arXiv subjects

Bo Sun

Publications and source records attributed to Bo Sun.

At least 19 recordsLinked to original sources

arXiv2026

Towards Accurate End-Effector Localization for UMI-Style Robotic Manipulation Teaching

Robot demonstration learning requires accurate and temporally complete end-effector localization during close-range manipulation and camera occlusion. Existing SLAM benchmarks emphasize navigation motions, whereas manipulation datasets prioritize policy learning over localization evaluation. We introduce MILD, a Manipulation-Interface Localization Dataset with real-world and simulation sequences. The real-world subset provides 86 sensor sequences from Insta360 X5 and Insight9 across 15 repeated tabletop tasks, calibration assets, and a per-execution robot end-effector reference trajectory. The simulation subset, MILD-Sim, extends task coverage in Isaac Sim for controlled manipulation-replay studies. Benchmarking visual-inertial and fiducial-aided systems on instrumented real-world recordings reveals large differences in both TCP-relative trajectory error and temporal coverage, even under the same nominal task. To support marker-augmented teaching workspaces without a pre-surveyed fiducial map, we present AprilVINS, which combines fisheye visual-inertial estimation with sequence-local AprilTag geometry and separates prior admission from guarded export of the jointly optimized state. On Insta360 AprilTag4 recordings, AprilVINS(full) under a unified protocol with sequence-specific profiles reaches millimeter-level SE(3)-aligned TCP-relative APE RMSE with high time completion and lower reported error than the tested routes under their respective protocols, whereas fisheye VIO without tag factors remains at centimeter scale. Ablations separate accuracy from exportability, and a MILD-Sim replay study provides task-specific tolerance references for interpreting those error magnitudes. Together, MILD and AprilVINS provide a diagnostic benchmarking framework for UMI-style demonstration collection. Code, datasets, and evaluation manifests will be released upon acceptance.

cs.RO↗

arXiv2026

Peak-Aware One-Way Trading: Competitive and Learning-Augmented Algorithms for Energy Procurement

We introduce peak-aware one-way trading ($\texttt{PA-OWT}$), an online problem in which a player must purchase a fixed quantity of an asset by a deadline, minimizing its total cost plus a charge proportional to the largest single purchase at any time. The model is motivated by electricity procurement, where the cost of energy rewards buying at low prices, but peak demand charges discourage concentrating purchases in short periods. Balancing these incentives is challenging when future prices are unknown: a large purchase can establish a peak that later decisions cannot undo. We develop a peak-aware online algorithm that balances price and peak control with deadline feasibility and achieves the order-optimal competitive ratio. We further extend our results to a learning-augmented algorithm that uses predictions of optimal purchasing decisions to achieve an order-optimal consistency-robustness tradeoff, exploiting accurate advice while retaining worst-case guarantees in the face of arbitrary prediction errors. Finally, we evaluate our algorithms in a case study on electricity procurement using historical electricity price traces to understand the benefits of peak-aware purchasing.

cs.DS↗

arXiv2026

Beyond a Single Optimal Design: A Dynamical Systems Characterization of Online Allocation with Convex Costs

We study online allocation with convex costs (\OACC), a generalization of limited-supply models in which additional resources can be produced dynamically at convex cost. Prior work largely focuses on constructing a single algorithm that achieves strong competitive guarantees. In contrast, our main contribution is a structural characterization of the optimal design space of reserve functions (i.e., normalized pricing rules) for \OACC, yielding a family of optimal online algorithms. Using a principled dynamical-systems approach, we show that optimal online algorithms arise as solutions of a nonlinear eigenvalue problem: the optimal competitive ratio corresponds to the dominant eigenvalue, and the associated eigenfunction determines the optimal reserve function. This perspective establishes the existence of infinitely many optimal designs attaining the best possible competitive ratio, thereby unifying and generalizing a broad class of prior algorithms. Beyond unification, our characterization uncovers new structural phenomena, including the ability to flexibly mix dynamic and static pricing without loss of optimality and the construction of universally competitive algorithms under unknown or stochastic costs. We further extend the analysis to more structured settings such as supply-oblivious arrivals and hard supply constraints, obtaining sharper guarantees that improve upon previous bounds.

cs.GT↗

arXiv2026

AlignPoison: Conditional Targeted Poisoning of Generative Recommenders via Decoding-Aligned Prefixes

Generative recommendation models based on autoregressive decoding have been adopted as alternatives to classical ranking-based systems. While their modeling flexibility has been widely studied, their resilience to data poisoning remains largely unexplored. In this work, we ask: how susceptible are generative recommenders to conditional targeted poisoning? Under a realistic setting where an adversary can inject limited malicious interactions and query a recommendation API as a black box, our empirical study shows that generative recommenders are vulnerable: injecting fewer than 1% synthetic interactions significantly increases the likelihood of promoting malicious targets under the trigger. To characterize this vulnerability, we analyze the synthesis of malicious interactions from two perspectives: (i) decoding alignment and (ii) prefix popularity. We observe that short, context-aligned prefixes that are both common under the model's induced transition dynamics and strongly linked to a frequent trigger consistently amplify targeted promotion. Motivated by this analysis, we develop AlignPoison, a black-box framework that discovers and samples context-aligned prefixes from API outputs. We conduct experiments on benchmarks in unimodal and multimodal generative recommendation settings. Results show that these prefixes outperform competitive baselines, improving ASR lift by up to 16.3 percentage points and highlighting a decoding-dependent, context-sensitive poisoning vulnerability in generative recommendation models.

cs.AI↗

arXiv2026

When to Rethink: Learning Multi-Perspective Self-Verification for Vision-Language Models

Vision-language models (VLMs) have achieved strong performance in multimodal reasoning, yet they remain prone to generating plausible but incorrect answers. Self-verification offers a practical way to improve answer reliability without relying on external judges, but existing methods typically depend on a single verification criterion or fixed prompt, resulting in incomplete and unstable reliability estimates. We first systematically analyze how verifier capability and prompt design affect verification performance. Our findings show that stronger verifiers provide more reliable judgments, while verification performance is highly sensitive to prompt choice, with no single prompt consistently dominating across tasks. Guided by these findings, we propose \texttt{MOTIVE}, a \textbf{M}ulti-View Self-Verificati\textbf{O}n wi\textbf{T}h Rel\textbf{I}ability-Guided Selecti\textbf{VE} Rethinking framework for reliable multimodal reasoning. \texttt{MOTIVE} evaluates each candidate answer from complementary verification perspectives and learns a correctness-aligned reliability score through correctness-grounded multi-view verification learning. During inference, this score governs an accept-or-rethink decision, allowing reliable answers to be returned directly while uncertain ones trigger history-guided rethinking. Extensive experiments across diverse multimodal benchmarks and VLM backbones demonstrate that \texttt{MOTIVE} consistently outperforms strong self-verification and self-correction baselines. Further results show that reliable verification improves accept-or-rethink decisions and reduces unnecessary reasoning turns, enabling more reliable and efficient self-verification without an external judge.

cs.AI↗

arXiv2026

Source-Free Detection and Impact Analysis of Compiler Optimization Problems in Mobile Applications

Mobile apps frequently suffer from frame drops, overheating, and excessive power consumption. While developers optimize algorithms and debug code, a critical bottleneck often goes unnoticed: native libraries compiled with low optimization levels (O0/O1 instead of O2/O3). Because these libraries execute without functional errors, the resulting performance degradation remains hidden in production apps. We present \textsc{OptDetect}, a source-free framework that detects compiler optimization problems directly from app binaries. \textsc{OptDetect} handles mixed optimization levels through binary disassembly, chunk-level classification, and weighted score aggregation, achieving 93.0\% accuracy on controlled datasets and 81.9\% on real-world datasets. Applying \textsc{OptDetect} to 21,972 native libraries from 830 top-ranked Google Play apps, we find that 30.5\% of libraries use low optimization levels, affecting 91.7\% of apps. Through case studies on 12 production apps, fixing detected issues reduces CPU instructions by 10-63\% (median: 20.5\%) for commercial apps and 15-58\% (median: 32\%) for open-source apps. Performance complaints decrease in 5 of 6 commercial apps, and ratings increase in 5 of 6. Further investigation reveals that widely-used third-party libraries are themselves distributed at low optimization levels, with 49.7\% of 1,073 libraries in a major repository exhibiting this problem. These findings show that compiler optimization problems are common, source-free detectable, and practically consequential in mobile app ecosystems.

cs.SE↗

arXiv2026

Auto-RecSys: Harnessing Autonomous Research Agents for Industry-Scale Recommender System

Auto-research agents have shown the potential to automate hypothesis generation, experiment execution, and iterative refinement. However, scaling this paradigm to industry-scale recommendation models introduces two challenges: (1) long feedback loops, where model training can take days, making serial iteration prohibitively slow and requiring parallel exploration across multiple research directions; and (2) system complexity, where large configurations, fragile infrastructure dependencies, and multi-day GPU jobs require robust and recoverable execution. We present Auto-RecSys, an autonomous research system for long-horizon experimentation on industry-scale recommendation models. Auto-RecSys addresses these challenges through three harness designs: (1) distributed asynchronous execution for running multiple experiments in parallel across servers, (2) centralized cross-server memory for persistent and recoverable execution across sessions and failures, and (3) cognitive-procedural separation, where natural-language skill files guide LLM reasoning while deterministic scripts enforce operational correctness. Auto-RecSys further employs a dual-loop self-evolving architecture: an Execution Evolution Loop in which model-specific playbooks accumulate operational knowledge by recording failed attempts and crystallizing successful pipelines, and an Idea Evolution Loop in which experimental outcomes inform subsequent ideation. Evaluated on recommendation models, Auto-RecSys significantly reduces the human time required per experiment cycle and improves execution reliability as its playbooks mature.

cs.CL↗

arXiv2026

OpenHarmony Bench: Evaluating LLMs and Coding Agents on OpenHarmony App Development

We present OPENHARMONY BENCH, an app-level coding benchmark for evaluating LLM-based coding agents on OpenHarmony ArkTS applications. Unlike function-level benchmarks, it evaluates complete app-level changes: each task requires an agent to modify a buildable ArkTS project so that a requested behavior works end to end, involving UI state, data persistence, build configuration, and platform APIs. The benchmark installs and drives the delivered application on a device to check whether the behavior is observable. It covers three input sources: natural-language feature requests (new-feature), structured scenario specifications (spec-driven), and bug descriptions (bug-fix). The benchmark contains 153 top-level tasks and 242 Feature points (F-points), where an F-point is one executable behavior check. The snapshot includes 32 new-feature tasks, 50 spec-driven tasks with 139 F-points, and 71 bug-fix tasks. The main leaderboard is scored over top-level tasks rather than independently weighted F-points. We describe the benchmark construction, statistics, and build-and-test evaluation pipeline, and evaluate DevEco Code with eight LLMs across three independent full-suite runs per configuration. Three findings emerge. First, newer generations complete more tasks than their predecessors within evaluated model-family pairs. Second, buildability is close to saturated while behavioral correctness is not: mean Final Build Success Rate is 94.77% to 100.00%, whereas mean Task Completion is 48.36% to 58.39%. Third, spec-driven tasks have the lowest Task Completion under all-checks task scoring, with no configuration exceeding 35%. The code, data, tasks, reference solutions, tests, evaluation scripts, and leaderboard are released through the official OPENHARMONY BENCH website at https://bench.matrix.openharmony.cn/.

cs.SE↗

arXiv2026

Data-Driven Online Slice Admission Control and Resource Allocation in NextG Mobile Networks

Virtualization in 5G and beyond networks enables the creation of virtual networks (i.e., network slices) tailored to the needs of different applications. To maximize revenue under limited infrastructure resources, InPs must decide in real time whether to admit incoming slice requests (SRs) based on their resource demands and offered values, while accounting for the opportunity cost of consuming scarce resources. To address this challenge, we introduce Online Pricing-based Slice Admission Control and Resource Allocation (OPA) framework. This framework dynamically assigns pseudo-prices to resources that capture long-term scarcity and anticipated inter-temporal opportunity costs. The short-term admission and resource allocation decisions for each SR are then guided by these prices. Additionally, we design an exponential pricing strategy that guarantees bounded worst-case performance. To improve practical performance, we further develop a data-driven exponential pricing approach that learns from historical data. Evaluations on a real-world network topology show that it improves mean revenue by 32.2% and 26.7% over state-of-the-art DRL and optimization-based approaches, respectively, while reducing computational cost by an order of magnitude relative to the latter.

cs.NI↗

arXiv2026

Learning Graphs through Continuous Information Entropy Fields

Graph theory is inherently descriptive, capturing what relationships exist but not why they arise, because it treats edges as primitive constructs. This paper proposes a new explanatory framework for graph learning, where relationships emerge from latent continuous information entropy fields, and a graph becomes a discrete instantiation of an underlying field. To formalize this field, we introduce the Field-informed Graph Network (FGN). It learns a scalar field from node features and leverages it to modulate message passing. The information-theoretic objective balances structural fidelity with field smoothness, forming a self-reinforcing loop. In this loop, the field modulates information diffusion through field-modulated weighting, and the updated node representations iteratively refine the field. As a result, FGN learns by simulating its own co-evolution. Extensive experiments on node classification and graph classification benchmarks demonstrate superior performance, robustness to perturbations, and structurally coherent field representations.

cs.LG↗

arXiv2026

CollabSim: A CSCW-Grounded Methodology for Investigating Collaborative Competence of LLM Agents through Controlled Multi-Agent Experiments

Multi-agent systems (MAS) built on large language models have shown growing promise, with their effectiveness resting on agents' ability to coordinate through text-based channels much as human teams do. Yet recent study suggests that MAS often falter not because agents lack individual task-solving ability, but because they lack collaborative competence: the capacity to establish common ground, maintain shared task understanding, balance individual and collective incentives, and repair misalignment as interaction unfolds. Decades of research in Computer-Supported Cooperative Work have characterized these requirements for human teams coordinating under constrained communication, yet existing MAS evaluations focus mainly on task outcomes or single-agent proficiency in reasoning, planning, and tool use. To enable a systematic analysis of agents' collaborative competence in MAS, we introduce CollabSim, a configurable simulation framework that combines a theory-grounded definition of collaborative capabilities, controlled manipulation of interaction conditions, and action-level probing of agents' internal states. Experiments across four LLMs show that CollabSim can capture condition effects, separate model performance patterns, and reveal task-dependent effects of agent design.

cs.CL↗

arXiv2026

Sensor2Sensor: Cross-Embodiment Sensor Conversion for Autonomous Driving

Robust training and validation of Autonomous Driving Systems (ADS) require massive, diverse datasets. Proprietary data collected by Autonomous Vehicle (AV) fleets, while high-fidelity, are limited in scale, diversity of sensor configurations, as well as geographic and long-tail-behavioral coverage. In contrast, in-the-wild data from sources like dashcams offers immense scale and diversity, capturing critical long-tail scenarios and novel environments. However, this unstructured, in-the-wild video data is incompatible with ADS expecting structured, multi-modal sensor inputs for validation and training. To bridge this data gap, we propose Sensor2Sensor, a novel generative modeling paradigm that translates in-the-wild monocular dashcam videos into a high-fidelity, multi-modal sensor suite (AV logs) comprising multi-view camera images and LiDAR point clouds. A core challenge is the lack of paired training data. We address this by converting real AV logs into dashcam-style videos via 4D Gaussian Splatting (4DGS) reconstruction and novel-view rendering. Sensor2Sensor then utilizes a diffusion architecture to perform the generative conversion. We perform comprehensive quantitative evaluations on the fidelity and realism of the generated sensor data. We demonstrate Sensor2Sensor's practical utility by converting challenging in-the-wild internet and dashcam footage into realistic, multi-modal data formats, further unlocking vast external data sources for AV development.

cs.CV↗

arXiv2026

Make It Long, Keep It Fast: End-to-End 10K Long User Behavior Sequence Modeling for Billion-Scale Douyin Recommendation

Short-video recommenders such as Douyin must exploit extremely long user behavior histories without breaking latency or cost budgets. We present an end-to-end industrial recommender system that scales long-sequence recommendation modeling to 10K-length histories in production. First, we introduce Stacked Target-to-History Cross Attention (STCA), which replaces history self-attention with stacked cross-attention from the target to the history, reducing complexity from quadratic to linear in sequence length and enabling efficient end-to-end training over long user behavior sequences. Second, we propose Request Level Batching (RLB), a user-centric batching scheme that aggregates multiple targets for the same user/request to share the user-side encoding, substantially lowering sequence-related storage, communication, and compute without changing the learning objective. Third, we design a length-extrapolative training strategy -- train on shorter windows, infer on much longer ones -- so the model generalizes to 10K-scale histories without additional training cost. Across offline and online experiments, we observe predictable, monotonic gains as we scale history length and model capacity, mirroring the scaling law behavior observed in large language models. Deployed at full traffic on Douyin, our system delivers significant improvements on key engagement metrics while meeting production latency, demonstrating a practical path to scaling end-to-end ultra-long sequence recommendation to the 10K regime.

cs.LG↗

arXiv2026

OPeRA: A Dataset of Observation, Persona, Rationale, and Action for Evaluating LLMs on Human Online Shopping Behavior Simulation

Can large language models (LLMs) accurately simulate the next web action of a specific user? While LLMs have shown promising capabilities in generating ``believable'' human behaviors, evaluating their ability to mimic real user behaviors remains an open challenge, largely due to the lack of high-quality, publicly available datasets that capture both the observable actions and the internal reasoning of an actual human user. To address this gap, we introduce OPERA, a novel dataset of Observation, Persona, Rationale, and Action collected from real human participants during online shopping sessions. OPERA is the first public dataset that comprehensively captures: user personas, browser observations, fine-grained web actions, and self-reported just-in-time rationales. We developed both an online questionnaire and a custom browser plugin to gather this dataset with high fidelity. Using OPERA, we establish the first benchmark to evaluate how well current LLMs can predict a specific user's next action and rationale with a given persona and history. This dataset lays the groundwork for future research into LLM agents that aim to act as personalized digital twins for human.

cs.CL↗

arXiv2026

Risk-Sensitive Online Selection with Bounded Adaptivity

Designing randomized online algorithms that perform reliably not only in expectation but also under unfavorable realizations of randomness is a fundamental challenge in online decision-making. In this paper, we study this challenge in online adversarial selection, where a decision maker allocates $k$ units of a resource to sequentially arriving buyers through posted prices. We focus on two intertwined considerations that are often overlooked simultaneously: tail-risk sensitivity and bounded adaptivity, where tail risk is measured using conditional value-at-risk (CVaR) and bounded adaptivity limits the number of allowable policy updates over time. Our main contribution is a correlated posted-price mechanism that uses a single random seed to coordinate pricing decisions across time. This correlation induces a monotonic ordering of pricing profiles across sample paths, improving lower-tail performance while respecting the adaptivity constraint. More broadly, our results highlight correlation as a mechanism for controlling tail risk in randomized online algorithms. Using this framework, we derive competitive guarantees for several regimes of the problem under both static and dynamic pricing. Our analysis develops a risk-sensitive randomized online primal-dual framework tailored to CVaR objectives and reveals a systematic trade-off between allowable adaptivity, risk sensitivity, and competitive performance. Experiments on real airline pricing data further illustrate the empirical impact of correlated pricing on welfare concentration and tail behavior.

cs.GT↗

arXiv2026

Fatigue-Related Reaction Time Forecasting via EEG Functional Connectivity in Sustained Attention Task

Mental fatigue related behavioral performance decline precipitates catastrophic accidents in sustained attention tasks. While existing neurophysiological systems effectively detect current behavioral performance, they often lack the capability to forecast behavioral lapses with sufficient temporal lead time for intervention. This study proposes a novel model for the reaction time (RT) forecasting using EEG functional connectivity features. Thirty participants engaged in a sustained Psychomotor Vigilance Test (PVT) with concurrent 30-channel EEG recording. Mutual information (MI) between electrodes was calculated as functional connectivity features. Random Forest regression model (RF) was trained to predict single-trial RTs across forecasting horizons ranging from 0 to 20 seconds. The model demonstrated robust predictive validity, achieving a Root Mean Square Error (RMSE) of 23.75 ms for immediate detection and maintaining high accuracy (RMSE = 24.07 ms) across different forecasting horizons. Interpretability analysis via SHAP and Linear Mixed Effects model further support the validity of the proposed model and revealed distinct temporal biomarkers. This study validates the feasibility of forecasting behavioral performance 20 seconds in advance, offering a promising methodology for proactive fatigue management in safety-critical systems.

cs.HC↗

arXiv2026

HyRA: A Hybrid Resource Allocation Framework for RAN Slicing

The advent of 5G and the emergence of 6G networks demand unprecedented flexibility and efficiency in Radio Access Network (RAN) resource management to satisfy diverse service-level agreements (SLAs). Existing RAN slicing frameworks predominantly rely on per-slice resource reservation, which ensures performance isolation but leads to inefficient utilization, particularly under bursty traffic. We introduce HyRA, a hybrid resource allocation framework for RAN slicing that combines dedicated per-slice allocations with shared resource pooling across slices. HyRA preserves performance isolation while improving resource efficiency by leveraging multiplexing gains in bursty traffic conditions. We formulate this design as a bi-level stochastic optimization problem, where the outer loop determines the dedicated and shared resource budgets and the inner loop performs per-UE scheduling under a novel water-filling approach. By using the sample-average approximation, the Karush-Kuhn-Tucker (KKT) conditions of the inner loop, and Big-M encoding, we transform the problem into a tractable mixed-integer program that standard optimization solvers can solve. Extensive simulations under diverse demand patterns, SLA configurations, and traffic burstiness show that HyRA achieves up to 50-75% spectrum savings compared to dedicated-only and shared-only baselines. These results highlight HyRA as a viable approach for resource-efficient, SLA-compliant RAN slicing in future mobile networks.

cs.NI↗

arXiv2025

Electron Tunneling Enhances Thermal Conductance through Metal-Insulator-Semiconductor Junctions

The presence of interfaces in semiconductor devices substantially hinders thermal transport, contributing disproportionately to the overall thermal resistance. However, approaches to enhance interfacial thermal transport remain scarce without changing the interface structure, as the intrinsic electron and phonon properties of constituent materials set an upper limit. Here, we find a new thermal transport pathway, electronic heat tunneling, to enhance interfacial thermal conductance through metal-insulator-semiconductor junctions. By applying photoexcitation or bias voltage, we observe remarkable thermal conductance increases in operando, opening a new channel for efficient interfacial heat dissipation. The electron quantum tunneling pathway is parallel to conventional phonon-mediated interfacial thermal transport, and violates the Wiedemann-Franz law since this pathway deviates from the paradigm of diffusive transport. Moreover, we develop a tunneling mismatch model to describe the enhanced thermal conductance, originating from tunneling heat flux. Our Letter demonstrates a previously unexplored heat transport mechanism to enhance thermal conductance, bypassing the need for interface engineering. These findings emphasize the essential need to understand semiconductor thermal properties under realistic operating conditions.

cond-mat.mes-hall↗