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Zheng Zhu

Publications and source records attributed to Zheng Zhu.

At least 73 records · Page 4Linked to original sources
arXiv2026

EgoDemoGen: Egocentric Demonstration Generation for Viewpoint Generalization in Robotic Manipulation

Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-person viewpoint changes that only move the camera, egocentric shifts simultaneously alter both the camera pose and the robot action coordinate frame, making it necessary to jointly transfer action trajectories and synthesize corresponding observations under novel egocentric viewpoints. To address this challenge, we present EgoDemoGen, a framework that generates paired observation--action demonstrations under novel egocentric viewpoints through two key components: 1{)} EgoTrajTransfer, which transfers robot trajectories to the novel egocentric coordinate frame through motion-skill segmentation, geometry-aware transformation, and inverse kinematics filtering; and 2{)} EgoViewTransfer, a conditional video generation model that fuses a novel-viewpoint reprojected scene video and a robot motion video rendered from the transferred trajectory to synthesize photorealistic observations, trained with a self-supervised double reprojection strategy without requiring multi-viewpoint data. Experiments in simulation and real-world settings show that EgoDemoGen consistently improves policy success rates under both standard and novel egocentric viewpoints, with absolute gains of +24.6\% and +16.9\% in simulation and +16.0\% and +23.0\% on the real robot. Moreover, EgoViewTransfer achieves superior video generation quality for novel egocentric observations.

cs.RO↗
arXiv2026

Vega: Learning to Drive with Natural Language Instructions

Vision-language-action models have reshaped autonomous driving to incorporate languages into the decision-making process. However, most existing pipelines only utilize the language modality for scene descriptions or reasoning and lack the flexibility to follow diverse user instructions for personalized driving. To address this, we first construct a large-scale driving dataset (InstructScene) containing around 100,000 scenes annotated with diverse driving instructions with the corresponding trajectories. We then propose a unified Vision-Language-World-Action model, Vega, for instruction-based generation and planning. We employ the autoregressive paradigm to process visual inputs (vision) and language instructions (language) and the diffusion paradigm to generate future predictions (world modeling) and trajectories (action). We perform joint attention to enable interactions between the modalities and use individual projection layers for different modalities for more capabilities. Extensive experiments demonstrate that our method not only achieves superior planning performance but also exhibits strong instruction-following abilities, paving the way for more intelligent and personalized driving systems.

cs.CV↗
arXiv2026

FlashSign: Pose-Free Guidance for Efficient Sign Language Video Generation

Sign language plays a crucial role in bridging communication gaps between the deaf and hard-of-hearing communities. However, existing sign language video generation models often rely on complex intermediate representations, which limits their flexibility and efficiency. In this work, we propose a novel pose-free framework for real-time sign language video generation. Our method eliminates the need for intermediate pose representations by directly mapping natural language text to sign language videos using a diffusion-based approach. We introduce two key innovations: (1) a pose-free generative model based on the a state-of-the-art diffusion backbone, which learns implicit text-to-gesture alignments without pose estimation, and (2) a Trainable Sliding Tile Attention (T-STA) mechanism that accelerates inference by exploiting spatio-temporal locality patterns. Unlike previous training-free sparsity approaches, T-STA integrates trainable sparsity into both training and inference, ensuring consistency and eliminating the train-test gap. This approach significantly reduces computational overhead while maintaining high generation quality, making real-time deployment feasible. Our method increases video generation speed by 3.07x without compromising video quality. Our contributions open new avenues for real-time, high-quality, pose-free sign language synthesis, with potential applications in inclusive communication tools for diverse communities. Code: https://github.com/AIGeeksGroup/FlashSign.

cs.CV↗
arXiv2026

Spin-Based True Random Number Generation Enabled by Voltage-Amplified Quantum Fluctuations

We investigate spin quantum-fluctuation effects that originate from the Heisenberg uncertainty principle during the dynamical cycle of disentanglement, entanglement, and re-disentanglement between itinerant electrons and localized magnetic moments mediated by the s-d exchange interaction. Beyond conventional deterministic spin-transfer torque, we analyze an intrinsic mechanism that transfers spin quantum fluctuations to a nanomagnet. By extending the Landau-Lifshitz-Gilbert equation to incorporate both quantum and thermal stochastic fields, we identify a temperature regime in which quantum fluctuations dominate the magnetization dynamics. We further show that voltage-controlled magnetic anisotropy exponentially amplifies spin quantum fluctuations, enabling binary readout through magnetoresistance in magnetic tunnel junctions. These findings provide a microscopic framework for fluctuation-driven spin dynamics and outline a device-level pathway toward spin-based quantum true random number generation.

cond-mat.mes-hall↗
arXiv2026

GigaWorld-Policy: An Efficient Action-Centered World--Action Model

World-Action Models (WAM) initialized from pre-trained video generation backbones have demonstrated remarkable potential for robot policy learning. However, existing approaches face two critical bottlenecks that hinder performance and deployment. First, jointly reasoning over future visual dynamics and corresponding actions incurs substantial inference overhead. Second, joint modeling often entangles visual and motion representations, making motion prediction accuracy heavily dependent on the quality of future video forecasts. To address these issues, we introduce GigaWorld-Policy, an action-centered WAM that learns 2D pixel-action dynamics while enabling efficient action decoding, with optional video generation. Specifically, we formulate policy training into two coupled components: the model predicts future action sequences conditioned on the current observation, and simultaneously generates future videos conditioned on the predicted actions and the same observation. The policy is supervised by both action prediction and video generation, providing richer learning signals and encouraging physically plausible actions through visual-dynamics constraints. With a causal design that prevents future-video tokens from influencing action tokens, explicit future-video generation is optional at inference time, allowing faster action prediction during deployment. To support this paradigm, we curate a diverse, large-scale robot dataset to pre-train an action-centered video generation model, which is then adapted as the backbone for robot policy learning. Experimental results on real-world robotic platforms show that GigaWorld-Policy runs 9x faster than the leading WAM baseline, Motus, while improving task success rates by 7%. Moreover, compared with pi-0.5, GigaWorld-Policy improves performance by 95% on RoboTwin 2.0.

cs.CV↗
arXiv2026

Elder-Sim: A Psychometrically Validated Platform for Personality-Stable Elderly Digital Twins

Background: LLMs enable patient-facing conversational agents, creating a pathway toward digital twins that capture older adults' lived experiences and behavioral responses across time. A central barrier is personality drift -- inconsistent trait expression across repeated interactions -- which undermines reliability of generated trajectories and intervention-response simulation in geriatric care. Objective: To develop ELDER-SIM, a multi-role elderly-care conversational platform for building personality-stable digital twin agents, and to propose a psychometric validation framework for quantifying personality consistency in LLM-based agents. Methods: ELDER-SIM was implemented via n8n workflow orchestration with local LLM inference (Ollama/vLLM), integrating (1) Big Five (OCEAN) trait specifications, (2) a Cognitive Conceptualization Diagram (CCD) grounded in Beck's CBT framework, and (3) a MySQL-based long-term memory module. Ablation studies across four conditions -- Baseline, +Memory, +CCD, and +LoRA (fine-tuned on 19,717 instruction pairs from CHARLS) -- were evaluated via Cronbach's $α$, ICC, and role discrimination accuracy. Results: Reliability was acceptable to excellent across conditions (Cronbach's $α$: 0.70--0.94; ICC: 0.85--0.96). Role discrimination improved from 83.3% (Baseline) to 88.9% (+Memory), 94.4% (+CCD), and 97.2% (+LoRA). CCD produced the largest consistency gain (mean $α$ 0.702$\to$0.892), while LoRA achieved the highest overall consistency ($α$ 0.940; ICC 0.958). Conclusions: ELDER-SIM provides a psychometrically validated approach for constructing personality-consistent elderly digital twin agents. Structured cognitive modeling and domain adaptation reduce personality drift, supporting reliable longitudinal simulation for elderly mental health care and reproducible in silico evaluation before clinical deployment.

cs.HC↗
arXiv2026

An Ultra-Low Power and Fast Ising Machine using Voltage-Controlled Magnetoresistive Random Access Memory

Physics-inspired computing paradigms, such as Ising machines, are emerging as promising hardware alternatives to traditional von Neumann architectures for tackling computationally intensive combinatorial optimization problems (COPs). While quantum, optical, and electronic devices have garnered significant attention for their potential in realizing Ising machines, their translation into practical systems for industry-relevant applications remains challenging, with each approach facing specific limitations in power consumption and speed. To address this challenge, we report the first chip-level spintronic Ising machine using voltage-controlled magnetoresistive random access memory. The core of our design leverages magnetic tunnel junctions (MTJs) driven by the voltage-controlled magnetic anisotropy effect to realize the probabilistic update of Ising spins through a new mechanism. It enables a latency below 1 ns and an energy consumption under 40 fJ per spin update, achieving a 1000-times improvement over previous current-driven MTJ-based implementations. We map two real-world COPs in electronic design automation-global routing and layer assignment-onto the Ising model and demonstrate high-quality results with an energy efficiency of 25000 solutions per second per watt. This outperforms state-of-the-art quantum and graphics processing units by six and seven orders of magnitude, respectively. These results establish voltage-controlled spintronics as a compelling route towards next-generation physics-inspired machine intelligence, offering a paradigm for ultra-low-power, high-speed, and scalable computation.

physics.app-ph↗
arXiv2026

Spectral Defense Against Resource-Targeting Attack in 3D Gaussian Splatting

Recent advances in 3D Gaussian Splatting (3DGS) deliver high-quality rendering, yet the Gaussian representation exposes a new attack surface, the resource-targeting attack. This attack poisons training images, excessively inducing Gaussian growth to cause resource exhaustion. Although efficiency-oriented methods such as smoothing, thresholding, and pruning have been explored, these spatial-domain strategies operate on visible structures but overlook how stealthy perturbations distort the underlying spectral behaviors of training data. As a result, poisoned inputs introduce abnormal high-frequency amplifications that mislead 3DGS into interpreting noisy patterns as detailed structures, ultimately causing unstable Gaussian overgrowth and degraded scene fidelity. To address this, we propose \textbf{Spectral Defense} in Gaussian and image fields. We first design a 3D frequency filter to selectively prune Gaussians exhibiting abnormally high frequencies. Since natural scenes also contain legitimate high-frequency structures, directly suppressing high frequencies is insufficient, and we further develop a 2D spectral regularization on renderings, distinguishing naturally isotropic frequencies while penalizing anisotropic angular energy to constrain noisy patterns. Experiments show that our defense builds robust, accurate, and secure 3DGS, suppressing overgrowth by up to $5.92\times$, reducing memory by up to $3.66\times$, and improving speed by up to $4.34\times$ under attacks.

cs.CV↗
arXiv2026

$π$-StepNFT: Wider Space Needs Finer Steps in Online RL for Flow-based VLAs

Flow-based vision-language-action (VLA) models excel in embodied control but suffer from intractable likelihoods during multi-step sampling, hindering online reinforcement learning. We propose \textbf{\textit{$\boldsymbolπ$-StepNFT}} (Step-wise Negative-aware Fine-Tuning), a critic-and-likelihood-free framework that requires only a single forward pass per optimization step and eliminates auxiliary value networks. We identify that wider exploration spaces necessitate finer-grained, step-wise guidance for alignment. Empirically, $π$-StepNFT unlocks latent potential on LIBERO with competitive few-shot robustness. Moreover, it achieves superior generalization on ManiSkill, outperforming value-based baselines in OOD scenarios by preventing overfitting to multimodal features. This property offers a scalable solution promising for complex real-world applications.

cs.RO↗
arXiv2026

GigaBrain-0.5M*: a VLA That Learns From World Model-Based Reinforcement Learning

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video world models pre-trained on web-scale video corpora exhibit robust spatiotemporal reasoning and accurate future prediction, making them a natural foundation for enhancing VLA learning. Therefore, we propose \textit{GigaBrain-0.5M*}, a VLA model trained via world model-based reinforcement learning. Built upon \textit{GigaBrain-0.5}, which is pre-trained on over 10,000 hours of robotic manipulation data, whose intermediate version currently ranks first on the international RoboChallenge benchmark. \textit{GigaBrain-0.5M*} further integrates world model-based reinforcement learning via \textit{RAMP} (Reinforcement leArning via world Model-conditioned Policy) to enable robust cross-task adaptation. Empirical results demonstrate that \textit{RAMP} achieves substantial performance gains over the RECAP baseline, yielding improvements of approximately 30\% on challenging tasks including \texttt{Laundry Folding}, \texttt{Box Packing}, and \texttt{Espresso Preparation}. Critically, \textit{GigaBrain-0.5M$^*$} exhibits reliable long-horizon execution, consistently accomplishing complex manipulation tasks without failure as validated by real-world deployment videos on our \href{https://gigabrain05m.github.io}{project page}.

cs.CV↗
arXiv2026

Composite Boson Theory of Fractional Chern Insulators

The understanding of fractional Chern insulators (FCIs) has been deeply guided by band topology and quantum geometry. Here, we introduce a real-space theoretical framework in which FCIs are understood in terms of composite bosons, local objects consisting of electrons bound to their energetically excluded surrounding orbitals. The central element of our framework is the construction of a radially ordered set of maximally localized basis for Chern bands without requiring continuous rotational symmetry. Within this basis, the complex many-body problem simplifies to a real-space organizing principle: a stable FCI occurs if the orbitals excluded around central electrons are those maximizing the two-body interaction energy. We validate this with direct numerical evidence for composite boson formation in the Haldane model, demonstrating that our criterion reliably characterizes FCIs. Importantly, our analysis illustrates that the composite boson framework bridges the fractional quantum Hall effect in continuum and lattice paradigms, providing a unified and intuitive real-space interpretation for distinct correlated phases. It thus establishes a foundation for diagnosing and guiding the design of both Abelian and non-Abelian topologically ordered phases across distinct platforms.

cond-mat.str-el↗
arXiv2026

Scalable Solar-Blind Imaging Enabled by Single-Crystalline Beta-Ga2O3 Membranes on Silicon Backplanes

Ultrawide-bandgap semiconductors are attractive for solar-blind ultraviolet (UV) detection owing to their intrinsically low noise and high spectral selectivity, yet their deployment in large-area, high-density electronic imaging systems remains limited by a fundamental trade-off between material quality, device speed, and compatibility with high-density planar silicon readout circuits. Here, we report a membrane-enabled integration platform based on transferable single-crystalline beta-Ga2O3 that overcomes these constraints at the system level. By exploiting the weak interplanar bonding of beta-Ga2O3 (100) plane, we obtain wafer-scale freestanding single-crystalline membranes that enable vertically integrated photodiodes with sub-microsecond, non-persistent photoresponse and high UV-visible rejection. Crucially, we introduce a stitching-based membrane assembly strategy that decouples array resolution from the size of the source single-crystalline substrate, allowing high-resolution photodetector arrays to be integrated onto silicon thin-film-transistor backplanes. The modular assembled active-matrix UV imaging arrays exhibit uniform solar-blind response without image lag, in stark contrast to arrays based on amorphous or polycrystalline films. Beyond beta-Ga2O3, this membrane-enabled and stitching-based modular integration strategy provides a general route toward high-speed, high-resolution electronic imaging systems using transferable single-crystalline semiconductors.

cond-mat.mtrl-sci↗
arXiv2026

UniDriveDreamer: A Single-Stage Multimodal World Model for Autonomous Driving

World models have demonstrated significant promise for data synthesis in autonomous driving. However, existing methods predominantly concentrate on single-modality generation, typically focusing on either multi-camera video or LiDAR sequence synthesis. In this paper, we propose UniDriveDreamer, a single-stage unified multimodal world model for autonomous driving, which directly generates multimodal future observations without relying on intermediate representations or cascaded modules. Our framework introduces a LiDAR-specific variational autoencoder (VAE) designed to encode input LiDAR sequences, alongside a video VAE for multi-camera images. To ensure cross-modal compatibility and training stability, we propose Unified Latent Anchoring (ULA), which explicitly aligns the latent distributions of the two modalities. The aligned features are fused and processed by a diffusion transformer that jointly models their geometric correspondence and temporal evolution. Additionally, structured scene layout information is projected per modality as a conditioning signal to guide the synthesis. Extensive experiments demonstrate that UniDriveDreamer outperforms previous state-of-the-art methods in both video and LiDAR generation, while also yielding measurable improvements in downstream

cs.CV↗
arXiv2026

Multi-target density matrix renormalization group for 3D CFTs on the fuzzy sphere

The fuzzy sphere regularization provides a powerful framework for studying three-dimensional (3D) conformal field theories (CFTs) by mapping them onto numerically tractable lattice models on the spherical lowest Landau level. However, the system sizes accessible to this method have been limited by the exact diagonalization (ED). In this work, we transcend this limitation by combining the fuzzy sphere regularization with a sophisticated multi-target density matrix renormalization group (DMRG) algorithm. Focusing on the 3D Ising-type model on the spherical lowest Landau level, we calculate the 24 low-lying energies at a larger system size than previously feasible with ED. At criticality, we extract the scaling dimensions of six primary operators, and the results show significantly improved agreement with bootstrap benchmarks compared to previous ED results at smaller sizes. Our approach allows us to efficiently target multiple excited states in larger systems beyond the reach of exact diagonalization. This study establishes the fuzzy sphere regularization combined with advanced DMRG techniques as a powerful and general framework for precision physics in 3D CFTs.

cond-mat.str-el↗
arXiv2026

Coordinated Pandemic Control with Large Language Model Agents as Policymaking Assistants

Effective pandemic control requires timely and coordinated policymaking across administrative regions that are intrinsically interdependent. However, human-driven responses are often fragmented and reactive, with policies formulated in isolation and adjusted only after outbreaks escalate, undermining proactive intervention and global pandemic mitigation. To address this challenge, here we propose a large language model (LLM) multi-agent policymaking framework that supports coordinated and proactive pandemic control across regions. Within our framework, each administrative region is assigned an LLM agent as an AI policymaking assistant. The agent reasons over region-specific epidemiological dynamics while communicating with other agents to account for cross-regional interdependencies. By integrating real-world data, a pandemic evolution simulator, and structured inter-agent communication, our framework enables agents to jointly explore counterfactual intervention scenarios and synthesize coordinated policy decisions through a closed-loop simulation process. We validate the proposed framework using state-level COVID-19 data from the United States between April and December 2020, together with real-world mobility records and observed policy interventions. Compared with real-world pandemic outcomes, our approach reduces cumulative infections and deaths by up to 63.7% and 40.1%, respectively, at the individual state level, and by 39.0% and 27.0%, respectively, when aggregated across states. These results demonstrate that LLM multi-agent systems can enable more effective pandemic control with coordinated policymaking...

cs.AI↗
arXiv2026

Spatial Multi-Task Learning for Breast Cancer Molecular Subtype Prediction from Single-Phase DCE-MRI

Accurate molecular subtype classification is essential for personalized breast cancer treatment, yet conventional immunohistochemical analysis relies on invasive biopsies and is prone to sampling bias. Although dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) enables non-invasive tumor characterization, clinical workflows typically acquire only single-phase post-contrast images to reduce scan time and contrast agent dose. In this study, we propose a spatial multi-task learning framework for breast cancer molecular subtype prediction from clinically practical single-phase DCE-MRI. The framework simultaneously predicts estrogen receptor (ER), progesterone receptor (PR), human epidermal growth factor receptor 2 (HER2) status, and the Ki-67 proliferation index -- biomarkers that collectively define molecular subtypes. The architecture integrates a deep feature extraction network with multi-scale spatial attention to capture intratumoral and peritumoral characteristics, together with a region-of-interest weighting module that emphasizes the tumor core, rim, and surrounding tissue. Multi-task learning exploits biological correlations among biomarkers through shared representations with task-specific prediction branches. Experiments on a dataset of 960 cases (886 internal cases split 7:1:2 for training/validation/testing, and 74 external cases evaluated via five-fold cross-validation) demonstrate that the proposed method achieves an AUC of 0.893, 0.824, and 0.857 for ER, PR, and HER2 classification, respectively, and a mean absolute error of 8.2\% for Ki-67 regression, significantly outperforming radiomics and single-task deep learning baselines. These results indicate the feasibility of accurate, non-invasive molecular subtype prediction using standard imaging protocols.

cs.CV↗
arXiv2026

TokenSeg: Efficient 3D Medical Image Segmentation via Hierarchical Visual Token Compression

Three-dimensional medical image segmentation is a fundamental yet computationally demanding task due to the cubic growth of voxel processing and the redundant computation on homogeneous regions. To address these limitations, we propose \textbf{TokenSeg}, a boundary-aware sparse token representation framework for efficient 3D medical volume segmentation. Specifically, (1) we design a \emph{multi-scale hierarchical encoder} that extracts 400 candidate tokens across four resolution levels to capture both global anatomical context and fine boundary details; (2) we introduce a \emph{boundary-aware tokenizer} that combines VQ-VAE quantization with importance scoring to select 100 salient tokens, over 60\% of which lie near tumor boundaries; and (3) we develop a \emph{sparse-to-dense decoder} that reconstructs full-resolution masks through token reprojection, progressive upsampling, and skip connections. Extensive experiments on a 3D breast DCE-MRI dataset comprising 960 cases demonstrate that TokenSeg achieves state-of-the-art performance with 94.49\% Dice and 89.61\% IoU, while reducing GPU memory and inference latency by 64\% and 68\%, respectively. To verify the generalization capability, our evaluations on MSD cardiac and brain MRI benchmark datasets demonstrate that TokenSeg consistently delivers optimal performance across heterogeneous anatomical structures. These results highlight the effectiveness of anatomically informed sparse representation for accurate and efficient 3D medical image segmentation.

cs.CV↗
arXiv2026

RoboTransfer: Controllable Geometry-Consistent Video Diffusion for Manipulation Policy Transfer

The goal of general-purpose robotics is to create agents that can seamlessly adapt to and operate in diverse, unstructured human environments. Imitation learning has become a key paradigm for robotic manipulation, yet collecting large-scale and diverse demonstrations is prohibitively expensive. Simulators provide a cost-effective alternative, but the sim-to-real gap remains a major obstacle to scalability. We present RoboTransfer, a diffusion-based video generation framework for synthesizing robotic data. By leveraging cross-view feature interactions and globally consistent 3D geometry, RoboTransfer ensures multi-view geometric consistency while enabling fine-grained control over scene elements, such as background editing and object replacement. Extensive experiments demonstrate that RoboTransfer produces videos with superior geometric consistency and visual fidelity. Furthermore, policies trained on this synthetic data exhibit enhanced generalization to novel, unseen scenarios. Project page: https://horizonrobotics.github.io/robot_lab/robotransfer.

cs.CV↗