arXiv subjects

Di Chen

Publications and source records attributed to Di Chen.

At least 19 recordsLinked to original sources

arXiv2026

$\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation

Robotic manipulation requires models that generate executable actions while anticipating and evaluating their future consequences before physical execution. We present $\tau_0$-World Model ($\tau_0$-WM), a unified video-action world model that integrates policy learning, video prediction, and action evaluation within a single future-predictive framework. Built on a shared video diffusion backbone, $\tau_0$-WM provides two complementary interfaces. First, a video action model jointly predicts future visual latents and continuous action chunks from multi-view observations, language instructions, and robot state. Second, an action-conditioned video simulator rolls out candidate action chunks into multi-view futures and predicts dense task-progress scores. The model is trained on approximately $27{,}300$ hours of real-robot teleoperation, UMI-style interaction, egocentric human videos, and rollout or failure trajectories using modality-specific supervision masks. At inference time, $\tau_0$-WM uses test-time computation to sample action candidates, rank them with re-denoising consistency, and invoke simulator-based rectification for low-quality candidates. On challenging long-horizon and fine-grained robotic manipulation tasks, $\tau_0$-WM shows superior performance over other relevant baselines.

cs.RO↗

arXiv2026

GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation

We introduce GE-Sim 2.0 (Genie Envisioner World Simulator 2.0), a closed-loop video world simulator for robotic manipulation. Building on the action-conditioned video generation framework of Genie Envisioner, GE-Sim 2.0 is re-trained on thousands of hours of real-world robot data spanning teleoperation, contact-rich interaction, and on-robot policy deployment, substantially improving action-following fidelity and trajectory coverage. On top of this foundation, three new modules close the loop from video simulation to policy learning: a state expert that decodes proprioceptive state from video latents to support next-chunk prediction by downstream VLA policies; a world judge that scores generated rollouts against task instructions, yielding machine-verifiable success signals and rewards in place of manual inspection; and an acceleration framework that delivers a 25-frame rollout in 2.3 seconds on a single H100, with up to 4* frame skipping at inference for long-horizon evaluation. GE-Sim 2.0 tops the public WorldArena leaderboard at only 2B parameters, outperforming both dedicated robotic world models and closed-source general video generators, and policies trained against its rollouts and rewards translate into measurable real-world gains, establishing GE-Sim 2.0 as a practical platform for scalable evaluation and closed-loop learning of manipulation policies.

cs.RO↗

arXiv2026

StepAudio 2.5 Technical Report

Unified audio-language modeling has emerged as a prominent trend in modern speech systems, promising to bring the reasoning capabilities of large language models to auditory tasks. However, existing unified foundations often struggle to match the depth of specialized systems across automatic speech recognition (ASR), text-to-speech synthesis (TTS), and realtime spoken interaction. Bridging this gap remains an open challenge. This report presents StepAudio 2.5, a unified audio-language foundation model that matches or exceeds specialized systems across all three capabilities. Rather than treating these tasks as architecturally distinct, we operate on the premise that once text and audio share a multimodal representational space, task specialization becomes a matter of operational regimes: data construction, optimization targets, and decoding constraints. Guided by this insight, we advance the post-training paradigm from standard supervised learning to task-tailored Reinforcement Learning from Human Feedback (RLHF), using it as the primary mechanism to define complex optimization targets. We leverage this RLHF-centric alignment, alongside specialized decoding, to shape a shared backbone into three distinct operational modes. Concretely, the ASR branch advances transcription efficiency via verifiable multi-token decoding; the TTS branch achieves controllable, expressive synthesis through preference-based RLHF and context-rich supervision; and the Realtime branch realizes low-latency, persona-consistent dialogue via generative reward modeling within an RLHF framework. On standard benchmarks, StepAudio 2.5 achieves state-of-the-art results across ASR, TTS, and Realtime, demonstrating that a singular audio-language foundation can successfully internalize the distinct deployment objectives of speech understanding, generation, and live interaction.

eess.AS↗

arXiv2026

Quantum geometry induced anomalous chiral transport and hidden symmetry breaking in centrosymmetric 2M-WS2

Chirality, a widely existing material property in nature involving the breaking of the left-right symmetry, has profound influences in various fields of natural sciences. Nonlinear response, such as electronic magnetochiral anisotropy (eMChA), has been recognized as a sensitive probe for the effects of symmetry breaking and nontrivial quantum geometries in solids. So far, observations of eMChA have primarily been limited to inversion-symmetry broken materials. Here, we report a remarkable chiral transport in centrosymmetric candidate topological superconductor 2M-WS2 flakes observed via second-harmonic generation under an out-of-plane magnetic field. More importantly, the eMChA becomes significant around the crossover temperature TFL ~ 25 K from the Fermi liquid (FL) to strange metal (SM) in the normal state, which interestingly echoes with the anomalously large Nernst response at the same temperature in bulk 2M-WS2. These observations reveal a direct correspondence between the nonlinear response, Nernst response, and FL-SM transition in 2M-WS2. Theoretical analysis indicates that nontrivial quantum geometry is behind the simultaneous response of eMChA and Nernst effects in 2M-WS2 and the contribution from the orbital magnetic moment at the Fermi surface becomes significant during the FL-SM transition. Based on first-principles calculations, a thick-layer-sliding mechanism with minimal energy gain in 2M-WS2 provides one possibility for the generation of such nontrivial quantum geometry. The intertwined physics of remarkable eMChA, Nernst response, and FL-SM transition make 2M-WS2 a rare quantum platform to study the chiral transport and unexplored phenomena in strange metals, which may shed light on the trans-century, unresolved scientific issue in unconventional high-temperature superconductivity.

cond-mat.str-el↗

arXiv2026

Long-distance spin transport in frustrated hyperkagome magnet Gd3Ga5O12

Transport of spin angular momentum over large distance has been a long sought-after goal in the field of spintronics. While the majority of the research effort has been devoted to the spin transport properties of magnetically ordered materials, spin transport in magnetically frustrated materials has received little attention. Here, we report an anomalous state in frustrated hyperkagome magnetic insulator Gd3Ga5O12, where spin angular momenta can be transported over a long distance of 480 {\mu}m, far exceeding the transport distance of any diffusive spin current in magnetically ordered materials, to the best of our knowledge. Monte Carlo simulations reveal significant spin fluctuations, spin-spin correlations and an absence of conventional magnons in such anomalous state; while the response of the anomalous state to perturbation is found to be akin to an overdamped forced oscillator. We find close relation of such state to the correlated ``director'' state in the material. Our result provides an effective electrical technique to characterize spin-spin correlations and frustrations; it also unveils the potential of frustrated magnets as powerful channel materials for spin transport.

cond-mat.mtrl-sci↗

arXiv2025

Act2Goal: From World Model To General Goal-conditioned Policy

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle with long-horizon manipulation due to their reliance on single-step action prediction without explicit modeling of task progress. We propose Act2Goal, a general goal-conditioned manipulation policy that integrates a goal-conditioned visual world model with multi-scale temporal control. Given a current observation and a target visual goal, the world model generates a plausible sequence of intermediate visual states that captures long-horizon structure. To translate this visual plan into robust execution, we introduce Multi-Scale Temporal Hashing (MSTH), which decomposes the imagined trajectory into dense proximal frames for fine-grained closed-loop control and sparse distal frames that anchor global task consistency. The policy couples these representations with motor control through end-to-end cross-attention, enabling coherent long-horizon behavior while remaining reactive to local disturbances. Act2Goal achieves strong zero-shot generalization to novel objects, spatial layouts, and environments. We further enable reward-free online adaptation through hindsight goal relabeling with LoRA-based finetuning, allowing rapid autonomous improvement without external supervision. Real-robot experiments demonstrate that Act2Goal improves success rates from 30% to 90% on challenging out-of-distribution tasks within minutes of autonomous interaction, validating that goal-conditioned world models with multi-scale temporal control provide structured guidance necessary for robust long-horizon manipulation. Project page: https://act2goal.github.io/

cs.RO↗

arXiv2025

Real2Edit2Real: Generating Robotic Demonstrations via a 3D Control Interface

Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for spatial generalization in manipulation tasks. To reduce repetitive data collection, we present Real2Edit2Real, a framework that generates new demonstrations by bridging 3D editability with 2D visual data through a 3D control interface. Our approach first reconstructs scene geometry from multi-view RGB observations with a metric-scale 3D reconstruction model. Based on the reconstructed geometry, we perform depth-reliable 3D editing on point clouds to generate new manipulation trajectories while geometrically correcting the robot poses to recover physically consistent depth, which serves as a reliable condition for synthesizing new demonstrations. Finally, we propose a multi-conditional video generation model guided by depth as the primary control signal, together with action, edge, and ray maps, to synthesize spatially augmented multi-view manipulation videos. Experiments on four real-world manipulation tasks demonstrate that policies trained on data generated from only 1-5 source demonstrations can match or outperform those trained on 50 real-world demonstrations, improving data efficiency by up to 10-50x. Moreover, experimental results on height and texture editing demonstrate the framework's flexibility and extensibility, indicating its potential to serve as a unified data generation framework. Project website is https://real2edit2real.github.io/.

cs.RO↗

arXiv2025

Self-Interest and Systemic Benefits: Emergence of Collective Rationality in Mixed Autonomy Traffic Through Deep Reinforcement Learning

Autonomous vehicles (AVs) are expected to be commercially available in the near future, leading to mixed autonomy traffic consisting of both AVs and human-driven vehicles (HVs). Although numerous studies have shown that AVs can be deployed to benefit the overall traffic system performance by incorporating system-level goals into their decision making, it is not clear whether the benefits still exist when agents act out of self-interest -- a trait common to all driving agents, both human and autonomous. This study aims to understand whether self-interested AVs can bring benefits to all driving agents in mixed autonomy traffic systems. The research is centered on the concept of collective rationality (CR). This concept, originating from game theory and behavioral economics, means that driving agents may cooperate collectively even when pursuing individual interests. Our recent research has proven the existence of CR in an analytical game-theoretical model and empirically in mixed human-driven traffic. In this paper, we demonstrate that CR can be attained among driving agents trained using deep reinforcement learning (DRL) with a simple reward design. We examine the extent to which self-interested traffic agents can achieve CR without directly incorporating system-level objectives. Results show that CR consistently emerges in various scenarios, which indicates the robustness of this property. We also postulate a mechanism to explain the emergence of CR in the microscopic and dynamic environment and verify it based on simulation evidence. This research suggests the possibility of leveraging advanced learning methods (such as federated learning) to achieve collective cooperation among self-interested driving agents in mixed-autonomy systems.

cs.LG↗

arXiv2025

Fidelity-Aware Data Composition for Robust Robot Generalization

Generalist robot policies trained on large-scale, visually homogeneous datasets can be susceptible to shortcut learning, which impairs their out-of-distribution (OOD) generalization. While generative data augmentation is a common approach to introduce diversity, it presents a subtle challenge: data composition. Naively mixing real and synthetic data can corrupt the learning signal, as this process often prioritizes visual diversity at the expense of information fidelity. This paper suggests that robust generalization depends on principled, fidelity-aware data composition. We introduce Coherent Information Fidelity Tuning (CIFT), a framework that treats data composition as an optimization problem. CIFT uses a practical proxy for Information Fidelity based on the feature-space geometry of a dataset. This enables the identification of a phase transition, termed the Decoherence Point, where training stability degrades. The framework includes a generative engine, Multi-View Video Augmentation (MVAug), to synthesize a causally disentangled data spectrum for this tuning process. Applying CIFT to policy architectures such as $\pi_0$ and Diffusion Policy improves OOD success rates by over 54\%. These results indicate that fidelity-aware composition, beyond data synthesis alone, is an important component for developing robust, general-purpose robots.

cs.RO↗

arXiv2025

Identifying Monochromatic Signals in LISA and Taiji via Spectral Split: Gravitational Waves versus Ultralight Dark Matter

The detection of gravitational waves (GWs) has opened a new window to explore the dark Universe. Ultralight dark matter (ULDM), an attractive candidate for dark matter, might induce monochromatic signals in gravitational-wave (GW) laser interferometers. However it is not clear how such signals are disentangled from the GWs emitted by galactic compact binaries. Here we initiate the investigation on the spectral split of monochromatic signals caused by detector's heliocentric motion in space and show the annual modulation can induce distinct structures in the spectral harmonics for GWs and ULDM, which would enable to clearly identify the nature of the signal. We show the physical parameters can be inferred with high precision using the Fisher matrix formalism. Our results provide a practical algorithm for probing ULDM and broaden the scientific objectives of future GW detectors in space, such as LISA and Taiji.

hep-ph↗

arXiv2025

TrajFlow: Multi-modal Motion Prediction via Flow Matching

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a novel flow matching-based motion prediction framework that addresses the scalability and efficiency challenges of existing generative trajectory prediction methods. Unlike conventional generative approaches that employ i.i.d. sampling and require multiple inference passes to capture diverse outcomes, TrajFlow predicts multiple plausible future trajectories in a single pass, significantly reducing computational overhead while maintaining coherence across predictions. Moreover, we propose a ranking loss based on the Plackett-Luce distribution to improve uncertainty estimation of predicted trajectories. Additionally, we design a self-conditioning training technique that reuses the model's own predictions to construct noisy inputs during a second forward pass, thereby improving generalization and accelerating inference. Extensive experiments on the large-scale Waymo Open Motion Dataset (WOMD) demonstrate that TrajFlow achieves state-of-the-art performance across various key metrics, underscoring its effectiveness for safety-critical autonomous driving applications. The code and other details are available on the project website https://traj-flow.github.io/.

cs.CV↗

arXiv2025

Exploring electrochemical methods for 2D precision stress control in nanoscale devices

Tuning the local film stress (and associated strain) provides a universal route towards exerting dynamic control on propagating fields in nanoscale geometries, and engineering controlled interactions between them. The majority of existing techniques are adapted for engineering either uniform stresses or fixed stress gradients, but there is a need to develop methods that can provide independent precision control over the local stress at the nanoscale in the 2D plane. Here, we explore electrochemical absorption of hydrogen in structured palladium thin-film electrodes, and the associated shape-dependent stress to engineer controlled, localized stresses in thin films. We discuss the prospects of this technique for precision dynamic tuning of nanoscale opto-electro-mechanical devices and the development of field-programmable non-volatile set-and-forget architectures. We also outline some of the key challenges that need to be addressed with a view towards incorporating electrochemical stress tuning methods for post-processing foundry devices.

physics.app-ph↗

arXiv2025

LONGER: Scaling Up Long Sequence Modeling in Industrial Recommenders

Modeling ultra-long user behavior sequences is critical for capturing both long- and short-term preferences in industrial recommender systems. Existing solutions typically rely on two-stage retrieval or indirect modeling paradigms, incuring upstream-downstream inconsistency and computational inefficiency. In this paper, we present LONGER, a Long-sequence Optimized traNsformer for GPU-Efficient Recommenders. LONGER incorporates (i) a global token mechanism for stabilizing attention over long contexts, (ii) a token merge module with lightweight InnerTransformers and hybrid attention strategy to reduce quadratic complexity, and (iii) a series of engineering optimizations, including training with mixed-precision and activation recomputation, KV cache serving, and the fully synchronous model training and serving framework for unified GPU-based dense and sparse parameter updates. LONGER consistently outperforms strong baselines in both offline metrics and online A/B testing in both advertising and e-commerce services at ByteDance, validating its consistent effectiveness and industrial-level scaling laws. Currently, LONGER has been fully deployed at more than 10 influential scenarios at ByteDance, serving billion users.

cs.IR↗

arXiv2025

Effective Reinforcement Learning Control using Conservative Soft Actor-Critic

Reinforcement Learning (RL) has shown great potential in complex control tasks, particularly when combined with deep neural networks within the Actor-Critic (AC) framework. However, in practical applications, balancing exploration, learning stability, and sample efficiency remains a significant challenge. Traditional methods such as Soft Actor-Critic (SAC) and Proximal Policy Optimization (PPO) address these issues by incorporating entropy or relative entropy regularization, but often face problems of instability and low sample efficiency. In this paper, we propose the Conservative Soft Actor-Critic (CSAC) algorithm, which seamlessly integrates entropy and relative entropy regularization within the AC framework. CSAC improves exploration through entropy regularization while avoiding overly aggressive policy updates with the use of relative entropy regularization. Evaluations on benchmark tasks and real-world robotic simulations demonstrate that CSAC offers significant improvements in stability and efficiency over existing methods. These findings suggest that CSAC provides strong robustness and application potential in control tasks under dynamic environments.

cs.RO↗

arXiv2025

Wan: Open and Advanced Large-Scale Video Generative Models

This report presents Wan, a comprehensive and open suite of video foundation models designed to push the boundaries of video generation. Built upon the mainstream diffusion transformer paradigm, Wan achieves significant advancements in generative capabilities through a series of innovations, including our novel VAE, scalable pre-training strategies, large-scale data curation, and automated evaluation metrics. These contributions collectively enhance the model's performance and versatility. Specifically, Wan is characterized by four key features: Leading Performance: The 14B model of Wan, trained on a vast dataset comprising billions of images and videos, demonstrates the scaling laws of video generation with respect to both data and model size. It consistently outperforms the existing open-source models as well as state-of-the-art commercial solutions across multiple internal and external benchmarks, demonstrating a clear and significant performance superiority. Comprehensiveness: Wan offers two capable models, i.e., 1.3B and 14B parameters, for efficiency and effectiveness respectively. It also covers multiple downstream applications, including image-to-video, instruction-guided video editing, and personal video generation, encompassing up to eight tasks. Consumer-Grade Efficiency: The 1.3B model demonstrates exceptional resource efficiency, requiring only 8.19 GB VRAM, making it compatible with a wide range of consumer-grade GPUs. Openness: We open-source the entire series of Wan, including source code and all models, with the goal of fostering the growth of the video generation community. This openness seeks to significantly expand the creative possibilities of video production in the industry and provide academia with high-quality video foundation models. All the code and models are available at https://github.com/Wan-Video/Wan2.1.

cs.CV↗

arXiv2025

Adaptive Domain Scaling for Personalized Sequential Modeling in Recommenders

Users generally exhibit complex behavioral patterns and diverse intentions in multiple business scenarios of super applications like Douyin, presenting great challenges to current industrial multi-domain recommenders. To mitigate the discrepancies across diverse domains, researches and industrial practices generally emphasize sophisticated network structures to accomodate diverse data distributions, while neglecting the inherent understanding of user behavioral sequence from the multi-domain perspective. In this paper, we present Adaptive Domain Scaling (ADS) model, which comprehensively enhances the personalization capability in target-aware sequence modeling across multiple domains. Specifically, ADS comprises of two major modules, including personalized sequence representation generation (PSRG) and personalized candidate representation generation (PCRG). The modules contribute to the tailored multi-domain learning by dynamically learning both the user behavioral sequence item representation and the candidate target item representation under different domains, facilitating adaptive user intention understanding. Experiments are performed on both a public dataset and two billion-scaled industrial datasets, and the extensive results verify the high effectiveness and compatibility of ADS. Besides, we conduct online experiments on two influential business scenarios including Douyin Advertisement Platform and Douyin E-commerce Service Platform, both of which show substantial business improvements. Currently, ADS has been fully deployed in many recommendation services at ByteDance, serving billions of users.

cs.IR↗

arXiv2024

Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersections

Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task environments with unpredictable interactions and an increased possibility of conflicts. This study aims to address these challenges by developing a unified, robust, adaptive framework to ensure safety and efficiency across three distinct intersection movements: left-turn, right-turn, and straight-ahead. Existing methods often struggle to reliably ensure safety and effectively learn multi-task behaviors from demonstrations in such environments. This study proposes a safety-critical planning method that integrates Dynamic High-Order Control Barrier Functions (DHOCBF) with a diffusion-based model, called Dynamic Safety-Critical Diffuser (DSC-Diffuser). The DSC-Diffuser leverages task-guided planning to enhance efficiency, allowing the simultaneous learning of multiple driving tasks from real-world expert demonstrations. Moreover, the incorporation of goal-oriented constraints significantly reduces displacement errors, ensuring precise trajectory execution. To further ensure driving safety in dynamic environments, the proposed DHOCBF framework dynamically adjusts to account for the movements of surrounding vehicles, offering enhanced adaptability and reduce the conservatism compared to traditional control barrier functions. Validity evaluations of DHOCBF, conducted through numerical simulations, demonstrate its robustness in adapting to variations in obstacle velocities, sizes, uncertainties, and locations, effectively maintaining driving safety across a wide range of complex and uncertain scenarios. Comprehensive performance evaluations demonstrate that DSC-Diffuser generates realistic, stable, and generalizable policies, providing flexibility and reliable safety assurance in complex multi-task driving scenarios.

cs.RO↗

arXiv2024

How to predict on-road air pollution based on street view images and machine learning: a quantitative analysis of the optimal strategy

On-road air pollution exhibits substantial variability over short distances due to emission sources, dilution, and physicochemical processes. Integrating mobile monitoring data with street view images (SVIs) holds promise for predicting local air pollution. However, algorithms, sampling strategies, and image quality introduce extra errors due to a lack of reliable references that quantify their effects. To bridge this gap, we employed 314 taxis to monitor NO, NO2, PM2.5 and PM10 dynamically and sampled corresponding SVIs, aiming to develop a reliable strategy. We extracted SVI features from ~ 382,000 streetscape images, which were collected at various angles (0{\deg}, 90{\deg}, 180{\deg}, 270{\deg}) and ranges (buffers with radii of 100m, 200m, 300m, 400m, 500m). Also, three machine learning algorithms alongside the linear land-used regression (LUR) model were experimented with to explore the influences of different algorithms. Four typical image quality issues were identified and discussed. Generally, machine learning methods outperform linear LUR for estimating the four pollutants, with the ranking: random forest > XGBoost > neural network > LUR. Compared to single-angle sampling, the averaging strategy is an effective method to avoid bias of insufficient feature capture. Therefore, the optimal sampling strategy is to obtain SVIs at a 100m radius buffer and extract features using the averaging strategy. This approach achieved estimation results for each aggregation location with absolute errors almost less than 2.5 {\mu}g/m^2 or ppb. Overexposure, blur, and underexposure led to image misjudgments and incorrect identifications, causing an overestimation of road features and underestimation of human-activity features, contributing to inaccurate NO, NO2, PM2.5 and PM10 estimation.

cs.LG↗