arXiv subjects

Bo Zhang

Publications and source records attributed to Bo Zhang.

At least 199 records · Page 11Linked to original sources

arXiv2025

Resolving State Ambiguity in Robot Manipulation via Adaptive Working Memory Recoding

State ambiguity is common in robotic manipulation. Identical observations may correspond to multiple valid behavior trajectories. The visuomotor policy must correctly extract the appropriate types and levels of information from the history to identify the current task phase. However, naively extending the history window is computationally expensive and may cause severe overfitting. Inspired by the continuous nature of human reasoning and the recoding of working memory, we introduce PAM, a novel visuomotor Policy equipped with Adaptive working Memory. With minimal additional training cost in a two-stage manner, PAM supports a 300-frame history window while maintaining high inference speed. Specifically, a hierarchical frame feature extractor yields two distinct representations for motion primitives and temporal disambiguation. For compact representation, a context router with range-specific queries is employed to produce compact context features across multiple history lengths. And an auxiliary objective of reconstructing historical information is introduced to ensure that the context router acts as an effective bottleneck. We meticulously design 7 tasks and verify that PAM can handle multiple scenarios of state ambiguity simultaneously. With a history window of approximately 10 seconds, PAM still supports stable training and maintains inference speeds above 20Hz. Project website: https://tinda24.github.io/pam/

cs.RO↗

arXiv2025

GeoBench: Rethinking Multimodal Geometric Problem-Solving via Hierarchical Evaluation

Geometric problem solving constitutes a critical branch of mathematical reasoning, requiring precise analysis of shapes and spatial relationships. Current evaluations of geometric reasoning in vision-language models (VLMs) face limitations, including the risk of test data contamination from textbook-based benchmarks, overemphasis on final answers over reasoning processes, and insufficient diagnostic granularity. To address these issues, we present GeoBench, a hierarchical benchmark featuring four reasoning levels in geometric problem-solving: Visual Perception, Goal-Oriented Planning, Rigorous Theorem Application, and Self-Reflective Backtracking. Through six formally verified tasks generated via TrustGeoGen, we systematically assess capabilities ranging from attribute extraction to logical error correction. Experiments reveal that while reasoning models like OpenAI-o3 outperform general MLLMs, performance declines significantly with increasing task complexity. Key findings demonstrate that sub-goal decomposition and irrelevant premise filtering critically influence final problem-solving accuracy, whereas Chain-of-Thought prompting unexpectedly degrades performance in some tasks. These findings establish GeoBench as a comprehensive benchmark while offering actionable guidelines for developing geometric problem-solving systems.

cs.CV↗

arXiv2025

SCP: Accelerating Discovery with a Global Web of Autonomous Scientific Agents

We introduce SCP: the Science Context Protocol, an open-source standard designed to accelerate discovery by enabling a global network of autonomous scientific agents. SCP is built on two foundational pillars: (1) Unified Resource Integration: At its core, SCP provides a universal specification for describing and invoking scientific resources, spanning software tools, models, datasets, and physical instruments. This protocol-level standardization enables AI agents and applications to discover, call, and compose capabilities seamlessly across disparate platforms and institutional boundaries. (2) Orchestrated Experiment Lifecycle Management: SCP complements the protocol with a secure service architecture, which comprises a centralized SCP Hub and federated SCP Servers. This architecture manages the complete experiment lifecycle (registration, planning, execution, monitoring, and archival), enforces fine-grained authentication and authorization, and orchestrates traceable, end-to-end workflows that bridge computational and physical laboratories. Based on SCP, we have constructed a scientific discovery platform that offers researchers and agents a large-scale ecosystem of more than 1,600 tool resources. Across diverse use cases, SCP facilitates secure, large-scale collaboration between heterogeneous AI systems and human researchers while significantly reducing integration overhead and enhancing reproducibility. By standardizing scientific context and tool orchestration at the protocol level, SCP establishes essential infrastructure for scalable, multi-institution, agent-driven science.

cs.AI↗

arXiv2025

ViLaCD-R1: A Vision-Language Framework for Semantic Change Detection in Remote Sensing

Remote sensing change detection (RSCD), a complex multi-image inference task, traditionally uses pixel-based operators or encoder-decoder networks that inadequately capture high-level semantics and are vulnerable to non-semantic perturbations. Although recent multimodal and vision-language model (VLM)-based approaches enhance semantic understanding of change regions by incorporating textual descriptions, they still suffer from challenges such as inaccurate spatial localization, imprecise pixel-level boundary delineation, and limited interpretability. To address these issues, we propose ViLaCD-R1, a two-stage framework comprising a Multi-Image Reasoner (MIR) and a Mask-Guided Decoder (MGD). Specifically, the VLM is trained through supervised fine-tuning (SFT) and reinforcement learning (RL) on block-level dual-temporal inference tasks, taking dual-temporal image patches as input and outputting a coarse change mask. Then, the decoder integrates dual-temporal image features with this coarse mask to predict a precise binary change map. Comprehensive evaluations on multiple RSCD benchmarks demonstrate that ViLaCD-R1 substantially improves true semantic change recognition and localization, robustly suppresses non-semantic variations, and achieves state-of-the-art accuracy in complex real-world scenarios.

cs.CV↗

arXiv2025

New Constraints on Cosmic-ray boosted Sub-GeV Dark Matter via Light Mediators

Traditional direct detection experiments lack the sensitivity to probe the sub-GeV dark matter (DM), primarily due to the low energy of the expected nuclear recoils. In this work, we investigate cosmic-ray (CR) upscattering as a mechanism to accelerate DM particles to detectable velocities in underground experiments. By analyzing four models of DM-nucleon interactions -- namely scalar, vector, pseudoscalar, and axial-vector mediators -- we derive constraints on the coupling parameters using data from the LZ, XENON, and Borexino experiments, covering mediator mass from $10^{-6}$ to $1$ GeV. As the mediator mass varies, the shift in dominance between momentum transfer and mediator mass leads to a turnover in the constraints around $10^{-2}$--$10^{-3}~\mathrm{GeV}$. Our results extend the reach of direct detection into the sub-GeV window and clarify the critical role of momentum dependence in light-mediator scenarios.

astro-ph.HE↗

arXiv2025

An Efficient Embedding Based Ad Retrieval with GPU-Powered Feature Interaction

In large-scale advertising recommendation systems, retrieval serves as a critical component, aiming to efficiently select a subset of candidate ads relevant to user behaviors from a massive ad inventory for subsequent ranking and recommendation. The Embedding-Based Retrieval (EBR) methods modeled by the dual-tower network are widely used in the industry to maintain both retrieval efficiency and accuracy. However, the dual-tower model has significant limitations: the embeddings of users and ads interact only at the final inner product computation, resulting in insufficient feature interaction capabilities. Although DNN-based models with both user and ad as input features, allowing for early-stage interaction between these features, are introduced in the ranking stage to mitigate this issue, they are computationally infeasible for the retrieval stage. To bridge this gap, this paper proposes an efficient GPU-based feature interaction for the dual-tower network to significantly improve retrieval accuracy while substantially reducing computational costs. Specifically, we introduce a novel compressed inverted list designed for GPU acceleration, enabling efficient feature interaction computation at scale. To the best of our knowledge, this is the first framework in the industry to successfully implement Wide and Deep in a retrieval system. We apply this model to the real-world business scenarios in Tencent Advertising, and experimental results demonstrate that our method outperforms existing approaches in offline evaluation and has been successfully deployed to Tencent's advertising recommendation system, delivering significant online performance gains. This improvement not only validates the effectiveness of the proposed method, but also provides new practical guidance for optimizing large-scale ad retrieval systems.

cs.LG↗

arXiv2025

Comparison of motives with rational coefficients

The theory of rational motives admits several models, including those of Morel, Beilinson, Ayoub, and Voevodsky. An open question has been the equivalence of Voevodsky's Nisnevich-based $\mathrm{DM}(S, \mathbb{Q})$ with the others, which was only known over excellent and geometrically unibranch base schemes. In this paper, we prove that $\mathrm{DM}(S, \mathbb{Q})$ is equivalent to Morel/Beilinson/Ayoub's rational motives over any quasi-excellent base scheme $S$. Our main technical result is a stable motivic equivalence between the plus part of free $\mathbb{Q}$-linear spectrum $\mathbb{Q}[\mathbb{S}]$ and the motivic rational Eilenberg MacLane spectrum $\mathbf{H}\mathbb{Q}$. This equivalence is established whenever Ayoub's motives $\mathrm{DA}(S, \mathbb{Q})$ satisfies h-descent. As a byproduct, we partially confirm Voevodsky's conjecture that the formation of motivic rational Eilenberg Maclane spectrum $\mathbf{H}\mathbb{Q}$ is stable under base change between any quasi-excellent scheme.

math.AG↗

arXiv2025

Detecting Axion Dark Matter with an Organic Molecular Maser

We present a novel quantum sensing approach to search for axion-electron interactions around the axion mass of 6 \mueV. In this region, laboratory searches are relatively scarce, and our direct experiment measuring the axion-electron coupling constant reaches the sensitivity of 8 \times 10^{-6} GeV^{-1}. The method, based on an organic molecular maser establishes a proof-of-principle for quantum-enhanced detection, with a corresponding magnetic field sensitivity of 0.85 fT/\sqrt{\rm{Hz}}. The methodology is generic and can be readily extended to other physical systems, further broadening its applicability in quantum sensing and dark matter searches.

hep-ph↗

arXiv2025

Giant-atom quantum acoustodynamics in hybrid superconducting-phononic integrated circuits

We demonstrate a giant atom by coupling a superconducting transmon qubit to a lithium niobate phononic waveguide at two points separated by about 600 acoustic wavelengths, with a propagation delay of 125 ns. The giant atom yields non-Markovian relaxation dynamics characterized by phonon backflow and a frequency-dependent effective decay rate varying four-fold over merely 4 MHz, corresponding to a Purcell factor exceeding 40. Exploiting this frequency-dependent dissipation, we prepare quantum superposition states with high purity. Our results establish phononic integrated circuits as a versatile platform for giant-atom physics, providing highly tunable quantum devices for advanced quantum information processing.

quant-ph↗

arXiv2025

Probing Scientific General Intelligence of LLMs with Scientist-Aligned Workflows

Despite advances in scientific AI, a coherent framework for Scientific General Intelligence (SGI)-the ability to autonomously conceive, investigate, and reason across scientific domains-remains lacking. We present an operational SGI definition grounded in the Practical Inquiry Model (PIM: Deliberation, Conception, Action, Perception) and operationalize it via four scientist-aligned tasks: deep research, idea generation, dry/wet experiments, and experimental reasoning. SGI-Bench comprises over 1,000 expert-curated, cross-disciplinary samples inspired by Science's 125 Big Questions, enabling systematic evaluation of state-of-the-art LLMs. Results reveal gaps: low exact match (10--20%) in deep research despite step-level alignment; ideas lacking feasibility and detail; high code executability but low execution result accuracy in dry experiments; low sequence fidelity in wet protocols; and persistent multimodal comparative-reasoning challenges. We further introduce Test-Time Reinforcement Learning (TTRL), which optimizes retrieval-augmented novelty rewards at inference, enhancing hypothesis novelty without reference answer. Together, our PIM-grounded definition, workflow-centric benchmark, and empirical insights establish a foundation for AI systems that genuinely participate in scientific discovery.

cs.AI↗

arXiv2025

GuangMing-Explorer: A Four-Legged Robot Platform for Autonomous Exploration in General Environments

Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme environments, resource exploration, etc. Despite significant progress in individual components, a holistic and practical description of a completely autonomous exploration system, encompassing both hardware and software, remains scarce. In this paper, we present GuangMing-Explorer, a fully integrated autonomous exploration platform designed for robust operation across diverse environments. We provide a comprehensive overview of the system architecture, including hardware design, software stack, algorithm deployment, and experimental configuration. Extensive real-world experiments demonstrate the platform's effectiveness and efficiency in executing autonomous exploration tasks, highlighting its potential for practical deployment in complex and unstructured environments.

cs.RO↗

arXiv2025

QwenLong-L1.5: Post-Training Recipe for Long-Context Reasoning and Memory Management

We introduce QwenLong-L1.5, a model that achieves superior long-context reasoning capabilities through systematic post-training innovations. The key technical breakthroughs of QwenLong-L1.5 are as follows: (1) Long-Context Data Synthesis Pipeline: We develop a systematic synthesis framework that generates challenging reasoning tasks requiring multi-hop grounding over globally distributed evidence. By deconstructing documents into atomic facts and their underlying relationships, and then programmatically composing verifiable reasoning questions, our approach creates high-quality training data at scale, moving substantially beyond simple retrieval tasks to enable genuine long-range reasoning capabilities. (2) Stabilized Reinforcement Learning for Long-Context Training: To overcome the critical instability in long-context RL, we introduce task-balanced sampling with task-specific advantage estimation to mitigate reward bias, and propose Adaptive Entropy-Controlled Policy Optimization (AEPO) that dynamically regulates exploration-exploitation trade-offs. (3) Memory-Augmented Architecture for Ultra-Long Contexts: Recognizing that even extended context windows cannot accommodate arbitrarily long sequences, we develop a memory management framework with multi-stage fusion RL training that seamlessly integrates single-pass reasoning with iterative memory-based processing for tasks exceeding 4M tokens. Based on Qwen3-30B-A3B-Thinking, QwenLong-L1.5 achieves performance comparable to GPT-5 and Gemini-2.5-Pro on long-context reasoning benchmarks, surpassing its baseline by 9.90 points on average. On ultra-long tasks (1M~4M tokens), QwenLong-L1.5's memory-agent framework yields a 9.48-point gain over the agent baseline. Additionally, the acquired long-context reasoning ability translates to enhanced performance in general domains like scientific reasoning, memory tool using, and extended dialogue.

cs.CL↗

arXiv2025

Multimodal DeepResearcher: Generating Text-Chart Interleaved Reports From Scratch with Agentic Framework

Visualizations play a crucial part in effective communication of concepts and information. Recent advances in reasoning and retrieval augmented generation have enabled Large Language Models (LLMs) to perform deep research and generate comprehensive reports. Despite its progress, existing deep research frameworks primarily focus on generating text-only content, leaving the automated generation of interleaved texts and visualizations underexplored. This novel task poses key challenges in designing informative visualizations and effectively integrating them with text reports. To address these challenges, we propose Formal Description of Visualization (FDV), a structured textual representation of charts that enables LLMs to learn from and generate diverse, high-quality visualizations. Building on this representation, we introduce Multimodal DeepResearcher, an agentic framework that decomposes the task into four stages: (1) researching, (2) exemplar report textualization, (3) planning, and (4) multimodal report generation. For the evaluation of generated multimodal reports, we develop MultimodalReportBench, which contains 100 diverse topics served as inputs along with 5 dedicated metrics. Extensive experiments across models and evaluation methods demonstrate the effectiveness of Multimodal DeepResearcher. Notably, utilizing the same Claude 3.7 Sonnet model, Multimodal DeepResearcher achieves an 82% overall win rate over the baseline method.

cs.CL↗

arXiv2025

EcomBench: Towards Holistic Evaluation of Foundation Agents in E-commerce

Foundation agents have rapidly advanced in their ability to reason and interact with real environments, making the evaluation of their core capabilities increasingly important. While many benchmarks have been developed to assess agent performance, most concentrate on academic settings or artificially designed scenarios while overlooking the challenges that arise in real applications. To address this issue, we focus on a highly practical real-world setting, the e-commerce domain, which involves a large volume of diverse user interactions, dynamic market conditions, and tasks directly tied to real decision-making processes. To this end, we introduce EcomBench, a holistic E-commerce Benchmark designed to evaluate agent performance in realistic e-commerce environments. EcomBench is built from genuine user demands embedded in leading global e-commerce ecosystems and is carefully curated and annotated through human experts to ensure clarity, accuracy, and domain relevance. It covers multiple task categories within e-commerce scenarios and defines three difficulty levels that evaluate agents on key capabilities such as deep information retrieval, multi-step reasoning, and cross-source knowledge integration. By grounding evaluation in real e-commerce contexts, EcomBench provides a rigorous and dynamic testbed for measuring the practical capabilities of agents in modern e-commerce.

cs.AI↗

arXiv2025

WaggleNet: A LoRa and MQTT-Based Monitoring System for Internal and External Beehive Conditions

Bee populations are declining globally due to habitat loss, pesticide exposure, and climate change, threatening agricultural productivity and food security. While existing smart beehive systems monitor internal conditions, they typically overlook external environmental factors that significantly influence colony health, and are constrained by high cost, limited scalability, and inadequate contextual analysis. We present WaggleNet, a novel dual-scope monitoring system that simultaneously captures both internal hive conditions and external environmental parameters using a cost-effective LoRa-MQTT architecture. Our system deploys modular worker nodes ($\sim$\$15 each) equipped with temperature, humidity, light, and GPS sensors both inside and around beehives. A master node functions as a LoRa-MQTT gateway, forwarding data to a cloud server with a mobile application interface. Field experiments confirmed reliable operation with 100\% packet delivery over 110 meters in line-of-sight conditions and 95 meters in obstructed environments, including successful deployment inside wooden hive structures. Our system demonstrated stable end-to-end latency under 5 seconds and continuous operation over a two-month period across diverse environmental conditions. By bridging the gap between internal and external monitoring, WaggleNet enables contextual anomaly detection and supports data-driven precision beekeeping in resource-constrained settings.

cs.NI↗

arXiv2025

Simultaneous Heterogeneity and Reduced-rank Learning for Multivariate Response Regression

Heterogeneous data are now ubiquitous in many applications in which correctly identifying the subgroups from a heterogeneous population is critical. Although there is an increasing body of literature on subgroup detection, existing methods mainly focus on the univariate response setting. In this paper, we propose a joint heterogeneity and reduced-rank learning framework to simultaneously identify the subgroup structure and estimate the covariate effects for heterogeneous multivariate response regression. In particular, our approach uses rank-constrained pairwise fusion penalization and conducts the subgroup analysis without requiring prior knowledge regarding the individual subgroup memberships. We implement the proposed approach by an alternating direction method of multipliers (ADMM) algorithm and show its convergence. We also establish the asymptotic properties for the resulting estimators under mild and interpretable conditions. A predictive information criterion is proposed to select the rank of the coefficient matrix with theoretical support. The effectiveness of the proposed approach is demonstrated through simulation studies and a real data application.

stat.ME↗

arXiv2025

Circuit Quantum Acoustodynamics in a Scalable Phononic Integrated Circuit Architecture

Previous demonstrations of quantum acoustic systems have been limited to isolated devices, with limited capability to route phonons and interconnect multi-port acoustic elements for further extension. Here, we demonstrate a scalable architecture for circuit quantum acoustodynamics (cQAD) by integrating superconducting qubits with suspension-free phononic integrated circuits (PnICs). Coherent coupling between tunable transmon qubits and waveguide-integrated phononic cavities, including Fabry-Perot cavities via monolithic integration and microring cavities via flip-chip assembly, has been achieved, producing a pronounced enhancement of phonon emission with a Purcell factor of ~19. These devices represent elementary building blocks for scalable phononic circuits, establishing the foundation for phonon-based quantum information processors and the testbed for novel quantum acoustic phenomena.

quant-ph↗

arXiv2025

Semore: VLM-guided Enhanced Semantic Motion Representations for Visual Reinforcement Learning

The growing exploration of Large Language Models (LLM) and Vision-Language Models (VLM) has opened avenues for enhancing the effectiveness of reinforcement learning (RL). However, existing LLM-based RL methods often focus on the guidance of control policy and encounter the challenge of limited representations of the backbone networks. To tackle this problem, we introduce Enhanced Semantic Motion Representations (Semore), a new VLM-based framework for visual RL, which can simultaneously extract semantic and motion representations through a dual-path backbone from the RGB flows. Semore utilizes VLM with common-sense knowledge to retrieve key information from observations, while using the pre-trained clip to achieve the text-image alignment, thereby embedding the ground-truth representations into the backbone. To efficiently fuse semantic and motion representations for decision-making, our method adopts a separately supervised approach to simultaneously guide the extraction of semantics and motion, while allowing them to interact spontaneously. Extensive experiments demonstrate that, under the guidance of VLM at the feature level, our method exhibits efficient and adaptive ability compared to state-of-art methods. All codes are released.

cs.CV↗