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Zihan Wang

Publications and source records attributed to Zihan Wang.

At least 145 records · Page 8Linked to original sources
arXiv2026

CompBench: Benchmarking Complex Instruction-guided Image Editing

While real-world applications increasingly demand intricate scene manipulation, existing instruction-guided image editing benchmarks often oversimplify task complexity and lack comprehensive, fine-grained instructions. To bridge this gap, we introduce CompBench, a large-scale benchmark specifically designed for complex instruction-guided image editing. CompBench features challenging editing scenarios that incorporate fine-grained instruction following, spatial and contextual reasoning, thereby enabling comprehensive evaluation of image editing models' precise manipulation capabilities. To construct CompBench, we propose an MLLM-human collaborative framework with tailored task pipelines. Furthermore, we propose an instruction decoupling strategy that disentangles editing intents into four key dimensions: location, appearance, dynamics, and objects, ensuring closer alignment between instructions and complex editing requirements. Extensive evaluations reveal that CompBench exposes fundamental limitations of current image editing models and provides critical insights for the development of next-generation instruction-guided image editing systems. Our project page is available at https://comp-bench.github.io/.

cs.CV↗
arXiv2026

PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videos

Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely heavily on supervised training with high-quality 3D data and manual annotations, limiting scalability and diversity. To address this limitation, we propose PAWS, a method that directly extracts object articulations from hand-object interactions in large-scale in-the-wild egocentric videos. We evaluate our method on the public data sets, including HD-EPIC and Arti4D data sets, achieving significant improvements over baselines. We further demonstrate that the extracted articulations benefit downstream tasks, including fine-tuning 3D articulation prediction models and enabling robot manipulation. See the project website at https://aaltoml.github.io/PAWS/.

cs.CV↗
arXiv2026

Convexity of the longitudinal variation of third-order resonance driving terms and its application in dynamic aperture optimization

The optimization of the dynamic aperture (DA) of a storage ring is typically a non-convex problem with multiple local optima. Recent studies showed that reducing the variation of resonance driving terms (RDTs) along the longitudinal position improves DA very effectively, as the reduction in the longitudinal variation of lower-order RDTs suppresses higher-order nonlinear terms. Therefore, minimizing the longitudinal variation of third-order RDTs is crucial for DA optimization. In this paper, we prove that the longitudinal variation of third-order RDTs, quantified using their RMS value $f_{3,\mathrm{rms}}$ at sextupole locations, is a special convex function. In the space of sextupole strengths, the iso-surfaces of $f_{3,\mathrm{rms}}$ are a series of concentric and coaxial ellipsoidal surfaces, with the central position possessing minimum $f_{3,\mathrm{rms}}$. The scanning results of a storage ring lattice show a strong consistency between the distributions of $f_{3,\mathrm{rms}}$ and DA, indicating that the optimization of DA can be regarded as a roughly approximate convex optimization problem. Based on this, a fast DA optimization method based on particle tracking is developed, where a high-quality initial population for an intelligent algorithm is generated with a Gaussian distribution based on the geometric structure of $f_{3,\mathrm{rms}}$.

physics.acc-ph↗
arXiv2026

Scalar-Mediated Inelastic Dark Matter as a Solution to Small-Scale Structure Anomalies

We propose a scalar-mediated Self-Interacting Dark Matter (SIDM) model to address small-scale structure anomalies such as the core-cusp and diversity problems. The model is composed by a leptophilic scalar mediator and a pseudo-Dirac dark matter candidate with a mass splitting of 100ev.We imposed a dark discrete $\mathbb{Z}_2$ symmetry forbids tree-level elastic scattering. Therefore creates kinematic threshold that suppresses scattering in ultra-faint satellite galaxies while enabling large self-interaction cross-sections in dwarf galaxies via resonant enhancement. To satisfy Big Bang Nucleosynthesis (BBN) requirements, we introduce a dimension-5 magnetic dipole operator that enable the decay of the excited state ($χ_2 \rightarrow χ_1 γ$). This operator also provides a unique, low-threshold signal for direct detection experiments, characterized by a distinct $1/E_R$ recoil spectrum. We identify a benchmark parameter space around ($m_χ\approx 40$ GeV, $m_ϕ\approx 20$ MeV) where non-perturbative coupled-channel dynamics successfully reconcile astrophysical observations with cosmological bounds, including CMB constraints on annihilation.

hep-ph↗
arXiv2026

Collaborative Temporal Feature Generation via Critic-Free Reinforcement Learning for Cross-User Sensor-Based Activity Recognition

Human Activity Recognition using wearable inertial sensors is foundational to healthcare monitoring, fitness analytics, and context-aware computing, yet its deployment is hindered by cross-user variability arising from heterogeneous physiological traits, motor habits, and sensor placements. Existing domain generalization approaches either neglect temporal dependencies in sensor streams or depend on impractical target-domain annotations. We propose a different paradigm: modeling generalizable feature extraction as a collaborative sequential generation process governed by reinforcement learning. Our framework, CTFG (Collaborative Temporal Feature Generation), employs a Transformer-based autoregressive generator that incrementally constructs feature token sequences, each conditioned on prior context and the encoded sensor input. The generator is optimized via Group-Relative Policy Optimization, a critic-free algorithm that evaluates each generated sequence against a cohort of alternatives sampled from the same input, deriving advantages through intra-group normalization rather than learned value estimation. This design eliminates the distribution-dependent bias inherent in critic-based methods and provides self-calibrating optimization signals that remain stable across heterogeneous user distributions. A tri-objective reward comprising class discrimination, cross-user invariance, and temporal fidelity jointly shapes the feature space to separate activities, align user distributions, and preserve fine-grained temporal content. Evaluations on the DSADS and PAMAP2 benchmarks demonstrate state-of-the-art cross-user accuracy (88.53\% and 75.22\%), substantial reduction in inter-task training variance, accelerated convergence, and robust generalization under varying action-space dimensionalities.

cs.LG↗
arXiv2026

GLM-OCR Technical Report

GLM-OCR is an efficient 0.9B-parameter compact multimodal model designed for real-world document understanding. It combines a 0.4B-parameter CogViT visual encoder with a 0.5B-parameter GLM language decoder, achieving a strong balance between computational efficiency and recognition performance. To address the inefficiency of standard autoregressive decoding in deterministic OCR tasks, GLM-OCR introduces a Multi-Token Prediction (MTP) mechanism that predicts multiple tokens per step, significantly improving decoding throughput while keeping memory overhead low through shared parameters. At the system level, a two-stage pipeline is adopted: PP-DocLayout-V3 first performs layout analysis, followed by parallel region-level recognition. Extensive evaluations on public benchmarks and industrial scenarios show that GLM-OCR achieves competitive or state-of-the-art performance in document parsing, text and formula transcription, table structure recovery, and key information extraction. Its compact architecture and structured generation make it suitable for both resource-constrained edge deployment and large-scale production systems.

cs.CL↗
arXiv2026

How Vulnerable Are AI Agents to Indirect Prompt Injections? Insights from a Large-Scale Public Competition

LLM based agents are increasingly deployed in high stakes settings where they process external data sources such as emails, documents, and code repositories. This creates exposure to indirect prompt injection attacks, where adversarial instructions embedded in external content manipulate agent behavior without user awareness. A critical but underexplored dimension of this threat is concealment: since users tend to observe only an agent's final response, an attack can conceal its existence by presenting no clue of compromise in the final user facing response while successfully executing harmful actions. This leaves users unaware of the manipulation and likely to accept harmful outcomes as legitimate. We present findings from a large scale public red teaming competition evaluating this dual objective across three agent settings: tool calling, coding, and computer use. The competition attracted 464 participants who submitted 272000 attack attempts against 13 frontier models, yielding 8648 successful attacks across 41 scenarios. All models proved vulnerable, with attack success rates ranging from 0.5% (Claude Opus 4.5) to 8.5% (Gemini 2.5 Pro). We identify universal attack strategies that transfer across 21 of 41 behaviors and multiple model families, suggesting fundamental weaknesses in instruction following architectures. Capability and robustness showed weak correlation, with Gemini 2.5 Pro exhibiting both high capability and high vulnerability. To address benchmark saturation and obsoleteness, we will endeavor to deliver quarterly updates through continued red teaming competitions. We open source the competition environment for use in evaluations, along with 95 successful attacks against Qwen that did not transfer to any closed source model. We share model-specific attack data with respective frontier labs and the full dataset with the UK AISI and US CAISI to support robustness research.

cs.CR↗
arXiv2026

Is He Extroverted? Identifying Missing Relevant Personas for Faithful User Simulation

Existing user simulation approaches focus on generating user-like responses in dialogue. They often assume that the provided persona is sufficient for producing such responses, without verifying whether critical personas are supplied. This raises concerns about the validity of simulation results. To address this issue, we study the task of identifying persona dimensions (e.g., "whether the user is price-sensitive") that are relevant but missing in simulating a user's reply for a given dialogue context. We introduce PICQ-drama (constructed from TVShowGuess), a benchmark of context-aware choice questions, annotated with missing persona dimensions whose absence leads to ambiguous user choices. We further design diverse evaluation criteria for missing persona identification. Benchmarking leading LLMs on our PICQ-drama dataset demonstrates the feasibility of this task. Evaluation across diverse criteria, along with further analyses, reveals cognitive differences between LLMs and humans and highlights the distinct roles of different persona categories in shaping responses.

cs.HC↗
arXiv2026

AI Model Modulation with Logits Redistribution

Large-scale models are typically adapted to meet the diverse requirements of model owners and users. However, maintaining multiple specialized versions of the model is inefficient. In response, we propose AIM, a novel model modulation paradigm that enables a single model to exhibit diverse behaviors to meet the specific end requirements. AIM enables two key modulation modes: utility and focus modulations. The former provides model owners with dynamic control over output quality to deliver varying utility levels, and the latter offers users precise control to shift model's focused input features. AIM introduces a logits redistribution strategy that operates in a training data-agnostic and retraining-free manner. We establish a formal foundation to ensure AIM's regulation capability, based on the statistical properties of logits ordering via joint probability distributions. Our evaluation confirms AIM's practicality and versatility for Al model modulation, with tasks spanning image classification, semantic segmentation and text generation, and prevalent architectures including ResNet, SegFormer and Llama.

cs.AI↗
arXiv2026

Learning Actionable Manipulation Recovery via Counterfactual Failure Synthesis

While recent foundation models have significantly advanced robotic manipulation, these systems still struggle to autonomously recover from execution errors. Current failure-learning paradigms rely on either costly and unsafe real-world data collection or simulator-based perturbations, which introduce a severe sim-to-real gap. Furthermore, existing visual analyzers predominantly output coarse, binary diagnoses rather than the executable, trajectory-level corrections required for actual recovery. To bridge the gap between failure diagnosis and actionable recovery, we introduce Dream2Fix, a framework that synthesizes photorealistic, counterfactual failure rollouts directly from successful real-world demonstrations. By perturbing actions within a generative world model, Dream2Fix creates paired failure-correction data without relying on simulators. To ensure the generated data is physically viable for robot learning, we implement a structured verification mechanism that strictly filters rollouts for task validity, visual coherence, and kinematic safety. This engine produces a high-fidelity dataset of over 120k paired samples. Using this dataset, we fine-tune a vision-language model to jointly predict failure types and precise recovery trajectories, mapping visual anomalies directly to corrective actions. Extensive real-world robotic experiments show our approach achieves state-of-the-art correction accuracy, improving from 19.7% to 81.3% over prior baselines, and successfully enables zero-shot closed-loop failure recovery in physical deployments.

cs.RO↗
arXiv2026

LatentGeo: Learnable Auxiliary Constructions in Latent Space for Multimodal Geometric Reasoning

Despite recent advances in multimodal reasoning, representing auxiliary geometric constructions remains a fundamental challenge for multimodal large language models (MLLMs). Such constructions are absent from the original diagram and must be introduced before theorems apply. Existing approaches predominantly rely on explicit construction paradigms, including text-based geometric specification, visual-token interleaving during reasoning, and tool-augmented geometric execution. However, these methods either fail to faithfully represent complex spatial relationships, incur representation mismatch between discrete symbols and continuous geometric structures, or rely on external capabilities that hinder end-to-end optimization. To address these limitations, we propose LatentGeo, a framework that learns continuous latent visual representations to internalize auxiliary geometric constructions without pixel-level rendering or external executors. We design a three-stage curriculum that progressively aligns and internalizes these latent representations through auxiliary visual supervision, followed by LaGDPO, a latent-aware reinforcement learning procedure that stabilizes latent representations during policy optimization while improving end-task correctness. To systematically evaluate construction-centric representation quality, we introduce GeoAux, a new benchmark targeting visually dependent geometry problems, and conduct experiments on GeoAux and MathVerse. Results show that LatentGeo achieves substantial gains on geometric reasoning tasks, particularly those requiring auxiliary constructions. Extensive analyses and ablation studies further validate the effectiveness of each component in our framework.

cs.CV↗
arXiv2026

PRISM of Opinions: A Persona-Reasoned Multimodal Framework for User-centric Conversational Stance Detection

The rapid proliferation of multimodal social media content has driven research in Multimodal Conversational Stance Detection (MCSD), which aims to interpret users' attitudes toward specific targets within complex discussions. However, existing studies remain limited by: **1) pseudo-multimodality**, where visual cues appear only in source posts while comments are treated as text-only, misaligning with real-world multimodal interactions; and **2) user homogeneity**, where diverse users are treated uniformly, neglecting personal traits that shape stance expression. To address these issues, we introduce **U-MStance**, the first user-centric MCSD dataset, containing over 40k annotated comments across six real-world targets. We further propose **PRISM**, a **P**ersona-**R**easoned mult**I**modal **S**tance **M**odel for MCSD. PRISM first derives longitudinal user personas from historical posts and comments to capture individual traits, then aligns textual and visual cues within conversational context via Chain-of-Thought to bridge semantic and pragmatic gaps across modalities. Finally, a mutual task reinforcement mechanism is employed to jointly optimize stance detection and stance-aware response generation for bidirectional knowledge transfer. Experiments on U-MStance demonstrate that PRISM yields significant gains over strong baselines, underscoring the effectiveness of user-centric and context-grounded multimodal reasoning for realistic stance understanding.

cs.CL↗
arXiv2026

SkillCraft: Can LLM Agents Learn to Use Tools Skillfully?

Real-world tool-using agents operate over long-horizon workflows with recurring structure and diverse demands, where effective behavior requires not only invoking atomic tools but also abstracting, and reusing higher-level tool compositions. However, existing benchmarks mainly measure instance-level success under static tool sets, offering limited insight into agents' ability to acquire such reusable skills. We address this gap by introducing SkillCraft, a benchmark explicitly stress-test agent ability to form and reuse higher-level tool compositions, where we call Skills. SkillCraft features realistic, highly compositional tool-use scenarios with difficulty scaled along both quantitative and structural dimensions, designed to elicit skill abstraction and cross-task reuse. We further propose a lightweight evaluation protocol that enables agents to auto-compose atomic tools into executable Skills, cache and reuse them inside and across tasks, thereby improving efficiency while accumulating a persistent library of reusable skills. Evaluating state-of-the-art agents on SkillCraft, we observe substantial efficiency gains, with token usage reduced by up to 80% by skill saving and reuse. Moreover, success rate strongly correlates with tool composition ability at test time, underscoring compositional skill acquisition as a core capability.

cs.CL↗
arXiv2026

PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation

Contact-rich manipulation requires not only vision-dominant task semantics but also closed-loop reactions to force/torque (F/T) transients. Yet, generative visuomotor policies are typically constrained to low-frequency updates due to inference latency and action chunking, underutilizing F/T for control-rate feedback. Furthermore, existing force-aware methods often inject force continuously and indiscriminately, lacking an explicit mechanism to schedule when / how much / where to apply force across different task phases. We propose PhaForce, a phase-scheduled visual--force policy that coordinates low-rate chunk-level planning and high-rate residual correction via a unified contact/phase schedule. PhaForce comprises (i) a contact-aware phase predictor (CAP) that estimates contact probability and phase belief, (ii) a Slow diffusion planner that performs dual-gated visual--force fusion with orthogonal residual injection to preserve vision semantics while conditioning on force, and (iii) a Fast corrector that applies control-rate phase-routed residuals in interpretable corrective subspaces for within-chunk micro-adjustments. Across multiple real-robot contact-rich tasks, PhaForce achieves an average success rate of 86% (+40 pp over baselines), while also substantially improving contact quality by regulating interaction forces and exhibiting robust adaptability to OOD geometric shifts.

cs.RO↗
arXiv2026

Weak-to-Strong Generalization with Failure Trajectories: A Tree-based Approach to Elicit Optimal Policy in Strong Models

Weak-to-Strong generalization (W2SG) is a new trend to elicit the full capabilities of a strong model with supervision from a weak model. While existing W2SG studies focus on simple tasks like binary classification, we extend this paradigm to complex interactive decision-making environments. Specifically, we fine-tune a strong model with trajectories of intermediate actions generated by a weak model. Motivated by the human learning process, we propose to generalize not only success knowledge but also failure experience so that the strong model can learn from failed trajectories accumulated by weak models. To effectively and efficiently elicit the potential of strong agents, we further construct ``trajectory trees," a hierarchical representation that organizes weak model-generated action trajectories, coupled with Monte Carlo Tree Search (MCTS) to optimize the strong model. Through theoretical analysis, we provide formal guarantees for the effectiveness of our method in improving W2SG performance. Our empirical evaluations demonstrate substantial improvements in reasoning and decision-making capabilities across diverse task domains, validating the scalability and robustness of our proposed framework.

cs.LG↗
arXiv2026

EmbodiedSplat: Online Feed-Forward Semantic 3DGS for Open-Vocabulary 3D Scene Understanding

Understanding a 3D scene immediately with its exploration is essential for embodied tasks, where an agent must construct and comprehend the 3D scene in an online and nearly real-time manner. In this study, we propose EmbodiedSplat, an online feed-forward 3DGS for open-vocabulary scene understanding that enables simultaneous online 3D reconstruction and 3D semantic understanding from the streaming images. Unlike existing open-vocabulary 3DGS methods which are typically restricted to either offline or per-scene optimization setting, our objectives are two-fold: 1) Reconstructs the semantic-embedded 3DGS of the entire scene from over 300 streaming images in an online manner. 2) Highly generalizable to novel scenes with feed-forward design and supports nearly real-time 3D semantic reconstruction when combined with real-time 2D models. To achieve these objectives, we propose an Online Sparse Coefficients Field with a CLIP Global Codebook where it binds the 2D CLIP embeddings to each 3D Gaussian while minimizing memory consumption and preserving the full semantic generalizability of CLIP. Furthermore, we generate 3D geometric-aware CLIP features by aggregating the partial point cloud of 3DGS through 3D U-Net to compensate the 3D geometric prior to 2D-oriented language embeddings. Extensive experiments on diverse indoor datasets, including ScanNet, ScanNet++, and Replica, demonstrate both the effectiveness and efficiency of our method. Check out our project page in https://0nandon.github.io/EmbodiedSplat/.

cs.CV↗
arXiv2026

GloPath: An Entity-Centric Foundation Model for Glomerular Lesion Assessment and Clinicopathological Insights

Glomerular pathology is central to the diagnosis and prognosis of renal diseases, yet the heterogeneity of glomerular morphology and fine-grained lesion patterns remain challenging for current AI approaches. We present GloPath, an entity-centric foundation model trained on over one million glomeruli extracted from 14,049 renal biopsy specimens using multi-scale and multi-view self-supervised learning. GloPath addresses two major challenges in nephropathology: glomerular lesion assessment and clinicopathological insights discovery. For lesion assessment, GloPath was benchmarked across three independent cohorts on 52 tasks, including lesion recognition, grading, few-shot classification, and cross-modality diagnosis-outperforming state-of-the-art methods in 42 tasks (80.8%). In the large-scale real-world study, it achieved an ROC-AUC of 91.51% for lesion recognition, demonstrating strong robustness in routine clinical settings. For clinicopathological insights, GloPath systematically revealed statistically significant associations between glomerular morphological parameters and clinical indicators across 224 morphology-clinical variable pairs, demonstrating its capacity to connect tissue-level pathology with patient-level outcomes. Together, these results position GloPath as a scalable and interpretable platform for glomerular lesion assessment and clinicopathological discovery, representing a step toward clinically translatable AI in renal pathology.

cs.CV↗
arXiv2026

AgenticGEO: A Self-Evolving Agentic System for Generative Engine Optimization

Generative search engines represent a transition from traditional ranking-based retrieval to Large Language Model (LLM)-based synthesis, transforming optimization goals from ranking prominence towards content inclusion. Generative Engine Optimization (GEO), specifically, aims to maximize visibility and attribution in black-box summarized outputs by strategically manipulating source content. However, existing methods rely on static heuristics, single-prompt optimization, or engine preference rule distillation that is prone to overfitting. They cannot flexibly adapt to diverse content or the changing behaviors of generative engines. Moreover, effectively optimizing these strategies requires an impractical amount of interaction feedback from the engines. To address these challenges, we propose AgenticGEO, a self-evolving agentic framework formulating optimization as a content-conditioned control problem, which enhances intrinsic content quality to robustly adapt to the unpredictable behaviors of black-box engines. Unlike fixed-strategy methods, AgenticGEO employs a MAP-Elites archive to evolve diverse, compositional strategies. To mitigate interaction costs, we introduce a Co-Evolving Critic, a lightweight surrogate that approximates engine feedback for content-specific strategy selection and refinement, efficiently guiding both evolutionary search and inference-time planning. Through extensive in-domain and cross-domain experiments on two representative engines, AgenticGEO achieves state-of-the-art performance and demonstrates robust transferability, outperforming 14 baselines across 3 datasets. Our code and model are available at: https://github.com/AIcling/agentic_geo.

cs.AI↗