arXiv subjects

Chao Chen

Publications and source records attributed to Chao Chen.

At least 19 recordsLinked to original sources

arXiv2026

On the IQC and SRG Frameworks: Equivalences and Converse Results

Integral quadratic constraints (IQCs) and scaled relative graphs (SRGs) are two prominent frameworks for analyzing feedback systems. Although both frameworks are rooted in the same graph separation principle, a general characterization of their relationship has remained unavailable. This paper establishes conditions under which the IQC- and SRG frameworks are equivalent. To this end, we introduce two new classes of systems, termed disjunctive and conjunctive systems, which are respectively characterized by unions and intersections of quadratic input-output constraints. Under structural assumptions, we prove equivalence between the IQC and SRG frameworks for these system classes. By exploiting this equivalence, we develop novel IQC- and SRG-based converse stability results for linear and nonlinear systems. Our results accommodate multiple quadratic constraints, extending well-known converse results in robust control beyond the single-constraint setting.

eess.SY↗

arXiv2026

Harnessing Plastic Deformation for Continuous Passive Stability in Soft Grippers

Soft robots offer compliance and adaptability for interacting with complex environments, but their low structural stiffness can compromise stability under dynamic disturbances. Here, we present a continuously stable structure through plastic deformation (CSSPD), a hybrid metal-elastomer architecture that enables passive shape retention without continuous energy input. By deliberately exploiting plastic deformation in a kirigami-patterned metal layer, CSSPD establishes new equilibrium configurations while increasing structural stiffness and resistance to dynamic disturbances. A theoretical model is developed to characterize the deformation and stability of the hybrid structure and guide the geometric design of the metal layer. We further introduce a bioinspired paw pad that provides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of up to 400 m/s^2 when combined with pneumatic actuation. Energy-free perching on tree branches further demonstrates the potential of the proposed composite architecture for stable and energy-efficient manipulation.

cs.RO↗

arXiv2026

Logic Hijacking of RAG: Single-Document Poisoning via Local Optimization

Single-document corpus poisoning under black-box access poses a severe threat to Retrieval-Augmented Generation (RAG). However, existing attacks predominantly rely on explicit factual refutations or imperative instruction overrides. Modern aligned LLMs often arbitrate such conflicts conservatively, rejecting overt contradictions in favor of parametric memory or clean retrieved context while triggering input guardrails. We propose MONOLOGUE, a single-document poisoning framework based on Logic Hijacking without explicit refutation. Rather than disputing the ground truth, our method concedes it as an authoritative historical baseline before introducing the update, weaving a grounded record-correction narrative (e.g., dated institutional reattributions) that presents the counterfactual target as the most recent update. To prevent suspicious live writes, payloads are refined entirely offline via local multi-dimensional gated optimization, coupling automated text quality audits with surrogate behavioral verification. Evaluations across three benchmarks, three retrieval backends, and four open-weight generator regimes show that our method achieves the strongest overall attack efficacy among the evaluated single-document poisoning attacks.

cs.AI↗

arXiv2026

Amplitude analysis of the charmed baryon decay Lambda_c+ to p K_S^0 pi0

Using $e^+e^-$ annihilation data corresponding to an integrated luminosity of 4.5 fb$^{-1}$ collected with the BESIII detector at center-of-mass energies between 4.600 and 4.699 GeV, the first amplitude analysis of the charmed baryon decay $Λ_c^+ \to p K_S^0 π^0$ is performed. The processes $Λ_c^+ \to p \bar{K}^{*}(892)^0$, $Λ_c^+ \to Δ(1600)^+ K_S^0$, and $Λ_c^+ \to N(1710)^+ K_S^0$ are identified with statistical significances of $12.8σ$, $14.5σ$, and $6.2σ$, respectively. The mass and width of $Δ(1600)^+$ are measured to be $(1520.4 \pm 8.8 \pm 37.7)~\text{MeV}$ and $(199.4 \pm 26.4 \pm 39.9)~\text{MeV}$, respectively. The mass and width of $N(1710)^+$ are measured to be $(1719.7 \pm 9.4 \pm 9.1)~\text{MeV}$ and $(72.0 \pm 18.0 \pm 15.0)~\text{MeV}$, respectively. The branching fractions of these processes are determined to be $\mathcal{B}[Λ_c^+ \rightarrow Δ(1600)^+ (\rightarrow p π^0) K_S^0] = (8.10 \pm 0.80 \pm 5.57) \times 10^{-3}$, $\mathcal{B}[Λ_c^+ \rightarrow N(1710)^+ (\rightarrow p π^0) K_S^0] = (1.58 \pm 0.48 \pm 0.77) \times 10^{-3}$, and $\mathcal{B}[Λ_c^+ \rightarrow p \bar{K}^{*}(892)^0 (\rightarrow K_S^0 π^0)] = (2.63 \pm 0.47 \pm 0.29) \times 10^{-3}$, where the first uncertainties are statistical and the second systematic.

hep-ex↗

arXiv2026

Revisiting Over-refusal in Safety-aligned Large Language Models: A Representation and Optimization Perspective

Over-refusal is a critical side effect of safety alignment in large language models (LLMs), causing harmless but superficially risky queries to be mistakenly rejected. Despite the effectiveness of existing mitigation methods, why safety-aligned LLMs may still reject harmless queries under correct safety supervision remains insufficiently understood. To address this gap, we analyze over-refusal through the lens of representation and optimization. We make two observations: 1) the representations of harmful and over-refusal samples are visually distinguishable at certain intermediate layers but increasingly overlap in deeper layers; and 2) harmful-sample gradients exhibit high intra-class similarity and concentrate in a low-rank subspace. Moreover, they are more strongly aligned with refusal-target gradients than with correct helpful-target gradients on over-refusal prompts. This imbalanced gradient coupling can bias over-refusal samples toward refusal, while the reduced apparent representational separation in deeper layers may make it more difficult for the model to maintain a clear boundary between harmful and over-refusal samples. To this end, we propose GOAL (Gradient Orthogonalization with contrAstive Learning), a safety-alignment framework for mitigating over-refusal. Specifically, GOAL consists of two components: 1) to prevent imbalanced gradient coupling from biasing the optimization of over-refusal samples toward refusal, we orthogonalize over-refusal gradients against the low-rank refusal subspace extracted from harmful gradients; and 2) to explicitly enhance the separation between harmful and over-refusal representations, we introduce a contrastive learning objective. Extensive experiments across multiple models and benchmarks demonstrate that GOAL effectively mitigates over-refusal while preserving safety performance and general capabilities.

cs.AI↗

arXiv2026

Measurement of Born Cross Sections for $e^+e^- \to K^+Ξ^0\barΣ^-$ at $\sqrt{s} = 3.51-4.95$ GeV and Observation of $ψ(3770) \to K^+Ξ^0\barΣ^-$

Using 44.55 fb$^{-1}$ of $e^+e^-$ collision data collected by the BESIII detector at the BEPCII collider, we report the first measurement of the Born cross sections for the $e^+e^- \to K^+Ξ^0\barΣ^-$ reaction at fifty-six center-of-mass energies between 3.51 and 4.95~GeV. A fit to the dressed cross sections reveals the first observation of the $ψ(3770) \to K^+Ξ^0\barΣ^-$ process, with a statistical significance of 6.0$σ$ including systematic uncertainties. This result represents the first observation of charmless three-body baryonic decay of a vector charmonium state above the open-charm threshold. No significant signals for other charmonium(-like) states i.e., $ψ(4040)$, $ψ(4160)$, $Y(4230)$, $Y(4360)$, $ψ(4415)$, $Y(4500)$, $Y(4660)$ or $Y(4710)$ are observed, and the upper limits for the product of the branching fraction and the electronic partial width at the 90% confidence level for each assumed charmonium(-like) state are provided. Additionally, the ratios of Born cross sections between this work and the previous measurements of $e^+e^- \to K^{0}_{S}\barΞ^{-}Σ^-$ and $K^-\barΞ^+\barΣ^0$ are provided, which can be used to validate theoretical predictions related to isospin symmetry.

hep-ex↗

arXiv2026

Two Birds with One Stone: Skill-Augmented Generation via Unified Retrieval and Utilization

Skills, as reusable external knowledge, have demonstrated substantial potential to enhance the ability of Large Language Models (LLMs) to solve complex tasks. However, existing skill-augmented generation methods typically rely on separate models for skill retrieval and skill utilization, resulting in disconnected optimization of these two processes. To address this gap, we propose Skill-Uni, a unified reinforcement learning framework that jointly optimizes skill retrieval and utilization. Specifically, we adopt a generative skill retrieval paradigm that enables a single model to both learn how to retrieve relevant skills and leverage them for task solving. To effectively train this unified framework, we introduce a two-stage training strategy consisting of warm-up instruction tuning and GRPO, allowing the model to progressively improve its skill retrieval and utilization capabilities. Extensive experiments on five skill-related benchmarks demonstrate the effectiveness of Skill-Uni, yielding average performance gains of 66.59% and 34.82% over the base Qwen3-4B and LLaMA3.1-8B models, respectively. Besides, Skill-Uni is compatible with various skill retrieval engines, demonstrating its flexibility and generalizability. Additional in-depth analyses also provide insights into the effectiveness of Skill-Uni.

cs.CL↗

arXiv2026

SemDiff: Binary Similarity Detection by Diffing Key-Semantics Graphs

Binary similarity detection is a critical technique that has been applied in many real-world scenarios where source code is not available, e.g., bug search, malware analysis, and code plagiarism detection. Existing works are ineffective in detecting similar binaries in cases where different compiling optimizations, compilers, source code versions, or obfuscation are deployed. We observe that all the cases do not change a binary's key code behaviors although they significantly modify its syntax and structure. With this key observation, we extract a set of key instructions from a binary to capture its key code behaviors. By detecting the similarity between two binaries' key instructions, we can address well the ineffectiveness limitation of existing works. Specifically, we translate each extracted key instruction into a self-defined key expression, generating a key-semantics graph based on the binary's control flow. Each node in the key-semantics graph denotes a key instruction, and the node attribute is the key expression. To quantify the similarity between two given key-semantics graphs, we first serialize each graph into a sequence of key expressions by topological sort. Then, we tokenize and concatenate key expressions to generate token lists. We calculate the locality-sensitive hash value for all token lists and quantify their similarity. %We implement a prototype, called SemDiff, consisting of two modules: graph generation and graph diffing. The first module generates a pair of key-semantics graphs and the second module diffs the graphs. Our evaluation results show that overall, SemDiff outperforms state-of-the-art tools when detecting the similarity of binaries generated from different optimization levels, compilers, and obfuscations. SemDiff is also effective for library version search and finding similar vulnerabilities in firmware.

cs.CR↗

arXiv2026

Study of $ϕ\to K\bar{K}$ in the amplitude analysis of $D^{+}\to K_{S}^{0}K_{L}^{0}π^{+}$

We present the first amplitude analysis and branching fraction measurement of $D^{+} \rightarrow K_{S}^{0}K_{L}^{0}π^{+}$ decay. The analysis uses a dataset corresponding to an integrated luminosity of 20.3~$\rm fb^{-1}$, which was recorded at a center-of-mass energy 3.773~GeV by the BESIII detector. The measured branching fraction is $\mathcal{B}(D^{+} \rightarrow K_{S}^{0}K_{L}^{0}π^{+})=(5.780\pm0.085\pm 0.052)\times10^{-3}$, where the first uncertainty is statistical and the second is systematic. Using the known value of ${\cal B}(D^+ \to ϕπ^+,\,ϕ\to K^+K^-)$, we determine the relative branching fraction between $ϕ\to K_{S}^0K_{L}^0$ and $ϕ\to K^+K^-$ to be $\mathcal{B}(D^{+} \to ϕπ^{+}, ϕ\to K_{S}^0K_{L}^0)/\mathcal{B}(D^{+} \to ϕπ^{+}, ϕ\to K^+K^-)= 0.628\pm0.022\pm 0.015\pm0.017$, where the third uncertainty is related to $\mathcal{B}(D^{+} \to ϕπ^{+}, ϕ\to K^+K^-)$. This result is significantly lower than the previous world average and is consistent with the isospin expectation for the $ϕ$ meson's coupling to charged and neutral kaon pairs.

hep-ex↗

arXiv2026

Precise Measurement of the Inclusive Cross Sections of Open-Charm Mesons at Energies from 3.80 to 4.95 GeV

Using $e^+e^-$ collision data collected by the BESIII detector at center-of-mass energies from $3.80$ to $4.95~\text{GeV}$, the inclusive production cross sections of open-charm mesons, $σ(e^{+}e^{-}\to D^{0}/D^{+}/D_{s}^{+}+X)$, are measured by tagging a $D^0$, $D^+$, or $D_s^+$ meson, where $X$ denotes any accompanying particles. Open-charm production dominates the total hadronic yield above threshold. Therefore these measurements provide a vital reference for understanding hadron production and for validating global $R$ value results. The results offer crucial inputs for investigating heavier charmonia and exotic states coupled to open-charm final states, while serving as a benchmark for comparison with the sum of measured exclusive channels. This comparison directly evaluates the completeness of current exclusive datasets and clarifies the underlying hadronization mechanisms in the open-charm region.

hep-ex↗

arXiv2026

What Does World Modeling Actually Improve in Robot Action Learning?

World Action Models (WAMs) combine future-video prediction with robot action learning, yet improvements in task success alone do not reveal how predictive supervision manifests in execution behavior or whether its benefits persist under task and environmental shifts. We conduct controlled future-video prediction loss ablations within FastWAM and OpenWAM, keeping model architecture, initialization, robot training data, and training steps fixed within each model family. Under clean conditions on seen tasks, predictive supervision increases success rates by 24.38 and 72.91 percentage points, respectively. Trajectory clustering further reveals higher success rates within several coarse trajectory clusters, including cases where cluster frequencies change little, indicating that the gains are not solely reflected in changes in the prevalence of trajectory patterns. However, these benefits do not consistently persist under distribution shifts: improvements on unseen tasks vary across models and tasks, while both models exhibit low success rates under the evaluated environmental randomizations, without a consistent advantage from predictive supervision. We further introduce future-video prediction as an auxiliary training objective for $π_{0.5}$, where a lightweight Transformer predictor used only during training increases success from 82.94% to 89.19%. These findings support future-video prediction as effective auxiliary supervision for action learning, while distinguishing improved execution on familiar tasks from reliable transfer and showing that such gains need not rely on a large pretrained video diffusion transformer (DiT) in the evaluated setting.

cs.RO↗

arXiv2026

Search for $e^{+}e^{-} \to π^0 K^+K^-J/ψ$ at $\sqrt{s}= 4.26 \sim$ 4.95 GeV

Using $e^+e^-$ collision data collected with the BESIII detector at 27 center-of-mass energies between 4.26 and 4.95 GeV corresponding to a total integrated luminosity of $13.0~\text{fb}^{-1}$, we report the first search for the process $e^{+}e^{-} \to π^0 K^+K^-J/ψ$. We additionally probe the cross section spectra for potential charmonium-like vector states and invariant mass distributions for intermediate $Z_c/Z_{cs}$ state signals, and find no resonant structures consistent with these exotic candidates. Given the absence of observed resonant signals, upper limits at the 90\% confidence level are determined for the Born cross sections, along with their best-fit values, as well as for the production of the intermediate states.

hep-ex↗

arXiv2026

Improved measurement of $ψ(3686)\to π^+π^- η$

Using a sample of $(2712.4 \pm 14.3) \times 10^6$ $ψ(3686)$ events collected with the BESIII detector, we perform a partial wave analysis of the decay $ψ(3686)\toπ^{+}π^{-}η$ with the $π^{+}π^{-}$ invariant mass in the $ρ(770)^0$ mass region, [0.3, 2.2] $\mathrm{GeV}/c^2$. The cross section line-shape around the $ψ(3686)$ resonance is measured using energy-scan data sets, enabling the estimation of continuum contribution and its interference with the $ψ(3686)$ resonance. The branching fraction of $ψ(3686)\toρ(770)^0η$ is determined to be $(1.34 \pm 0.03\pm0.13) \times 10^{-5}$. The $ψ(3686)\to a_{2}(1320)^{\pm}π^{\mp}$ decay is observed for the first time with a significance of $35.7σ$, and its partial branching fraction is measured to be $(2.13 \pm 0.05\pm0.32) \times 10^{-5}$. The $η$-$η^{\prime}$ pseudoscalar mixing angle $θ_P$ is then found to be $(-11.2 \pm 1.6\pm3.6)^\circ$ or $(-19.4\pm 3.1\pm5.7)^\circ$, where the first uncertainty is statistical and the second systematic.

hep-ex↗

arXiv2026

Precision measurement of the $J/ψ\toμ^+μ^-μ^+μ^-$ branching fraction and search for a new gauge boson $Z^{\prime}$ at BESIII

We present a precision measurement of the branching fraction of the rare decay $J/ψ\toμ^+μ^-μ^+μ^-$, and a search for a new gauge boson $Z^{\prime}$ that couples only to the second and third lepton generations, using a data sample of $(8998 \pm 39) \times 10^6$ $J/ψ$ events collected by the BESIII detector. The branching fraction of the $J/ψ\toμ^+μ^-μ^+μ^-$ decay is measured to be $B(J/ψ\toμ^+μ^-μ^+μ^-)=[0.91\pm0.04~{\rm (stat.)}\pm0.07~{\rm (syst.)}]\times 10^{-6}$, representing the most precise measurement to date and consistent with the theoretical prediction within one standard deviation. Additionally, we search for $CP$ asymmetry in the $J/ψ\toμ^+μ^-μ^+μ^-$ decay and determine the T-odd observable to be $A_T = [0.05\pm 0.04~{\rm (stat.)}\pm0.01~{\rm (syst.)}]$, which is consistent with $CP$ conservation. In the search for $J/ψ\to Z^{\prime}μ^+μ^-$ via $Z^{\prime}\toμ^+μ^-$, no significant $Z^{\prime}$ signal is observed in the $μ^+μ^-$ invariant mass region of $(0.212,~2.6)$~GeV$/c^2$, and we set upper limits on the ${\rm U}(1)_{L_μ-L_τ}$ model coupling constant $g^{\prime}$ ranging from 0.001 to 0.294 at the 90\% confidence level, which is comparable to the upper limits set by Belle II for $Z^{\prime}$ masses below $0.7$~GeV$/c^2$.

hep-ex↗

arXiv2026

Observation of $χ_{c1,2}\to p K^- K^- \bar Ξ^{+} +c.c.$ and search for $χ_{c0}\to p K^- K^- \bar Ξ^{+} +c.c.$

By analyzing $(2.712\pm0.014)\times10^9$ $ψ(3686)$ events collected by the BESIII detector, we report the first experimental study of the decays $χ_{cJ}\to p K^- K^- \bar Ξ^{+}+c.c.~(J=0,1,2)$. The decays $χ_{c1}\to p K^- K^- \bar Ξ^{+}+c.c.$ and $χ_{c2}\to p K^- K^- \bar Ξ^{+}+c.c.$ are observed for the first time with significances of $9.0σ$ each, and their branching fractions are determined to be $\mathcal{B}_{χ_{c1}\to p K^- K^- \bar Ξ^{+}+c.c.} =(9.6^{+2.2}_{-2.0}\pm0.8)\times10^{-6}$, and $\mathcal{B}_{χ_{c2}\to p K^- K^- \bar Ξ^{+}+c.c.} =(7.5^{+1.8}_{-1.5}\pm0.5)\times10^{-6}$, where the first and second uncertainties are statistical and systematic, respectively. No significant signal is observed for $χ_{c0}\to p K^- K^- \bar Ξ^{+}+c.c.$, and an upper limit on its branching fraction of $12.7\times10^{-6}$ is established at the 90\% confidence level.

hep-ex↗

arXiv2026

First measurement of $ψ(3686)\to\bar{p} K^{+} Σ^{}(1385)^{0} + c.c.$ and $ψ(3686)\to\bar{p} K^{}(892)^{0} Σ^{+} + c.c.$

Based on a sample of $(2712.4 \pm 14.3) \times 10^6$ $ψ(3686)$ events collected with the BESIII detector at the BEPCII collider, we report the first observation of the decays $ψ(3686)\to\bar{p} K^{+} Σ^{*}(1385)^{0}+c.c.$ and $ψ(3686)\to\bar{p} K^{*}(892)^{0} Σ^{+} + c.c.$. The corresponding branching fractions are determined to be $\mathcal{B}(ψ(3686)\to\bar{p}K^+Σ^{*}(1385)^{0}+c.c.)=(3.94\pm0.15_{\text{stat.}}\pm0.24_{\text{syst.}})\times10^{-5}$ and $\mathcal{B}(ψ(3686)\to\bar{p}K^{*}(892)^{0}Σ^++c.c.)=(4.93\pm0.14_{\text{stat.}}\pm0.30_{\text{syst.}})\times10^{-5}$. Furthermore, we search for the hidden-strange pentaquark candidates $N_{x}(1875)$ and $N_{x}(2100)$ in the invariant mass spectra of $K^{+} Σ^{*}(1385)^{0}$ and $K^{*}(892)^{0} Σ^{+}$, respectively. No significant signals are observed and the upper limits on the branching fractions at the 90% confidence level are $\mathcal{B}(ψ(3686)\to\bar{p}N_{x}(1875)\to\bar{p}K^+Σ^{*}(1385)^{0})<1.58\times10^{-6}$ and $\mathcal{B}(ψ(3686)\to\bar{p}N_{x}(2100)\to\bar{p}K^{*}(892)^{0}Σ^+)<3.09\times10^{-7}$.

hep-ex↗

arXiv2026

HumanoidNDM: Closing the Training-Deployment Gap of Motion Tracking via Humanoid Neural Dynamics Model

Humanoid robots have recently achieved remarkable success in motion tracking. However, during real-world deployment, robots inevitably encounter dynamics gaps arising from either extra physical disturbances or inaccurate simulation modeling, resulting in a significant training-deployment gap. Therefore, effectively leveraging real-world data to fine-tune policies represents the crucial last mile for robust deployment. To bridge this gap, we propose HumanoidNDM, an online fine-tuning framework for humanoid motion tracking driven by a real-world-trained neural dynamics model. First, in the data collection stage, we introduce a low-frequency reference perturbation method with an adaptive intensity mechanism, balancing deployment feasibility and exploration efficiency. Second, for the model training stage, we train a robust history-based, proprioceptive neural dynamics model in Euclidean space by incorporating differentiable forward kinematics, eliminating the reliance on costly motion capture systems. Finally, in the policy fine-tuning stage, we directly fine-tune the policy via backpropagated model gradients, achieving high data efficiency. Through physical validation on the Unitree G1 robot, we demonstrate that HumanoidNDM enables rapid real-world adaptation to various perturbations, representing the first online, MoCap-free fine-tuning framework for humanoid tracking policies.

cs.RO↗

arXiv2026

Search for the rare decay $η^{\prime}\to 3γ$

Using a data sample of $(10087 \pm 44) \times 10^{6} J/ψ$ events collected with the BESIII detector, we search for the rare decay $η^{\prime}\to 3γ$ via the process $J/ψ\toγη^{\prime}$. No significant signal is observed and an upper limit on the branching fraction of $η^{\prime}\to 3γ$ is set at $\mathcal{B}(η^{\prime}\to 3γ) < 2.25\times 10^{-5}$ at the 90\% confidence level. This result improves the previous upper limit by more than a factor of four.

hep-ex↗