arXiv subjects

Zihan Wang

Publications and source records attributed to Zihan Wang.

At least 55 records · Page 3Linked to original sources

arXiv2026

Self-Evolving Embodied Agents via Skill-Harness Evolution

Embodied agents are increasingly built as systems around foundation models, where performance depends not only on model weights but also on the skills, context, action interfaces, and execution harness surrounding the model. While supervised fine-tuning and reinforcement learning can adapt agents to new environments, they require additional data, rewards, and training runs; meanwhile, many train-free code-centric approaches rely on programmable robot APIs that may be unavailable in fixed-interface settings. We propose SHAPER, a self-evolving framework for train-free embodied adaptation that keeps model parameters frozen and improves the non-parametric agent system by evolving reusable skills and a context-code harness through target-environment rollouts. In SHAPER, the same frozen model can serve as both planner and optimizer, refining its external skills and context-code harness without parameter updates. We evaluate SHAPER on VLABench and ESI-Bench, covering embodied agents with different low-level action interfaces, and compare against pure execution, supervised fine-tuning, and test-time-scaling baselines such as verifier-free selection and voting. Our results suggest that skill-and-harness optimization is a practical route to self-evolving embodied agents when model training is expensive, unavailable, or undesirable.

cs.CL↗

arXiv2026

Harbor Adapters and Harbor-Index: Infrastructure and a Curated Meta-Dataset for Large-Scale Agentic Evaluation

Evaluating agents on the growing number of agentic benchmarks is challenging because they often require complex environments and agent integrations. We introduce Harbor Adapters, a unified evaluation infrastructure for agentic benchmarks. Our work makes three contributions. First, we develop benchmark adapters that port more than 80 benchmarks to evaluate arbitrary agents, and validate them through rigorous code review and parity experiments. Second, we conduct a large-scale evaluation of 8 models spanning capability tiers across 54 benchmarks; every model is run with Terminus-2 and with one of 3 native harnesses. This enables a broader analysis of agent capabilities and failure modes than was previously possible. Third, we introduce Harbor-Index, a curated set of 82 difficult, diverse, and high-quality tasks spanning 29 benchmarks, refined from the adapted suite through difficulty filtering, AI and human audit, and an audit-and-fix loop. Harbor-Index preserves the challenge and breadth of large-scale agentic evaluations while being affordable to run; no evaluated model-harness configuration exceeds 30% pass rate, and the strongest (GPT-5.5 with Codex) reaches 28.0%. We release the adapters, evaluation results, in-depth analysis, and Harbor-Index as open-source artifacts to support more reliable and comprehensive evaluation of language-model agents.

cs.AI↗

arXiv2026

MindTopo: Can Foundation Models Reason in Topological Space?

Spatial reasoning depends not only on metric properties such as distance, angle, and shape, but also on topological relations that remain invariant under continuous deformation. Cognitive science identifies these relations as foundational to spatial understanding, yet foundation-model evaluations largely focus on metric or viewpoint-dependent relations. We introduce MindTopo, a benchmark of topological intuition across five properties grounded in cognitive science and formal topology: continuity, separation, order, enclosure, and knots. MindTopo evaluates each property at two cognitive levels. Reasoning asks a model to identify topological relations or infer how they change. Planning instantiates a foundation model as a closed-loop agent whose policy selects environment actions. MindTopo contains 11,030 instances across 13 procedurally generated task types with controllable difficulty. We benchmark 14 MLLMs and study agent configurations augmented with image and video generation, including 3 video generative models in planning settings. Every MLLM performs better on reasoning than on planning, and the best-performing model remains far below observed human performance. On Qwen3-VL-2B-Instruct, supervised fine-tuning and reinforcement learning improve reasoning more than planning. Generated observations retain local cues and reach plausible endpoints, but audited rollouts do not reliably follow environment dynamics or preserve topology across transitions. Our website is at https://mind-topo.github.io/

cs.AI↗

arXiv2026

Noether Symmetries Generate Deterministic Energy-Harvesting Protocols

We consider the general principles for when deterministic energy harvesting (DEH) is possible. DEH means absorbing energy from a fluctuating source without entropy being absorbed. We show that the symmetry structure of the source--harvester dynamics gives a general route beyond existing examples to identify DEH capable source states. Any continuous symmetry with a conserved Noether charge induces a source-side orbit of states that all implement the same deterministic harvester transition, provided the harvester boundary states are symmetry invariant. Consequently, one DEH capable source state with nonzero asymmetry between charge sectors can generate infinitely many simultaneously DEH capable source states. A Jaynes-Cummings model, a three-spin XX chain, and an SU(2) model illustrate the construction. We further extend Noether's theorem to generalised probabilistic theories and thereby generalise our main result. We further establish an asymmetry bound for harvesting, showing that source asymmetry cannot increase on average, while DEH saturates the bound exactly preserving asymmetry.

quant-ph↗

arXiv2026

From Connectivity to Rewards: Dense Reward Learning with Directed State Graphs

The integration of graphs with Goal-Conditioned Hierarchical Reinforcement Learning (GCHRL) has received increasing attention, as graphs naturally encode task hierarchies for effective subgoal sampling. However, existing methods often overlook intrinsic connectivity information, failing to fully leverage the underlying topology for efficient learning. Most graph-based GCHRL methods use the graph as a stochastic sampling tool rather than as an environmental model that encodes connectivity and state-accessibility information. This limitation is particularly acute in quasimetric environments, where the inherent asymmetry of state transitions poses a fundamental challenge to stable policy learning and robust path planning. In this paper, we address these problems by introducing a state connectivity model designed to predict pairwise state connectivity strength in asymmetric environments. We transform these connectivity strengths into scalar auxiliary dense rewards, providing continuous guidance across multiple hierarchical levels. We demonstrate that our proposed framework, Graph-Guided Quasimetric Dense Reward (G2QDR), can theoretically be integrated into any existing GCHRL architecture, and the state connectivity model is efficiently implemented via a neural network trained on a directed state graph generated during exploration. Empirical results across a wide range of sparse reward environments indicate that, in general, G2QDR can enhance the performance of baseline GCHRL approaches with acceptable computational overhead.

cs.LG↗

arXiv2026

M5 Instantons in ABJM

We study the existence of supersymmetric M5-brane instantons in asymptotically AdS$_4 \times S^7/\mathbf{Z}_k$ geometries of M-theory, dual to the ABJM theory. The supersymmetric embeddings of these instantons are determined by the M5-brane $κ$-symmetry, which forces them to localise to the equivariant fixed points in the asymptotically AdS$_4$ geometry, and wrap $(S^3\times S^3)/\mathbf{Z}_k $. At the quantum level we find that the one-loop partition function of these instantons vanishes, suggesting that the bulk partition function is instead to be expanded in terms of supergravity modes and M2-brane instantons, in line with known results for the $S^3$ partition function of the dual ABJM theory.

hep-th↗

arXiv2026

EvoGenUI-Bench: Evaluating LLMs as Multi-Turn Generative UI Assistants

Large language models can generate interactive web interfaces, but reliable generative UI requires maintaining an executable artifact as user requests evolve. We introduce EvoGenUI-Bench, a benchmark for multi-turn interface maintenance comprising 150 five-turn tasks and 750 turns across three scenarios: information presentation, executable interaction, and tool-grounded external state. We execute generated artifacts in a browser and evaluate them using screenshots, source and DOM evidence, actor traces, and runtime logs. Beyond turn-level and episode-level success, we measure cross-turn retention with Adjacent Pass Retention. Across eight models, even the strongest achieves 74.9% Turn Pass while completing only 37.3% of five-turn episodes; APR further falls to 52.4% on tool-grounded tasks. Diagnostic analysis shows that presentation failures center on information architecture, interaction failures on derived-state propagation and affordance binding, and tool-grounded failures additionally involve external-state grounding and requirement decomposition. These results reframe generative UI evaluation from judging isolated outputs to testing whether interface behavior, derived state, external state, and assistant claims remain synchronized as the artifact evolves.

cs.AI↗

arXiv2026

Shadow Queries for Private Retrieval in Vector Databases

Large language models (LLMs) increasingly rely on information retrieval (IR) systems, such as Retrieval-Augmented Generation (RAG), to incorporate domain-specific knowledge without costly re-training. These systems often store pre-computed document embeddings in cloud-based vector databases. However, such embeddings are vulnerable to embedding inversion attacks (EIAs), which can reconstruct their underlying text. Existing defenses, such as adding noise or scaling embeddings, often provide limited privacy or significantly reduce retrieval utility. We propose SHAQ (shadow query generation), a semantic-decomposition and embedding-decoupling defense against EIAs. SHAQ is based on the insight that EIAs rely on the strong coupling between an embedding and its original text. Instead of storing document embeddings directly, SHAQ uses a generative language model to create diverse shadow queries that capture different semantic aspects of each document. These queries are then encoded and stored in place of the original document embeddings, thereby decomposing document semantics and decoupling stored embeddings from the source text. Experiments across diverse IR datasets show that SHAQ substantially improves privacy while preserving retrieval utility, achieving a recovery rate as low as 0.2104, defending up to 19.50% more tokens than baseline defenses, and reaching up to 0.7967 MAP@10 with up to 5.53% utility improvement. These results demonstrate that semantic decomposition and embedding decoupling provide an effective alternative to directly modifying embeddings for defending against EIAs.

cs.AI↗

arXiv2026

Embedded Graph Flows for Categorical Graph Generation

Generating categorical graphs requires choosing node and edge types that form a coherent structure without depending on node order. Many graph generators encode categories as fixed one-hot vectors, which can impose an artificial geometry in which categories are equidistant. We propose Embedded Graph Flows (EGF), a generative model that learns continuous embeddings for node and unordered-edge categories and transports Gaussian noise towards these learnt endpoints using a permutation-equivariant graph transformer. A terminal readout maps the embeddings back to discrete graph categories. Across molecular benchmarks, EGF achieved competitive performance. On QM9, EGF gives the best result on all four reported metrics among the three methods, including a Fréchet ChemNet Distance (FCD) of 0.150, compared with 0.717 for the categorical-diffusion baseline DiGress and 0.812 for the bridge-based baseline GruM. When applied to larger molecules in ZINC250k, EGF retains the lowest maximum mean discrepancy (MMD) using the neighbourhood subgraph pairwise distance kernel (NSPDK), indicating close agreement with the local substructures of the reference molecules. Our code is available at https://github.com/Trusted-System-Lab/EGF.

cs.LG↗

arXiv2026

SIC-Agents: Benchmarking and Building an Adaptive Simulator for Pediatric Serious Illness Communication Training

Pediatric serious illness communication (SIC) is critically important, yet scalable communication training for clinicians remains limited. Compared with other dialogue simulation settings, pediatric SIC poses additional challenges, including multi-party interactions, response to parental distress and strong dependence on feedback dynamics. Existing LLM-based simulators optimize generic dialogue quality rather than curriculum-contingent behavior required for effective SIC training. In collaboration with educators and pediatric clinicians, we introduce the first benchmark suite and simulation framework tailored to pediatric SIC training. Our benchmarks, PitfallBench and DialogueBench, evaluate simulators both at the turn-level and across full dialogues. We further propose SIC-Agents, a self-improving framework that generates a clinician-editable skill document to guide simulator behavior. Our experiments show that SIC-Agents outperforms static expert prompting. To support future research, we release our benchmarks for parent simulation in pediatric SIC at https://github.com/Beikewzh/sic-benchmarks

cs.CL↗

arXiv2026

Proof2Hybrid: Automatic Mathematical Benchmark Synthesis for Proof-Centric Problems

Evaluating the mathematical capability of Large Language Models (LLMs) is a critical yet challenging frontier. Existing benchmarks fall short, particularly for proof-centric problems, as manual creation is unscalable and costly, leaving the true mathematical abilities of LLMs largely unassessed. To overcome these barriers, we propose Proof2Hybrid, the first fully automated framework that synthesizes high-quality, proof-centric benchmarks from natural language mathematical corpora. The key novelty of our solution is Proof2X, a roadmap of converting mathematical proofs into various kinds of questions that are easy to verify. Instructed by this roadmap, we propose a new type of hybrid-formatted questions, named ``$m$-out-of-$n$ multiple judge questions'', specifically designed to enable robust, automatic evaluation while being resilient to guessing and superficial pattern matching inherent in traditional formats. As a demonstration of our framework, we introduce AlgGeoTest, a benchmark for algebraic geometry--a frontier domain of modern mathematics--comprising 456 challenging items. Our extensive evaluations on state-of-the-art LLMs using AlgGeoTest reveal profound deficits in their comprehension of algebraic geometry, providing a more precise measure of their true mathematical capabilities. Our framework and benchmark pave the way for a new wave of in-depth research into the mathematical intelligence of AI systems.

cs.CL↗

arXiv2026

NeuralParker: A Reinforcement Learning Planner for Irregular Parking Environments

Automated parking commonly assumes marked slots and short approach maneuvers. Delivery and service vehicles, however, may need to reach an operator-specified pose in an irregular bounded environment from a distant start. Existing learning-based parking planners often rely on local observations, which can restrict long-range route reasoning. To address this problem, we present NeuralParker, a reinforcement learning-based hybrid planner for arbitrary-pose parking. NeuralParker encodes full-environment obstacle and boundary geometry in a target-relative vertex representation, allowing the policy to retain route-defining context throughout the approach. It further couples a learned curvature--length arc policy with an in-loop terminal ensemble that selects from diverse cubic Hermite connections using a curvature-regularized cost. We also establish factorial and long-range route-choice benchmarks to evaluate planning success and trajectory quality. Experiments on these benchmarks show that NeuralParker achieves higher planning success and better overall trajectory quality than the evaluated baselines, while ablation studies support the benefits of the target-relative global representation and terminal ensemble. Finally, a real-vehicle evaluation confirms that the planner transfers effectively to real delivery-vehicle perception at a working parking site, planning successfully at low computational cost.

cs.RO↗

arXiv2026

GeoMix: Descriptor-Free Visual Localization via Global Context and Multi-Detector Training

Descriptor-free visual localization eliminates high-dimensional descriptor storage, preserves scene privacy, and simplifies map maintenance, yet its accuracy still lags far behind descriptor-based pipelines. We identify this gap to insufficient geometric discriminability in geometry-only matching. Without visual appearance, current methods underutilize local geometry cues, lack the global context among keypoints, and overfit to a single keypoint detector. We further observe that descriptor-free matching naturally enables multi-detector training, as heterogeneous keypoints can be optimized in a shared geometry-only space without aligning descriptor spaces. Building on these insights, we propose GeoMix, a descriptor-free 2D-3D matching framework that strengthens geometric discriminability at three levels. Locally, directional and distance-aware embeddings enrich neighborhood aggregation with fine-grained spatial structure. Globally, learnable context nodes aggregate and redistribute scene-wide information via cross-attention to resolve ambiguities beyond local receptive fields. At the training level, Mix-Training exploits this detector-agnostic geometry space to learn representations across multiple keypoint detectors. Extensive experiments on MegaDepth, Cambridge Landmarks, 7Scenes, and Aachen Day-Night show that GeoMix sets a new state of the art among descriptor-free methods, reducing 75th-percentile rotation error by 89\% and translation error by up to 90\% over the previous best, while generalizing zero-shot to unseen detectors and narrowing the gap to descriptor-based pipelines. Code is available at $\href{https://github.com/YejunZhang/Geomix}{\text{this links}}$.

cs.CV↗

arXiv2026

GS-Net: Heterogeneous Vehicle Data Reuse via Generalizable Plug-and-Play 3DGS Module

End-to-end autonomous driving is increasingly data-driven, yet data reuse across vehicles remains limited. Each new vehicle often requires additional data collection and retraining because camera translation, orientation, and field of view differ across sensor layouts. Cross-sensor view synthesis offers a promising route for cross-platform data reuse by synthesizing images under novel sensor configurations from existing sensor data. To realize this goal, we propose GS-Net, a lightweight plug-and-play module that aggregates local geometric context from sparse Structure-from-Motion (SfM) point clouds and expands each point into multiple dense Gaussian primitives in a single forward pass, learning a cross-scene generalizable initialization for standard 3DGS that improves rendering quality for both interpolated views along the original sensor trajectories and extrapolated views at new sensor positions. In such settings, target camera viewpoints often lie beyond the convex hull of training cameras, whereas existing methods and benchmarks predominantly evaluate in-hull interpolation, leaving the extrapolation regime underexplored. To enable quantitative evaluation under this setting, we introduce CARLA-NVS, the first benchmark explicitly designed for cross-sensor view synthesis. Unlike existing autonomous driving datasets that typically employ no more than eight cameras in fixed configurations, CARLA-NVS features 12 cameras uniformly distributed at 30-degree azimuth intervals, enabling controlled evaluation of both interpolated and extrapolated viewpoints. Experiments on CARLA-NVS show that GS-Net improves rendering quality by 2.08 dB PSNR on interpolated views and 1.86 dB on extrapolated views over standard 3DGS, while achieving a 50x faster initialization compared to MVS-based densification. These results offer a practical step toward scalable cross-vehicle data reuse in autonomous driving.

cs.CV↗

arXiv2026

Learning latent progression states from spatial heterogeneity in uterine histopathology

Tumor progression is accompanied by changes in architecture, morphology and microenvironmental organization, yet progression-associated heterogeneity is usually compressed into static diagnostic categories in histopathology. Here we present SpaTIE, a uterus-specific computational pathology framework that learns morphology-aware representations and organizes spatial histopathological heterogeneity into progression-associated tumor states. SpaTIE was developed using 10,426 uterine hematoxylin and eosin whole-slide images and evaluated in TCGA-UCEC and TCGA-UCS cohorts. The learned representations formed morphology manifolds, supported diagnostic, molecular and survival-related prediction tasks, and localized attention to informative tumor regions. Beyond supervised prediction, SpaTIE inferred tumor-state axes from cross-sectional morphology without temporal or molecular supervision. These morphology-derived states were spatially coherent and showed associations with clinicopathological variables and survival outcomes, while not simply recapitulating staging or diagnostic labels. Integrative multi-omics analyses linked the inferred states to DNA methylation, somatic copy-number variation, mutation, RNA-seq and RPPA profiles, highlighting molecular programs related to chromatin regulation, copy-number-associated structural variation, receptor tyrosine kinase signaling, cell adhesion, extracellular-matrix remodeling and metabolic adaptation. Progression-guided virtual perturbation further prioritized molecular features coupled to the morphology-derived state organization. Together, these findings suggest that uterine histopathology contains recoverable progression-associated tumor-state information and establish SpaTIE as a framework for connecting spatial morphology with multi-omics-informed tumor-state discovery.

cs.CV↗

arXiv2026

HarmTrace: Anchor-Calibrated Decoupled Optimization for Fine-Grained Target Identification in Harmful Memes

Multimodal harmful meme detection is typically formulated as image--text harmfulness classification. A model may correctly predict harmfulness while misidentifying the attacked target or its supporting evidence. We therefore extend harmful meme detection with fine-grained target identification, asking what type of target is attacked, who is targeted, and where the target appears in the meme. The model predicts harmfulness for every meme and, for harmful memes, outputs the target category, target entity, textual mention, and visual region. To support this task, we introduce Meme3W, which unifies multiple public harmful meme datasets and provides human-verified annotations for harmful instances. We further introduce Joint Record Accuracy (JRA), a strict record-level metric requiring the harmfulness label and all target-identification fields to be jointly correct. Experiments with representative multimodal large language models reveal a substantial gap between harmfulness accuracy and JRA. To narrow this gap, we propose HarmTrace, an anchor-calibrated decoupled optimization framework. HarmTrace strengthens target-entity supervision through entity-aware supervised fine-tuning. It then applies Conditional Target-identification Policy Optimization (CTPO) to decouple harmfulness and target-identification advantages, restricting target-identification optimization to label-correct responses for harmful examples. CTPO uses a Virtual Positive Anchor (VPA) as a fully correct reference for target-identification advantage normalization. HarmTrace improves both JRA and harmfulness accuracy across the evaluated backbones, with JRA on the Qwen3-VL-8B backbone increasing from 17.58\% to 52.51\%. Our code is publicly available at https://github.com/llly1234/HarmTrace-for-Harmful-Memes.

cs.CV↗

arXiv2026

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

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

cs.CV↗

arXiv2026

Trigger the Straggler: Load Hijack on Mixture-of-Experts LLMs

Expert parallelism (EP) is a common strategy for serving large Mixture-of-Experts (MoE) models across multiple GPUs by distributing experts among devices. Router decisions then determine both which experts process each token and which GPUs execute the resulting work. This procedure exposes a supply-chain attack surface in the serving schedule. We introduce Load Hijack, in which a malicious model provider modifies only a checkpoint's router weights, distributes the poisoned checkpoint, and retains a private trigger. When the trigger appears, the poisoned router concentrates token-to-expert assignments on experts co-located on one GPU. The resulting load makes that GPU a straggler and forces peer devices to wait, while routing on ordinary inputs remains near the clean reference. We find this conditional behavior difficult to achieve because an objective that rewards target-expert use on triggered inputs can also bias ordinary-input routing toward the same experts. To resolve this conflict, Load Hijack employs a three-stage optimization procedure that produces strong trigger-dependent concentration while keeping ordinary-input routing close to the clean reference. Across three MoE families and four corpora, Load Hijack directs 92.3% to 95.6% of triggered token assignments to the target experts. In live EP serving, triggered traffic produces 1.43x the time-to-first-token and 0.86x the throughput measured under ordinary traffic. These results show that poisoned routers can act as trigger-controlled device schedulers and motivate checkpoint audits of routing and runtime load.

cs.CR↗