction. We hope UrbanGround will support broader study of how far MLLM agents can explore reliably in open-ended urban environments.

cs.CV↗

arXiv2026

Would You Walk to the Car Wash? Salience Bias in LLM Commonsense Reasoning

Despite advances in complex reasoning, large language models (LLMs) can prioritize explicit input conditions over implicit task prerequisites. In everyday commonsense reasoning, this can lead to a failure we term Salience Bias: salient but task-irrelevant details (e.g., numerical values) draw models into computation while they overlook the physical or commonsense prerequisites of the task. A critical open question is whether this failure reflects a genuine gap in commonsense knowledge or merely its suppression under misleading task framing. To investigate this, we construct the SaliTrap Benchmark, comprising 1,145 items in four trap dimensions. Evaluating 12 LLMs, we find substantial vulnerability across the tested models, with higher numerical distractor counts associated with lower trap-avoidance rates and trap recognition not always leading to avoidance. Further probing of sycophantic-compliance cases shows that the relevant commonsense can often be elicited when the original task framing is removed, suggesting a gap between recognizing a constraint and applying it during task execution. Building on this diagnosis, we further show that lightweight, inference-time prompting alone substantially closes the gap without any retraining. Our findings highlight the importance of applying commonsense constraints during task execution, and we release SaliTrap as a testbed for studying this gap. The codes are available at https://github.com/Wuzheng02/SaliTrap

cs.CL↗

arXiv2026

HyGra: Accelerating Network-State Simulation for LLM Training in DCNs via Adaptive Packet-Flow Granularity

In recent years, large language models (LLMs) have driven substantial intelligent transformation across diverse industries. Commercial LLM training is typically performed over data center networks (DCNs) comprising hundreds to thousands of GPUs, with multiple devices collocated per node. As network scale expands, inter-node communication becomes a primary bottleneck to training efficiency. Network-state simulators therefore play a crucial role by enabling cost-effective evaluation of network configurations and parallelization strategies through faithful emulation of DCN dynamics during LLM training. However, existing simulators are constrained by a efficiency-fidelity tradeoff, as packet-level simulators (PLSs) incur prohibitive runtime overhead, whereas flow-level simulators (FLSs) compromise essential modeling accuracy. In this paper, we develop \texttt{HyGra}, a hybrid-granularity network-state simulator that exploits intrinsic network dynamics in LLM training to adaptively switch simulation granularity. Specifically, \texttt{HyGra} employs packet-level simulation during non-steady phases with transient fluctuations and flow-level simulation during steady phases with periodic patterns, thereby accelerating execution while preserving high fidelity. Moreover, it requires no specialized hardware, supports single-machine deployment, and is compatible with existing simulators. Experiments based representative commercial LLM workloads, including ChatGPT, DeepSeek, and Qwen, show that \texttt{HyGra} achieves up to 15.4$\times$ speedup under single parallelization strategy and 7.8$\times$ under hybrid parallelization strategies while maintaining high accuracy.

cs.NI↗

arXiv2026

MineExplorer: Evaluating Open-World Exploration of MLLM Agents in Minecraft

Multimodal large language models (MLLMs) have shown strong capabilities in perception, reasoning, and action generation. However, their ability to sustain exploration in dynamic open worlds remains unclear. Existing embodied and game-based benchmarks often compress interaction into short-horizon tasks or entangle success with domain-specific game mechanics. In this paper, we introduce MineExplorer benchmark for evaluating open-world exploration capabilities of MLLM agents in Minecraft. We first filter atomic tasks whose solutions rely heavily on Minecraft-specific knowledge to better reflect general open-world reasoning. Then we organize the benchmark around a ReAct-style capability formulation and compose atomic tasks into implicit multi-hop tasks. To further construct reliable instances, MineExplorer uses a multi-agent synthesis workflow that jointly designs task graphs, sandbox scenes, and rule-based milestone evaluators. Human evaluation shows that the multi-agent synthesis workflow produces significantly more reliable instances than a single-agent baseline. Experiments with advanced MLLM agents show that open-world exploration remains challenging, as strong models can handle many single-hop tasks but degrade sharply when hidden prerequisites must be coordinated over longer trajectories. Further analysis finds that task difficulty tracks agent completion, and larger models or thinking modes do not consistently translate into better performance. Code and dataset are available at https://github.com/meituan-longcat/MineExplorer.

cs.CL↗

arXiv2026

Causal Probing for Internal Visual Representations in Multimodal Large Language Models

Despite the remarkable success of Multimodal Large Language Models (MLLMs) across diverse tasks, the internal mechanisms governing how they encode and ground distinct visual concepts remain poorly understood. To unravel these mechanisms, we propose a causal framework based on activation steering to actively probe and manipulate internal visual representations. Through systematic intervention across four visual concept categories, our results reveal a divergence in concept encoding: entity knowledge is distinctively localized, whereas abstract concepts are globally distributed across the network. Critically, this divergence uncovers a mechanistic driver of scaling laws: increasing model depth is indispensable for encoding distributed and complex abstract concepts, whereas entities maintain a consistently high degree of localization. Furthermore, reverse steering uncovers that blocking explicit output triggers a surge in latent activations, exposing a compensatory mechanism between perception and generation. Finally, by extending our analysis to visual reasoning, we expose a disconnect between perception and reasoning: although MLLMs successfully recognize geometric relations, they treat them merely as static visual features, failing to trigger the procedural execution necessary for solving problems.

cs.AI↗

arXiv2026

Do GUI Agents Know When Not to Act? Enabling Conflict-Aware Termination for Multimodal GUI Agents

Graphical user interface (GUI) agents are increasingly used to execute natural-language instructions on user interfaces, yet real users may issue infeasible instructions due to benign mistakes. A reliable agent should not only know how to act, but also when not to act. In this work, we introduce CONFLICTGUI, a benchmark covering instruction-internal conflicts and instruction-GUI context conflicts to study conflict-aware termination. Our evaluation reveals severe execution-biased overcompliance: agents that perform well on feasible tasks often continue to execute blindly under conflicting instructions. To mitigate this behavior, we propose CONFLICTGUARD, an inference-time framework that aligns an agent's feasibility awareness with its action generation. CONFLICTGUARD contains two coupled components: a feasibility verification protocol that guides the agent to assess instruction logic and GUI-side evidence before acting, and a conditional action modulation mechanism that steers agents from over-compliant execution into termination-oriented behavior. Experiments across five widely-used agents demonstrate that CONFLICTGUARD improves average conflict task success rate significantly, while preserving normal GUI-task performance. These results validate that a lightweight inference-time intervention can substantially boost GUI Agent's competence to identify inappropriate execution scenarios and refrain from unnecessary actions.

cs.AI↗

arXiv2026

CardiacMamba: Fair and Robust RGB-RF Fusion for Remote Heart Rate Estimation via State Space Modeling

Remote photoplethysmography (rPPG) enables non-contact heart rate (HR) monitoring from facial videos, but RGB-only methods are vulnerable to illumination changes, motion artifacts, and skin-tone-dependent optical reflectance. We propose CardiacMamba, a fair and robust RGB-RF fusion framework that integrates optical facial cues and radio-frequency cardiac motion cues through state space modeling. CardiacMamba introduces a Temporal Difference Mamba Module (TDMM) to enhance subtle RF temporal variations, a bidirectional SSM-based interaction mechanism to align heterogeneous RGB-RF dynamics, and a Channel-wise Fast Fourier Transform (CFFT) module for channel-domain spectral refinement. On the EquiPleth dataset, CardiacMamba achieves state-of-the-art performance with 0.96 bpm MAE, 3.06 bpm RMSE, and 0.97 Pearson correlation, while reducing the observed light-dark skin-tone MAE gap to 0.26 bpm and maintaining robustness under RGB degradation and RF-missing conditions

cs.CV↗

arXiv2026

Quick on the Uptake: Eliciting Implicit Intents from Human Demonstrations for Personalized Mobile-Use Agents

As multimodal large language models advance rapidly, the automation of mobile tasks has become increasingly feasible through the use of mobile-use agents that mimic human interactions from graphical user interfaces. To further enhance mobile-use agents, previous studies employ demonstration learning to improve mobile-use agents from human demonstrations. However, these methods focus solely on the explicit intention flows of humans (e.g., step sequences) while neglecting implicit intention flows (e.g., personal preferences), which makes it difficult to construct personalized mobile-use agents. In this work, to evaluate the Intention Alignment Rate between mobile-use agents and humans, we first collect MobileIAR, a dataset covering 40 English- and Chinese-speaking users and containing human-intent-aligned actions and ground-truth actions. This enables a comprehensive assessment of the agents' understanding of human intent. Then we propose IFRAgent, a framework built upon Intention Flow Recognition from human demonstrations. IFRAgent analyzes explicit intention flows from human demonstrations to construct a query-level vector library of standard operating procedures (SOP), and analyzes implicit intention flows to build a user-level habit repository. IFRAgent then leverages a SOP extractor combined with retrieval-augmented generation and a query rewriter trained through knowledge distillation to generate personalized queries and SOPs from a raw ambiguous query, enhancing the alignment between mobile-use agents and human intent. Experimental results demonstrate that IFRAgent consistently outperforms baselines on every model, achieving an average absolute improvement of 9.88\% (53.33\% relative) in human intention alignment rate and an average absolute improvement of 8.26\% (32.40\% relative) in step completion rate.

cs.CL↗

arXiv2026

Beyond a Single Judge: The Evidence-Grounded, Social-Weighted Persona Panel for Generative UI Evaluation

Generative UI (GenUI) lets large language models synthesize a complete, renderable interface directly from a natural-language instruction, but evaluating the quality of what they generate remains an open problem. Human evaluation is costly and rater-variant, while LLM-as-a-judge is scalable but reflects only a single implicit viewpoint, unable to capture how different populations of real users actually perceive the same interface. We propose the Evidence-Grounded, Social-Weighted Persona Panel (ESPP), a three-stage GenUI evaluation method in which a panel of psychologically diverse, evidence-grounded personas independently rates a screenshot, exchanges opinions under a trait-derived, semantically-gated bounded-confidence mechanism, and is aggregated via Delphi-inspired social weighting into a single judgment. ESPP tracks human judgment substantially more closely than a naive single-pass judge, raising Pearson $r$ from $0.716$ to $0.922$, and a prompt-ensemble control recovers only about a third of this gap, isolating genuine persona and evidence grounding as the dominant source of improvement. Beyond this fidelity gain, retaining each panelist's individual rating further reveals that user subgroups agree on overall model rankings yet diverge sharply on specific rating dimensions, a structural disagreement a single homogeneous judge would systematically erase. The codes are available at https://github.com/Wuzheng02/ESPP.

cs.CL↗

arXiv2026

Hidden Ghost Hand: Unveiling Backdoor Vulnerabilities in MLLM-Powered Mobile GUI Agents

Graphical user interface (GUI) agents powered by multimodal large language models (MLLMs) have shown greater promise for human-interaction. However, due to the high fine-tuning cost, users often rely on open-source GUI agents or APIs offered by AI providers, which introduces a critical but underexplored supply chain threat: backdoor attacks. In this work, we first unveil that MLLM-powered GUI agents naturally expose multiple interaction-level triggers, such as historical steps, environment states, and task progress. Based on this observation, we introduce AgentGhost, an effective and stealthy framework for red-teaming backdoor attacks. Specifically, we first construct composite triggers by combining goal and interaction levels, allowing GUI agents to unintentionally activate backdoors while ensuring task utility. Then, we formulate backdoor injection as a Min-Max optimization problem that uses supervised contrastive learning to maximize the feature difference across sample classes at the representation space, improving flexibility of the backdoor. Meanwhile, it adopts supervised fine-tuning to minimize the discrepancy between backdoor and clean behavior generation, enhancing effectiveness and utility. Extensive evaluations of various agent models in two established mobile benchmarks show that AgentGhost is effective and generic, with attack accuracy that reaches 99.7\% on three attack objectives, and shows stealthiness with only 1\% utility degradation. Furthermore, we tailor a defense method against AgentGhost that reduces the attack accuracy to 22.1\%. Our code is available at \texttt{anonymous}.

cs.CL↗

arXiv2026

Communication Policy Evolution for Proactive LLM Agents

LLM agents have rapidly evolved into autonomous systems, yet a persistent information gap remains between users and agents: communication is costly, while users' identical preferences further limit information exchange. To investigate how agents should communicate across modalities, this paper formalizes Communication Policy, establishes textual and UI-based policies, and then evaluates communication policies across diverse environments, personas, and model combinations. Building information asymmetry for proactive agents, we set up two complementary settings, User-Agent and Planner-Executor. Experimental results reveal complementary strengths between interaction channels: text-based interaction often facilitates task performance, while structured UI improves agents' response quality and persona compliance. Motivated by that, a hybrid method combines these advantages. We further propose Communication Policy Evolution (CPE), a self-evolution framework for refining communication policies through rollout and prompt-level evolving. Without model modification, CPE achieves the best task success across multiple settings using prompt refinement alone. Our findings identify communication behavior as a critical yet underexplored design dimension for LLM agents.

cs.AI↗

arXiv2026

ABot-Earth 0.5: Generative 3D Earth Model

We present ABot-Earth 0.5, a generative 3D framework designed to synthesize vast, seamless 3D environments from ubiquitous, geospatially referenced satellite imagery. To achieve this, we propose a novel generative model formulated directly with the 3D Gaussian Splatting (3DGS) representation. The model is trained on a diverse corpus of existing real-world urban reconstructions, learning to generate realistic geometry and textures. At inference, it synthesizes novel 3D scenes conditioned solely on satellite imagery at a scalable rate of under 10 minutes per square kilometer, while demonstrating exceptional realism. The framework is designed for accessibility, with integrated hierarchical level-of-detail (LOD) structures that permit real-time, interactive visualization on web-based map engines. This high-fidelity simulation sandbox effectively mitigates the sim-to-real domain gap, enabling critical downstream Embodied AI applications like closed-loop UAV navigation. By providing an ultra-low-cost and high-efficiency solution, ABot-Earth 0.5 significantly lowers the technical and financial barriers to large-scale 3D reconstruction and empowers the future of global digital earth visualization.

cs.CV↗

arXiv2026

LC-ERD: Mining Latent Logic for Self-Evolving Reasoning via Consistency-Regulated Reward Decomposition

The evolution of Large Language Model (LLM) reasoning is bottlenecked by the scarcity of high-quality process data. While self-alignment via endogenous rewards offers a solution, mining valid supervision faces three challenges: (1) Label Noise via Mimetic Bias, where rewards prioritize statistical likelihood over logical truth, creating a "correctness illusion" that masks compounding errors; (2) Coarse-Grained Supervision, where sparse global outcomes (e.g., in GRPO) fail to provide granular guidance, treating reasoning chains as monolithic; and (3) Distributional Collapse, where signals fail to generalize without amplifying pre-training biases. To address these, we introduce LC-ERD (Logic-Consistent Endogenous Reward Decomposition), a framework framing self-alignment as latent structure mining. We derive a Variational Logic Potential by aggregating consensus from the model's Latent Logic Expertise (LLE) to denoise the reasoning manifold, and introduce a Multi-Agent Value Decomposition protocol based on the IGM principle to quantify individual step utility. Experiments show LC-ERD delivers a robust self-evolution path, uncovering trade-offs between logic consistency and accuracy while identifying high-value reasoning patterns missed by standard rewards. Our code is available at https://github.com/LC-ERD-repo/LC-ERD.

cs.AI↗

arXiv2026

GUI-CIDER: Mid-training GUI Agents via Causal Internalization and Density-aware Exemplar Reselection

Despite the rapid progress of multimodal large language models in building Graphical User Interface (GUI) agents, their real-world task completion is fundamentally bottlenecked by a lack of world knowledge about GUI operations. Existing solutions typically rely on expensive multi-agent scaffolding or conventional post-training paradigms, such as Supervised Fine-Tuning (SFT) and Reinforcement Learning (RL). However, post-training only allows agents to implicitly absorb world knowledge through action annotations or reward signals, leading to inefficient trajectory memorization rather than genuine comprehension. Therefore, an approach that enables explicit learning of this knowledge is imperative. To this end, we propose GUI-CIDER, a mid-training method that explicitly internalizes GUI world knowledge through Causal Internalization and Density-aware Exemplar Reselection. GUI-CIDER operates in three stages: (1) data synthesis, which distills static planning and dynamic causal knowledge from GUI trajectories into text; (2) exemplar reselection, which filters the corpus by rewarding causal structures and penalizing semantic redundancy; and (3) mid-training, where the refined data is used to embed the acquired knowledge. Extensive experiments on two GUI knowledge benchmarks and three task completion benchmarks demonstrate that GUI-CIDER consistently improves both the agent's understanding of GUI operations and its task success rates.The codes are available at https://github.com/Wuzheng02/GUI-CIDER.

cs.CL↗

arXiv2026

Mobile-Aptus: Confidence-Driven Proactive and Robust Interaction in MLLM-based Mobile-Using Agents

Recent advancements in multimodal large language models (MLLMs) have shown exceptional potential in enabling mobile-using agents to autonomously execute human instructions. However, fully automated agents often try to execute tasks even when they are unable to resolve them, leading to the problem of over-execution. Previous studies solve it by training a interactive mobile-using agents to let agents request human interaction when agents can not complete user instructions. However, we find that these interactive agents tend to exhibit over-soliciting behavior, relying excessively on human intervention. To mitigate both over-execution and over-soliciting, we propose a universal confidence integration framework that enables confidence-driven proactive and robust interaction in MLLM-based mobile-using agents. The framework consists of two stages: interaction capability empowerment and confidence bias correction. In the interaction capability empowerment stage, agents learn through supervised fine-tuning to output both actions and confidence scores. In the confidence bias correction stage, agents learn to output more accurate confidence scores by combining semantic similarity retrieval with direct preference optimization. Experimental results show Mobile-Aptus achieves state-of-the-art performance on the four popular mobile-using agent benchmarks: OS-Kairos, AITZ, Meta-GUI, and AndroidControl. Mobile-Aptus consistently outperforms all baselines in offline benchmarks, with an average improvement over 17\% in task success rate. In real-world dynamic experiments, Mobile-Aptus surpasses the baseline by 26% in task success rate with only 0.64 intervention steps per instruction. The codes are available at https://github.com/Wuzheng02/Mobile-Aptus.

cs.CL↗

arXiv2026

A General Framework for Multimodal LLM-Based Multimedia Understanding in Large-Scale Recommendation Systems

Conventional recommendation systems frequently fail to fully exploit the high-dimensional semantic signals inherent in multimedia content, thereby limiting the fidelity of user preference modeling. While Multimodal Large Language Models (MM-LLMs) offer robust mechanisms for interpreting such complex data, their integration into latency-constrained, industrial-scale architectures remains a significant challenge. To address this, we propose a generalized framework for MM-LLM-driven multimedia understanding. Our methodology employs a tripartite architecture encompassing content interpretation, representation extraction, and systematic pipeline integration, instantiated via a LLaMA2-based model that generates descriptive captions subsequently ingested as tokenized categorical features. Empirical evaluation demonstrates the efficacy of this approach, yielding a $0.35\%$ increase in offline AUC and a $0.02\%$ improvement in online metrics at scale, substantiating the practical viability of leveraging MM-LLMs to enhance large-scale recommendation performance.

cs.IR↗

arXiv2026

Faithful Mobile GUI Agents with Guided Advantage Estimator

Vision-language model based graphical user interface (GUI) agents have shown strong interaction capabilities. However, they often behave unfaithfully, relying on memorized shortcuts rather than grounding actions in displayed screen evidence or user instructions. To address this, we propose Faithful-Agent, a faithfulness-first framework that reformulates GUI interaction to prioritize evidence groundedness and internal consistency. Faithful-Agent employs a two-stage pipeline: (i) a faithfulness-oriented SFT stage to instill abstainment behaviors under evidence perturbations; (ii) an RFT stage that further amplifies faithfulness by introducing the guided advantage estimator (GuAE), an anchor-based and variance-adaptive advantage tempering mechanism built upon GRPO. GuAE prevents advantage collapse in low-variance rollout groups under sparse GUI rewards, and with a thought-action consistency reward, Faithful-Agent (Stage II) elevates the Trap SR from 13.88\% to 80.21\% relative to the baseline, while preserving robust general instruction-following performance.

cs.AI↗