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Ziming Wang

Publications and source records attributed to Ziming Wang.

At least 19 recordsLinked to original sources
arXiv2026

World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain

Foothold-constrained terrain limits feasible footholds to sparse, discontinuous, or narrow support regions, as in gaps, stepping stones, stairs, and balance beams. In such settings, a single misplaced step can cause a fall. Reliable traversal therefore requires precise foot placement and anticipation of upcoming terrain. To address this challenge, we present World-Model-Augmented Visual Locomotion (WM-LOCO), which augments a visual locomotion policy with predictive context from a jointly trained world model. Given onboard depth observations and proprioception, a recurrent state-space model (RSSM) learns action-conditioned latent dynamics that predict future proprioceptive states, egocentric observations, and task rewards. The resulting recurrent feature is then fed into the proximal policy optimization (PPO) actor-critic, providing predictive context for anticipatory foot placement on foothold-constrained terrain. WM-LOCO achieves average success rates of 96.0% on gaps, 96.9% on stepping stones, 94.0% on stairs, and 92.1% on balance beams, outperforming the evaluated baselines while improving gait efficiency and smoothness. Furthermore, WM-LOCO achieves zero-shot sim-to-real transfer to a Unitree G1, with 92.5% success across these four terrain classes.

cs.RO↗
arXiv2026

SceneBound: How Much Should a Streaming 3D Reconstruction Model Remember?

Streaming 3D reconstruction models keep past video frames in a recurrent state, fast weights from test-time training, or a key-value (KV) cache. Each written frame shifts the coordinate frame of later cameras or occupies GPU memory. Training-free rules decide what to write from a signal of the current frame. How much they write accounts for their mean accuracy: spending the update budget of a gate at uniformly spaced frames, with no signal, matches nine published gates, and the budget bounds the drift of the state wherever the writes fall. We propose SceneBound, a training-free rule that writes a frame only when its predicted camera pose lies at least a fixed radius from every stored keyframe. Its keyframe count stays within a constant factor of the covering number of the visited poses, the fewest views that keep a keyframe near every camera, so the count grows with the places visited and stays flat when the camera returns. In large scenes, SceneBound closes a submap once decoding its first frame again reveals drift. SceneBound uses one radius across four released models and three memory types. In the recurrent state of CUT3R and the KV cache of StreamVGGT, it achieves the lowest mean trajectory error among the published training-free rules we evaluate, in one pass and over nine passes of a scene, where its keyframes grow by 3% to 6%.

cs.CV↗
arXiv2026

Old Is Not False: Valid-Time Memory for Interactive Video World Models

Interactive video world models draw each frame from a memory bank of earlier frames stamped with their capture times. With frames, weights and noise fixed, reversing the timestamps of two views flips the state that generators of two families draw: they take the newest timestamp as the truth. That reading is right as long as states never return. After an agent undoes an action, the newest view of a region is outdated and the only view of the present is older; memories for changing worlds delete that older view, and memories that keep it hand the generator the past. Temporal databases separate when a record is stored from when its content holds, its valid time. ReDate keeps every frame and dates each retrieved token by its valid time, read from the agent's action log. The frozen generator then reads a reverted region as one that has just reached a new state, so ReDate needs no training. We prove that trusting the newest timestamp is right exactly when every current view is dated after every outdated one, that without a view taken after the return only the action log tells a reverted region from an up-to-date one, and that a generator able to draw from its own prediction gains more from re-dating than from deletion when the moved tokens keep little weight. After an undo, ReDate raises the share of FAR's steps showing the current state from 0.36 to 0.62 and HY-WorldPlay's from 0.003 to 0.19. We also propose a calibrated state metric to test any memory after undos.

cs.CV↗
arXiv2026

Cracking Gravitational Wave Multiple Ringdown Modes in Space

Ringdown signals from perturbed black holes (BHs) offer a clean window into BH spacetime, strong-field gravity, and fundamental physics. Presently the quasi-normal modes of stellar-mass BH ringdowns have been successfully extracted in the ground-based gravitational wave (GW) observations. Looking ahead, the future space-borne observatories will listen to the ringdowns from massive BH binary coalescences more loudly and resolve multiple modes to unprecedented precision, which calls for efficient approaches to mitigate the sharply increasing computational burden. We develop a practical ringdown analysis pipeline for space-borne detectors by implementing FIREFLY, a novel acceleration algorithm validated in ground-based detectors, and for the first time demonstrate its compatibility and effectiveness with the time-delay interferometry (TDI) observables. With high fidelity, we achieve an over two-order-of-magnitude speedup for a simulated ringdown signal including six modes, providing a viable and scalable route for multi-mode ringdown analysis in the space context. This new approach has sound statistical interpretation and is extensible to other GW sources in band.

gr-qc↗
arXiv2026

SpecFit: Not All Draft Tokens Cost the Same in Offloaded MoE Inference

Mixture-of-experts (MoE) models activate only a few experts per token, but when their expert weights are offloaded to host memory, host-to-device (H2D) expert transfers enter the critical path of decoding. Speculative decoding verifies several draft tokens in one forward pass, yet in an MoE model each verified token activates its own experts, so a larger draft tree transfers more experts. Because of this H2D cost, speculative decoding commits several tokens per verification cycle yet is sometimes even slower than autoregressive decoding. Based on this observation, we propose SpecFit, which chooses the verified draft subtree to maximize predicted throughput rather than acceptance length. SpecFit estimates the expected number of committed tokens from draft path probabilities and predicts cycle time from the node count and the per-layer union of the experts the subtree activates; this union is a monotone submodular coverage function, so each node pays only for the experts it adds. An exact search over ancestor-closed subtrees returns the subtree with the highest predicted throughput; run after each draft level, the same search also decides when to stop drafting, and the unmodified target verifies the result. On CNN/DailyMail summarization and a GSM8K subset with Qwen3-30B-A3B, SpecFit decodes 21.6% and 7.0% faster than EAGLE-3 with the same expert cache and 1.97x and 1.72x as fast as vanilla EAGLE-3. Code is available at https://github.com/Chlience/SpecFit.

cs.AI↗
arXiv2026

Continuous Gravitational Waves from Thermo-Elastic Mountains in Ultraluminous X-ray Pulsars

Fast-spinning, nonaxisymmetrically deformed neutron stars (NSs) are promising targets for continuous gravitational-wave (CGW) searches with current and next-generation ground-based detectors. Ultraluminous X-ray pulsars (ULXPs), characterized by super-Eddington accretion and strong magnetic fields, provide extreme environments in which substantial nonaxisymmetric deformations may develop. In this Letter, we investigate thermo-elastic mountains generated by magnetically induced temperature asymmetries in the accreted crusts of ULXPs. We connect the crustal thermal structure to an accretion-column model and solve the full anisotropic heat-transport equation, extending previous perturbative treatments into the nonlinear, strongly magnetized regime. We find that the weak-field approximation begins to break down near $B_{\rm ref}\sim10^{13}\,{\rm G}$, beyond which nonlinear anisotropic heat transport significantly modifies the quadrupolar thermal response. The resulting thermal asymmetries generate substantial thermo-elastic mass quadrupoles at higher field strengths. Although the currently known ULXPs are unfavorable CGW targets because of their relatively slow spins and, in most cases, large distances, our illustrative spin-evolution calculations show that a NS can enter the super-Eddington accretor phase with a spin period of order $20\,{\rm ms}$. Such rapidly rotating Galactic ULXPs could lie within the projected sensitivities of next-generation detectors such as the Einstein Telescope and Cosmic Explorer. These results extend thermal-mountain physics into the strongly magnetized regime relevant to ULXPs and connect super-Eddington accretion with prospective CGW observations.

astro-ph.HE↗
arXiv2026

AI Eyes on the Road: Cross-Cultural Perspectives on Traffic Surveillance

AI-powered road surveillance systems are increasingly proposed to monitor infractions such as speeding, phone use, and jaywalking. While these systems promise to enhance safety by discouraging dangerous behaviors, they also raise concerns about privacy, fairness, and potential misuse of personal data. Yet empirical research on how people perceive AI-enhanced monitoring of public spaces remains limited. We conducted an online survey ($N=720$) using a 3$\times$3 factorial design to examine perceptions of three road surveillance modes -- conventional, AI-enhanced, and AI-enhanced with public shaming -- across China, Europe, and the United States. We measured perceived capability, risk, transparency, and acceptance. Results show that conventional surveillance was most preferred, while public shaming was least preferred across all regions. Chinese respondents, however, expressed significantly higher acceptance of AI-enhanced modes than Europeans or Americans. Our findings highlight the need to account for context, culture, and social norms when considering AI-enhanced monitoring, as these shape trust, comfort, and overall acceptance.

cs.HC↗
arXiv2026

HappyWorld-Bench

Evaluating world models requires assessing both the quality of the worlds they generate and their consistency and responsiveness under exploration, interaction, and modification. We introduce HappyWorld-Bench, a comprehensive benchmark that evaluates whether generated worlds remain reliable as agents interact with them. Our design is built on a hierarchical capability framework of six world capabilities (W1-W6), from generative construction to unified world modeling, instantiated across three independent evaluation tracks: video world models, spatial world models, and embodied world models. HappyWorld-Bench comprises 1,138 video prompts, 300 spatial scenes, and 254 embodied test cases. Across all three tracks, we build and operate HappyWorld-Arena to organize human A/B comparisons and derive model-level Elo ratings, which complement newly designed automated metrics that capture behavioral correctness. We evaluate 14 video world models, 9 spatial systems, and 8 embodied candidates under this unified framework. Results reveal remaining reliability gaps across all three tracks: video models exhibit reduced consistency during extended rollouts and revisits, spatial models achieve at best 70.14% placement accuracy and 73.33% edit execution, and embodied models struggle to preserve state across multi-step actions and respond precisely to altered action conditions and physical rules. These findings highlight the need to evaluate world models not only by visual quality, but also by state consistency and the correctness of their responses to actions and interventions.

cs.CV↗
arXiv2026

Enhancing Autonomous Driving Safety through World Model-Based Predictive Navigation and Adaptive Learning Algorithms for 5G Wireless Applications

Addressing the challenge of ensuring safety in ever-changing and unpredictable environments, particularly in the swiftly advancing realm of autonomous driving in today's 5G wireless communication world, we present Navigation Secure (NavSecure). This vision-based navigation framework merges the strengths of world models with crucial safety-focused decision-making capabilities, enabling autonomous vehicles to navigate real-world complexities securely. Our approach anticipates potential threats and formulates safer routes by harnessing the predictive capabilities of world models, thus significantly reducing the need for extensive real-world trial-and-error learning. Additionally, our method empowers vehicles to autonomously learn and develop through continuous practice, ensuring the system evolves and adapts to new challenges. Incorporating radio frequency technology, NavSecure leverages 5G networks to enhance real-time data exchange, improving communication and responsiveness. Validated through rigorous experiments under simulation-to-real driving conditions, NavSecure has shown exceptional performance in safety-critical scenarios, such as sudden obstacle avoidance. Results indicate that NavSecure excels in key safety metrics, including collision prevention and risk reduction, surpassing other end-to-end methodologies. This framework not only advances autonomous driving safety but also demonstrates how world models can enhance decision-making in critical applications. NavSecure sets a new standard for developing more robust and trustworthy autonomous driving systems, capable of handling the inherent dynamics and uncertainties of real-world environments.

cs.RO↗
arXiv2026

An agentic framework for gravitational-wave counterpart association in the multi-messenger era

With the detection of gravitational waves (GWs), multi-messenger astronomy has opened a new window for advancing our understanding of astrophysics, dense matter, gravitation, and cosmology. The GW sources detected to date are from mergers of compact object binaries, which possess the potential to generate detectable electromagnetic (EM) counterparts. Searching for associations between GW signals and their EM counterparts is an essential step toward enabling subsequent multi-messenger studies. In the era of next-generation GW and EM detectors, the rapid increase in the number of events brings not only unprecedented scientific opportunities, but also substantial challenges to the existing data analysis paradigm. To help address these challenges, we develop GW-Eyes, an agentic framework powered by large language models (LLMs). For the first time, GW-Eyes integrates domain-specific tools and autonomously performs counterpart association tasks between GW and candidate EM events. It supports natural language interaction to assist human experts with auxiliary tasks such as catalog management, skymap visualization, and rapid verification. Our framework leverages the complex decision-making capabilities of LLMs and their traceable reasoning processes, offering a new perspective to the multi-messenger astronomy.

astro-ph.IM↗
arXiv2026

Interpretable and Fair Generalized Additive Neural Networks via Multi-objective Learning

Interpretability and fairness are two of the most emphasized dimensions in trustworthy artificial intelligence (AI). Various explainable AI methods have been introduced to improve interpretability. This paper focuses on neural network (NN)-based generalized additive models (GAMs), a class of self-interpretable models. While most existing research has prioritized improving the accuracy of NN-based GAMs, their interpretability remains largely underexplored. To address this gap, this paper introduces explicit quantitative metrics for evaluating the interpretability of NN-based GAMs, empirically examines their effectiveness, and explores strategies for improving interpretability within these models. In addition, the simultaneous and explicit optimization of both interpretability and fairness, along with their trade-offs and the underlying reasons, remains underexplored. To address this, we propose a multi-objective neural basis model (MONBM) framework based on multi-objective evolutionary learning to consider accuracy, interpretability, and fairness simultaneously. A partial retraining strategy is further developed to facilitate the practical application of evolutionary multi-objective optimization to deep model architectures. Based on MONBM, this paper reveals the complex relationships between these dimensions and the reasons behind these intricate relationships. This analysis demonstrates how multi-objective optimization can be combined with self-interpretable models to reveal relationships among trustworthiness objectives. In addition, MONBM obtains a set of models with different trade-offs between dimensions, and the competitiveness of the approach is validated by comparing it with state-of-the-art methods.

cs.LG↗
arXiv2026

AERA: Adaptive Evidence Residual Allocation for Efficient Test-Time Reasoning

Test-time scaling improves language-model reasoning by generating additional candidate solutions, but allocating the same inference budget to every problem is computationally wasteful. Existing adaptive stopping methods commonly rely on confidence, agreement, or answer stability, implicitly assuming that stronger current evidence indicates that further computation is unnecessary. We show that this assumption can fail: checkpoint-level correctness evolves non-monotonically, and observable evidence may strengthen before an answer collapses or weaken before it recovers. Motivated by this mismatch, we introduce Adaptive Evidence Residual Allocation (AERA), a sequential controller that learns whether additional computation is likely to recover a better answer from checkpoint-observable evidence. AERA characterizes cumulative response prefixes using answer-distribution, temporal, re-solving, semantic, and compute features, and repeatedly decides whether to stop or allocate the next response block. Future checkpoint correctness is used only to construct offline supervision and is never available to the controller at inference time. Across GSM8K and GPQA Diamond, AERA identifies question-specific residual opportunities while substantially reducing inference computation. In a frozen-threshold incremental-generation evaluation on 300 untouched GSM8K questions, AERA achieves 92.61% accuracy versus 93.01% with 128 responses while reducing completion tokens by 95.99%. These results suggest that adaptive reasoning should estimate the future value of computation rather than equating present confidence with correctness.

cs.AI↗
arXiv2026

RangeFactory: Scalable Construction of Multi-Hop Cyber Ranges

Real-world cyberattacks often require sustained progress across multiple hosts and network segments, making multi-hop cyber ranges essential infrastructure for studying and improving LLM agents' ability to sustain complete attack chains. Prior work has scaled isolated vulnerability tasks and constructed multi-host scenarios from manually specified vulnerability semantics. However, they are still unable to automatically orchestrate the growing supply of vulnerability environments into end-to-end validated multi-hop ranges. To this end, we present RangeFactory, an automated cyber-range orchestration framework that constructs multi-hop cyber ranges at scale from isolated vulnerability environments. RangeFactory formulates range construction as dependency resolution: it extracts dependency information from agents' actual attacks against real vulnerabilities, resolves known dependencies through template-guided orchestration, and uses end-to-end attack execution to validate runtime dependencies that emerge after composition. Using RangeFactory, we construct RangeBench with 1,148 validated range instances spanning 287 distinct attack chains and evaluate frontier attack agents across attack depth, network scale, and task information. Among runs that compromise the entry vulnerability, 24.5-47.0% still fail to complete the remaining attack path, revealing a substantial sustained-compromise gap between establishing an initial foothold and completing a multi-hop attack. RangeFactory further produces a corpus of 5,541 outcome-annotated multi-hop attack trajectories, providing execution data for attack-process analysis and future agent training.

cs.CR↗
arXiv2026

Full-Stack FP4: Stable LLM Pretraining with Quantized Projections, Optimizers, and Attention

Recent NVFP4 pretraining work has primarily optimized Transformer linear projections, leaving persistent optimizer states, optimizer computation, and low-precision attention forward--backward paths less explored. We present \textbf{Full-Stack FP4}, a modular NVFP4 framework with separate recipes for projections, AdamW states, Root/Muon computation, and attention. \textbf{LoRA-SVD} protects a compact projection subspace in BF16 while retaining full-shape NVFP4 computation, reducing the linear-only loss gap from \textbf{1.40\%} to \textbf{0.61\%}. An ordered square-root, tile-mean, and Hadamard pipeline enables stable NVFP4 AdamW momentum storage; shape-dependent coefficients and clipping stabilize direct NVFP4 Root iterations; and mixed-precision attention retains softmax-sensitive operations in BF16. On 3B pretraining with 64B tokens, BF16 and Full-Stack FP4 reach losses of \textbf{2.267} and \textbf{2.286}, a \textbf{0.838\%} gap. Their average zero-shot perplexities are 26.675 and 26.665, respectively, with Full-Stack FP4 averaging 0.10 percentage points lower in accuracy. Native four-block measurements on one RTX 5090 show 2.50--2.83$\times$ Root speedups over optimized BF16 and 37.9--42.5\% lower AdamW peak memory.

cs.LG↗
arXiv2026

Missing-by-Design: Certifiable Modality Deletion for Revocable Multimodal Sentiment Analysis

As multimodal systems increasingly process sensitive personal data, the ability to selectively revoke specific data modalities has become a critical requirement for privacy compliance and user autonomy. We present Missing-by-Design (MBD), a unified framework for revocable multimodal sentiment analysis that combines structured representation learning with a certifiable parameter-modification pipeline. Revocability is critical in privacy-sensitive applications where users or regulators may request removal of modality-specific information. MBD learns property-aware embeddings and employs generator-based reconstruction to recover missing channels while preserving task-relevant signals. For deletion requests, the framework applies saliency-driven candidate selection and a calibrated Gaussian update to produce a machine-verifiable Modality Deletion Certificate. Experiments on benchmark datasets show that MBD achieves strong predictive performance under incomplete inputs and delivers a practical privacy-utility trade-off, positioning surgical unlearning as an efficient alternative to full retraining.

cs.CL↗
arXiv2026

Test-time Adaptation of Pelvic Bone Segmentation Models via Dynamic Reliability-Guided

Reliable pelvic bone segmentation (PBS) from CT is essential for robot-assisted pelvic trauma surgery, yet deploying a source-trained model to a new hospital suffers from severe performance degradation due to cross-center domain shifts. While test-time adaptation (TTA) enables online model adaptation without accessing source data, existing methods show limited effectiveness for PBS, facing challenges including boundary degradation, anatomical inconsistency under domain shifts, and voxel-level class imbalance. To address these challenges, we propose a novel closed-loop dynamic Reliability-Guided TTA framework (ReGA) for PBS. Specifically, we introduce a pseudo-label reliability criterion termed Segmentation Inference Consistency Evaluation (SICE), which jointly measures region overlap and boundary deviation via dropout-based ensemble predictions. Based on SICE, a trust-weighted refinement module adaptively updates features to mitigate boundary errors in pseudo-labels. Furthermore, a confidence-weighted region-level contrastive learning strategy is proposed to enforce anatomical consistency. Finally, ReGA follows the teacher-student (TS) scheme to alleviate voxel-level class imbalance. Experiments on three heterogeneous 3D pelvic CT datasets demonstrate that ReGA consistently outperforms state-of-the-art TTA methods, enabling effective adaptation of the source-trained PBS model to unseen clinical domains. The code is available at https://github.com/Ren-ling/ReGA.

cs.CV↗
arXiv2026

Emotion Collider: Dual Hyperbolic Mirror Manifolds for Sentiment Recovery via Anti Emotion Reflection

Emotional expression underpins natural communication and effective human-computer interaction. We present Emotion Collider (EC-Net), a hyperbolic hypergraph framework for multimodal emotion and sentiment modeling. EC-Net represents modality hierarchies using Poincare-ball embeddings and performs fusion through a hypergraph mechanism that passes messages bidirectionally between nodes and hyperedges. To sharpen class separation, contrastive learning is formulated in hyperbolic space with decoupled radial and angular objectives. High-order semantic relations across time steps and modalities are preserved via adaptive hyperedge construction. Empirical results on standard multimodal emotion benchmarks show that EC-Net produces robust, semantically coherent representations and consistently improves accuracy, particularly when modalities are partially available or contaminated by noise. These findings indicate that explicit hierarchical geometry combined with hypergraph fusion is effective for resilient multimodal affect understanding.

cs.MM↗
arXiv2026

LiveGraph: Active-Structure Neural Re-ranking for Exercise Recommendation

The continuous expansion of digital learning environments has catalyzed the demand for intelligent systems capable of providing personalized educational content. While current exercise recommendation frameworks have made significant strides, they frequently encounter obstacles regarding the long-tailed distribution of student engagement and the failure to adapt to idiosyncratic learning trajectories. We present LiveGraph, a novel active-structure neural re-ranking framework designed to overcome these limitations. Our approach utilizes a graph-based representation enhancement strategy to bridge the information gap between active and inactive students while integrating a dynamic re-ranking mechanism to foster content diversity. By prioritizing the structural relationships within learning histories, the proposed model effectively balances recommendation precision with pedagogical variety. Comprehensive experimental evaluations conducted on multiple real-world datasets demonstrate that LiveGraph surpasses contemporary baselines in both predictive accuracy and the breadth of exercise diversity.

cs.IR↗