arXiv subjects

Fan Zhang

Publications and source records attributed to Fan Zhang.

At least 91 records · Page 5Linked to original sources

arXiv2026

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation

Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers improve generalization compared with rule-based and analytic approaches, but most are trained for individual tasks and remain difficult to reuse across procedures. Vision-Language-Action (VLA) models provide a unified framework that integrates visual perception, language grounding, and action generation, offering a promising path toward more composable surgical autonomy. However, existing VLA policies rely on fixed-length open-loop action sequences, where changing scene conditions can lead to accumulated errors and potential risks in surgical manipulation. To mitigate this issue, we formulate surgical VLA deployment as an adaptive execution-horizon decision problem and propose Trajectory Divergence Horizon Decision (TDHD), a test-time mechanism that estimates step-wise action reliability by measuring the divergence between two flow-matching-generated trajectories under small noise perturbations and truncates execution using a dual-threshold rule to trigger timely replanning. We further establish a real-world da Vinci-like dual-arm benchmark with synchronized multi-view perception and language instructions, and collect 600 teleoperated demonstrations across needle (reach, pick, regrasp) and tissue (reach, lift, resection) manipulation suites. On real hardware with 20 trials per task setting, TDHD consistently improves performance over the latest VLA baselines: success increases from 55\% to 60\% for needle manipulation and from 55\% to 80\% for tissue manipulation, with the largest gains observed in the final manipulation stages. These results highlight the importance of adaptive execution control for reliable deployment of VLA models in surgical robotic manipulation.

cs.RO↗

arXiv2026

Open Evaluation Agent: Efficient and Promptable Evaluation of Visual Generative Models

Recent advances in visual generative models have enabled high-quality image and video generation, but evaluating these models often demands sampling hundreds or thousands of images or videos, which is computationally expensive. Existing evaluation methods also rely on rigid pipelines that overlook specific user needs and provide numerical results without clear explanations. Mimicking how humans quickly form impressions of a model's capabilities from only a few samples, we propose the Evaluation Agent framework, which employs human-like strategies for efficient, dynamic, multi-round evaluations, offering detailed, user-tailored analyses. Given a natural-language evaluation request, the agent decomposes it into sub-aspects, generates targeted prompts, samples images or videos from the evaluated model, invokes suitable evaluation tools, and iteratively updates its plan from the observed evidence, covering both predefined benchmark dimensions and open-ended user concerns. The framework is thus efficient, promptable, explainable, and scalable across models and tools. Experiments show that Evaluation Agent reduces evaluation time to 10% of traditional methods while delivering comparable results. We further introduce Open Evaluation Agent (Open-EA) by constructing EA-CoT-10K, a corpus of history-conditioned step-level instruction-tuning records derived from multi-round evaluation rollouts, and training EA-3B from Qwen2.5-3B-Instruct as a local planning backbone that preserves the structured reasoning, tool invocation, and summary protocol of the API-based agent while reducing dependence on proprietary backbones. Experiments validate the API-based agent on established T2I/T2V benchmarks and open-ended queries, and evaluate Open-EA on four in-domain and three out-of-domain T2V generator families, showing partial cross-family transfer of the learned policy.

cs.AI↗

arXiv2026

RA-FinBERT: Rule-aware LoRA adaptation for low-resource financial sentiment classification

Financial sentiment analysis converts unstructured financial news into quantitative signals that can support market analysis and decision-making. Existing work on resource-efficient financial NLP has largely focused on compressing or adapting pretrained language models, with less attention to combining contextual representations with lightweight rule-derived features. This study develops Rule-Aware FinBERT (RA-FinBERT), a parameter-efficient framework that integrates low-rank adaptation (LoRA) with three continuous VADER-derived sentiment proportions (positive, negative, and neutral) and a source-level metadata feature. The standardized four-dimensional feature vector is directly concatenated with the 768-dimensional final-layer FinBERT [CLS] representation and passed through a lightweight classification head. This design introduces only 1,024 additional trainable weights relative to a structurally matched text-only FinBERT model. RA-FinBERT was evaluated against text-only FinBERT and a lightweight DistilBERT baseline for three-class sentiment classification of financial-news titles and descriptions. On the held-out test set, RA-FinBERT achieved 69.89% accuracy and a macro F1 score of 0.634, compared with 63.44% and 0.526 for text-only FinBERT. Neutral-class recall increased from 18.18% to 45.45%. The framework supports both CPU and GPU execution, offering a lightweight and practical approach to financial sentiment classification under constrained computational resources. These findings indicate that rule-derived sentiment information and source metadata can provide complementary signals to contextual FinBERT representations and improve performance with minimal additional model complexity.

cs.CL↗

arXiv2026

FlippedRAG: Black-Box Opinion Manipulation Adversarial Attacks to Retrieval-Augmented Generation Models

Retrieval-Augmented Generation (RAG) enriches LLMs by dynamically retrieving external knowledge, reducing hallucinations and satisfying real-time information needs. While existing research mainly targets RAG's performance and efficiency, emerging studies highlight critical security concerns. Yet, current adversarial approaches remain limited, mostly addressing white-box scenarios or heuristic black-box attacks without fully investigating vulnerabilities in the retrieval phase. Additionally, prior works mainly focus on factoid Q&A tasks, their attacks lack complexity and can be easily corrected by advanced LLMs. In this paper, we investigate a more realistic and critical threat scenario: adversarial attacks intended for opinion manipulation against black-box RAG models, particularly on controversial topics. Specifically, we propose FlippedRAG, a transfer-based adversarial attack against black-box RAG systems. We first demonstrate that the underlying retriever of a black-box RAG system can be reverse-engineered, enabling us to train a surrogate retriever. Leveraging the surrogate retriever, we further craft target poisoning triggers, altering vary few documents to effectively manipulate both retrieval and subsequent generation. Extensive empirical results show that FlippedRAG substantially outperforms baseline methods, improving the average attack success rate by 16.7%. FlippedRAG achieves on average a 50% directional shift in the opinion polarity of RAG-generated responses, ultimately causing a notable 20% shift in user cognition. Furthermore, we evaluate the performance of several potential defensive measures, concluding that existing mitigation strategies remain insufficient against such sophisticated manipulation attacks. These results highlight an urgent need for developing innovative defensive solutions to ensure the security and trustworthiness of RAG systems.

cs.IR↗

arXiv2026

Insecurity Through Obscurity: Veiled Vulnerabilities in Closed-Source Contracts

Most blockchains cannot hide the binary code of programs (i.e., smart contracts) running on them. To conceal proprietary business logic and to potentially deter attacks, many smart contracts are closed-source and in many cases exhibit code obfuscation, either intentionally introduced to hide internal logic or unintentionally produced by optimizations. However, we demonstrate that such obfuscation can obscure critical vulnerabilities rather than enhance security, a phenomenon known as insecurity through obscurity. To systematically analyze these risks on a large scale, we present SKANF, a novel EVM bytecode analysis tool tailored for closed-source and obfuscated contracts. SKANF combines control-flow deobfuscation with symbolic execution based on historical transactions to identify and exploit asset management vulnerabilities. Our evaluation on real-world Maximal Extractable Value (MEV) bots reveals that SKANF detects vulnerabilities in 1,046 contracts and successfully generates exploits for 394 of them, with potential losses of \$10.6M. Additionally, we uncover 104 real-world MEV bot attacks that collectively resulted in \$2.76M in losses.

cs.CR↗

arXiv2026

Thermodynamic evidence for interaction-driven first-order topological quantum phase transitions

Topological quantum phase transitions in non interacting systems occur through continuous gap closing and reopening. In strongly interacting systems, however, competing ordered states have long been predicted to drive first order transitions, although this possibility has remained experimentally unresolved. Recent transport studies of correlated phases in charge neutral rhombohedral graphene were interpreted as evidence for continuous topological transitions. Here, using nanoSQUID on tip magnetometry, we directly image the local orbital magnetization of a spin orbit proximitized rhombohedral graphene quantum anomalous Hall (QAH) state. We provide the first real space visualization of a QAH phase with a record Chern number, reconstruct its local thermodynamic gap, and track the evolution of its magnetization across competing correlated states. Combined with self consistent Hartree Fock calculations, these measurements show that the sequential transitions between the layer antiferromagnetic, QAH, and layer polarized insulating states are first order, accompanied by discontinuous changes in orbital magnetization. Near the phase boundaries, we observe fluctuating magnetic domains, providing direct microscopic evidence of phase coexistence between nearly degenerate competing ordered states. Together, these observations provide the first direct thermodynamic evidence for first order topological quantum phase transitions and establish a microscopic framework for understanding interaction driven topological quantum phase transitions through phase competition and coexistence.

cond-mat.mes-hall↗

arXiv2026

Financial Evidence Crowding: Diagnosing and Mitigating Constraint-Induced Displacement in Retrieval-Augmented Generation

Retrieval-augmented generation (RAG) retrieves candidate evidence and sends only a limited top-ranked subset, the top-k context, to a generator. In financial question answering, passages can match a query's topic while conflicting with its period, segment, metric scope, or table scope. We study the resulting set-level ordering failure, which we call financial evidence crowding. FinDeCrowd-Stress isolates this failure through matched compatible and incompatible candidate pools while fixing the query, relevant evidence, ranking model, candidate count, and retrieval budget. On a FinDER test split containing companies unseen during training, incompatible pools reduce top-10 evidence inclusion (Recall@10) by 0.147 relative to equally difficult compatible pools. This gap shows that conflicting candidates consume limited context slots and displace answer-supporting evidence. We then introduce FinDeCrowd-RAG, a learned score correction that combines a fixed relevance score with typed compatibility and local lexical competition. A query-level identity gate applies the correction only when it predicts a better order; otherwise, it preserves the original ranking. On identical controlled candidates, FinDeCrowd-RAG raises top-10 evidence inclusion from 0.757 to 0.902 by recovering evidence already present in the candidate set. On a FinDER index built without query-specific candidate insertion, gated reranking raises this inclusion rate from 0.420 to 0.492, while top-100 retrieval coverage remains 0.743 by design. With a fixed generator, the same ordering change improves answer accuracy and citation recall on FinanceBench and FinQA. These results identify constraint-induced displacement as a measurable RAG evaluation target and show that identity-gated reranking can recover evidence already covered by first-stage retrieval.

cs.IR↗

arXiv2026

Geo-Embed: Towards Unified Multimodal Embeddings for Urban Understanding

Geospatial and urban applications increasingly require models to compare heterogeneous evidence across street-view imagery, remote-sensing observations, text descriptions, region proposals, and temporal change cues. However, existing multimodal embedding models and benchmarks are still largely designed and evaluated around general-purpose image-text matching, leaving unclear whether unified embedding space can support heterogeneous geospatial tasks involving spatial relationships, fine-grained semantics, and temporal changes. To address this gap, we make three key contributions. First, we introduce GeoMEB, a large-scale multimodal embedding benchmark that standardizes 45 urban evaluation tasks across retrieval, visual question answering, change detection, classification, and visual grounding, together with training collections comprising 1.32M examples and 286K evaluation queries. Second, we present Geo-Embed, a unified embedding model that adapts a shared vision-language backbone to instruction-conditioned query-target matching over heterogeneous geospatial inputs, including single images, multiple images, text, regions, and masks. On GeoMEB, Geo-Embed achieves the strongest overall performance among representative multimodal embedders, with a 15.3% relative improvement over the strongest baseline. These results motivate future geospatial embedders that organize training and evaluation around explicit query-target relations, including semantic, cross-view, region-level, and temporal correspondence.

cs.CV↗

arXiv2026

SIGNPOST-Bench: Benchmarking Text-Vision Conflict Resolution in Multimodal Large Language Models

Multimodal large language models (MLLMs) make grounded predictions in real-world scenes by combining visual and textual cues, yet existing benchmarks rarely reveal how they arbitrate between these evidence sources when they conflict. We introduce SIGNPOST-Bench, a controlled counterfactual benchmark for evaluating text-vision conflict resolution. Each source image is transformed into a counterfactual quintuplet of Original, Blank, Similar, Random, and Adversarial variants. Synthetic, localized scene-text interventions are designed to preserve non-textual content, enabling paired measurements of changes in localization performance and directed shifts toward geographic targets introduced by conflicting text. SIGNPOST-Bench contains 5,111 counterfactual groups and 25,555 image variants from four datasets. We evaluate 20 MLLMs from seven providers. Compared with Original images, Adversarial variants raise median localization error from 282 km to 1,347 km, a 4.8-fold increase. Among geocodable adversarial samples, 6.5-20.1% of predictions lie less than 50 km from the injected target across models, and every evaluated model exhibits a positive mean paired reduction in target distance from Blank to Adversarial. Compatible, unrelated, and conflicting text replacements produce distinct effects on model predictions, while clean-input localization performance does not fully predict robustness to conflicting text. These results establish visual geolocation as a continuous diagnostic of scene-text arbitration and provide a controlled framework for evaluating how MLLMs resolve conflicting multimodal evidence.

cs.CV↗

arXiv2026

LabGuard: Grounding Natural-Language Laboratory Rules into Runtime Guards for Embodied Laboratory Agents

Scientific embodied agents are increasingly capable of carrying out laboratory procedures, but executing these procedures safely in dynamic laboratory environments remains challenging. Current safety approaches often overlook the intermediate step of transforming laboratory natural language, including safety rules, manuals, protocols, and standard operating procedures, into machine-checkable runtime constraints. We introduce LabGuard (Laboratory Guard), a language-to-execution safety suite that grounds natural-language laboratory rules into executable specifications and deploys them as runtime guards. LabGuard includes three core components: LabGuard-IR, which defines a typed executable representation; LabGuard-Bench, which provides 812 supervised annotations expanded from 203 seed laboratory rules; and LabGuard-Grounder, which maps natural-language laboratory rules into LabGuard-IR. The resulting IR instances are handled by the LabGuard Pipeline, which compiles them into runtime monitors and applies them at the controller boundary. Experiments show that LabGuard generalizes to unseen laboratory-rule sources, achieves 79.4 task-scope F1, and reduces unsafe events from 39.5% to 23.8% after monitor compilation. In LabUtopia, its runtime monitors integrate with ACT, keeping interventions below 0.5% while preserving task success.

cs.AI↗

arXiv2026

PriSAR: 3D Geometric-Prior-Guided Diffusion for Parameter-Controlled SAR Image Generation

Synthetic aperture radar (SAR) image generation can mitigate data scarcity, but controllablegeneration under sparse observation angles remains difficult. Recent SAR generative studies im-prove texture realism, yet explicit geometry-aware control is still limited. This paper studiesthe focused and verifiable setting of intermediate-azimuth completion: 3D-model-derived geo-metric priors guide a diffusion model to synthesize the views missing from sparse-angle trainingdata. GeoDiff-SAR constructs a lightweight multi-bounce ray-tracing prior, encodes the result-ing point cloud, and fuses it with text conditioning while adapting Stable Diffusion 3.5 Mediumthrough low-rank adaptation. On a real four-category aircraft dataset, GeoDiff-SAR reaches anSSIM of 0.812 and azimuth consistency of 0.940, compared with 0.738 and 0.782 for the text-conditioned SD3.5 Medium baseline. The same sparse-angle protocol on five MSTAR vehicleclasses yields an SSIM of 0.878 and azimuth consistency of 0.917. These results support theconclusion that a lightweight 3D geometric prior improves viewpoint adherence for controllableSAR generation; it is intended as generation guidance rather than high-fidelity electromagneticreconstruction.

eess.IV↗

arXiv2026

GeoDiff-SAR: A Geometric Prior Guided Diffusion Model for SAR Image Generation

eess.IV↗

arXiv2026

A Rapid Reconstruction Method of Gamma Radiation Field based on Normalized Proper Orthogonal Decomposition

When a fault occurs in nuclear facilities, accurately reconstructing gamma radiation fields through measurements from the mobile radiation detection (MRD) system becomes crucial to enable access to internal facility areas for essential safety assessments and repairs. Reconstruction of these fields is difficult because of the uncertainty in the positions and intensities of the gamma sources, the complexity of the gamma distribution, and the physics and radiation hardness constraints on the MRD systems. In this work, a novel reconstruction framework of the gamma radiation is proposed. This system entails a NPOD-based reconstruction algorithm with MRD data, and a variation-based adaptive measurements selection mechanism. Our approach has been thoroughly assessed using extensive simulations, and the results clearly prove its success and efficiency in reconstruction radiation fields accurately and quickly. Furthermore, the designed selection algorithm is also promising for extensive application to other optimization tasks of location selection.

physics.med-ph↗

arXiv2026

EssayCBM: Rubric-Aligned Concept Bottleneck Models for Transparent Essay Grading

Automated essay scoring (AES) has advanced significantly with neural language models, yet most systems remain opaque, offering little visibility into how grades are produced. In educational settings, instructors must be able to understand, trust, and occasionally override the automated grading decisions. We introduce EssayCBM, a rubric-aligned concept bottleneck framework that decomposes essay evaluation into eight interpretable writing concepts before computing the final score. Unlike direct LLM-based grading approaches, EssayCBM learns an explicit and auditable mapping from writing concepts to grades, allowing instructors to inspect and adjust rubric-level predictions during grading. EssayCBM matches neural AES baselines while making grading decisions transparent and directly editable at the rubric level. We further present an interactive system that demonstrates this capability by allowing instructors to inspect and modify concept predictions in real time.

cs.CL↗

arXiv2026

Physics-Aware Complex-Valued State Space Model with Scattering-Prior Feature Modulation for PolSAR Image Classification

Polarimetric synthetic aperture radar (PolSAR) image classification is a representative task for physics-aware GeoAI, where land-cover semantics are closely coupled with electromagnetic scattering mechanisms. Many existing complex-valued networks can preserve amplitude-phase information, but they are often limited in long-range spatial dependency modeling and usually incorporate polarimetric priors only as input-level or shallow auxiliary features. As a result, physical knowledge is insufficiently used to guide deep feature evolution. To address this issue, this paper proposes CV-SSMNet, a physics-aware complex-valued state-space network with scattering-aware feature modulation for PolSAR image classification. The proposed method builds a complex-valued state-space model (CV-SSM) in the original complex domain to capture long-range spatial dependencies while preserving polarimetric amplitude-phase coupling. Meanwhile, seven physically meaningful scattering priors, are encoded as FiLM-style modulation signals to adaptively recalibrate complex-valued representations during feature evolution. CV-SSMNet further integrates multi-scale complex convolutions, branch-wise CV-SSM encoding, prior-guided recalibration, and lightweight global context aggregation, enabling physically guided representation learning from local scattering structures to global spatial context. Experiments on three L-band benchmark datasets and an additional P-band BIOMASS evaluation demonstrate that CV-SSMNet achieves competitive accuracy, improved regional consistency, and better boundary preservation, supporting the effectiveness of embedding polarimetric scattering mechanisms into complex-valued long-range GeoAI representation learning.

cs.CV↗

arXiv2026

Overview of FinMMEval 2026 Task 1: Multilingual Financial Multiple-Choice Question Answering

FinMMEval 2026 Task 1 evaluates multilingual financial multiple-choice question answering in English, Chinese, Arabic, and Hindi. The task tests whether systems can select the correct answer to finance questions involving domain terminology, numerical interpretation, and conceptual financial reasoning across languages and scripts. The final-test set contains 800 questions, with 200 questions per language; gold answers were withheld during submission, and each language was ranked independently by accuracy. The final leaderboards contain 13 English, 11 Chinese, 11 Arabic, and 10 Hindi ranked submissions. Top accuracies range from 92.0% in Hindi to 97.5% in English and Arabic, with the same leading teams appearing near the top across all four languages. The documented systems used retrieval augmentation, direct answer-option scoring, language-specific prompting, selective self-consistency, confidence checks, and LLM-based review stages.

cs.CL↗

arXiv2026

Overview of FinMMEval 2026 Task 2: Multilingual Financial Short-Answer Question Answering

FinMMEval 2026 Task 2 evaluates short-answer financial question answering over multilingual evidence. Each final-test item pairs an English question with financial statements and news in English, Chinese, Japanese, Spanish, and Greek. Participating systems submit one concise answer per item in JSONL format. The final-test set contains 256 items, split evenly between easy and expert tiers; each tier contains four question templates instantiated over 32 company-report groups. Gold answers were withheld during submission, and systems were ranked by macro-averaged item-level ROUGE-1 F1 against organizer-held reference answers. The final leaderboard includes 12 ranked submissions. The strongest systems are closely clustered, with the top four separated by less than one percentage point in ROUGE-1 F1. The submitted system papers document retrieval-augmented generation, cross-lingual evidence handling, structured prompting, answer compression, and validation strategies.

cs.CL↗

arXiv2026

Assistax: A Multi-Agent Hardware-Accelerated Reinforcement Learning Benchmark for Assistive Robotics

As embodied autonomous systems capable of assisting humans in daily activities remain a major goal for robotics, efficient and appropriate reinforcement learning (RL) simulation testbeds are increasingly important. Many common RL environments are too simple to provide insight into complex robotics domains, and many robotics simulations have throughput too low for RL. Very few simulators target multi-agent interactions: most treat the robot as an isolated agent, yet real-world tasks such as home assistance and caretaking are inherently multi-agent. Assistax addresses these limitations by providing a high-throughput, scalable suite of GPU-accelerated assistive robotics tasks built on JAX and MuJoCo-MJX, and includes an active humanoid agent as a simulated human partner, trainable alongside the robot using multi-agent RL (MARL). Beyond its use as a MARL benchmark, we formulate the human-robot interaction as an Ad-Hoc Teamwork (AHT) problem, where the robot's policy must generalise to unseen humans with varying disabilities and preferences. To this end, we provide an extensive AHT benchmarking pipeline: we use MARL to pre-train a diverse population of humanoid partners, and evaluate robot policies' ability to coordinate with a withheld set of humanoid policies. In contrast to other benchmarks, we also release reactive MARL-pre-trained humanoid policies via Hugging Face, enabling faster iteration in AHT research. With hardware acceleration, Assistax achieves up to 412$\times$ faster open-loop simulation than comparable CPU-based environments on a single GPU. Our AHT pipeline reveals a coordination gap for existing RL algorithms on unseen partners with novel preference combinations. This RL-native test suite for embodied multi-agent interaction provides a practical benchmark for advancing RL in assistive care. Code is available at: https://github.com/assistive-autonomy/assistax.

cs.AI↗