arXiv subjects

Haiyang Sun

Publications and source records attributed to Haiyang Sun.

At least 19 recordsLinked to original sources

arXiv2026

MEMOBench: A Process Level Memory Benchmark for Robotic Manipulation

Robotic manipulation often requires acting on information that is no longer visible, yet Vision-Language-Action policies are usually evaluated when the current observation largely determines the next action. Existing robotic memory benchmarks expose this gap, but they still rely mainly on final task success and therefore conflate forgetting with manipulation failure. We present \textbf{MEMOBench}, a benchmark for process level memory evaluation in robotic manipulation. MEMOBench includes 30 history dependent tasks, 1{,}500 expert demonstrations, and 4{,}200 executable checkpoint instances from 84 templates. Each checkpoint pairs coarse to fine language with a simulator predicate and labels one memory operation: Storage, Update, or Compression. These annotations define Memory Storage Rate, Memory Update Rate, and Memory Compression Rate, which measure memory fidelity alongside task success. Across standard and memory augmented VLA policies, the strongest memory module baseline reaches only 31.9\% average success rate, and high storage often coexists with weak update and compression. Checkpoint language also supervises semantic, contrastive, and framewise memory alignment objectives, yielding modest gains across different memory operations. MEMOBench provides a diagnostic evaluation suite and training supervision for memory grounded robotic policies. The project page is available at https://github.com/Collab-Gen/MEMOBench.

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arXiv2026

CALM-BP: Observation-Matched Physiological Semantic Grounding for Non-Contact Blood Pressure Estimation

Language grounding increasingly involves non-text observations whose structure is not naturally expressed as words or objects. We study this problem for physiological time series in non-contact blood pressure (BP) estimation: remote photoplethysmography (rPPG) provides measured evidence about bodily state, but numerical pipelines expose little semantic structure about why a window is reliable or how its cues should be fused. We introduce observation-matched physiological semantic grounding, where language-derived priors must be constructed from the same rPPG observation, remain bounded by an auditable prior contract, and avoid BP-label or identity leakage. CALM-BP does not treat language as new physiological evidence; instead, it verbalizes rPPG descriptors into a controlled semantic interface while rPPG remains the primary haemodynamic evidence source. FlowBP-Set pairs forehead observations, synchronized BP labels, and structured physiological prompts from 81 participants. Main BP results, direct cross-dataset evaluation, language-realization ablation, and observation-mismatch controls test whether language helps because it organizes the current physiological observation rather than because it is arbitrary auxiliary text. The FlowBP-Set dataset contains sensitive facial video and physiological recordings and is therefore not publicly available due to privacy and ethical restrictions. Data access may be considered upon reasonable request and subject to applicable ethical and institutional approval.

cs.HC↗

arXiv2026

Luna-TTS Family Technical Report

Modern text-to-speech (TTS) is dominated by autoregressive (AR) codec language models, whose left-to-right decoding brings latency that grows with utterance length, error accumulation along the committed prefix, and an artificial generation order imposed on the Residual Vector Quantization (RVQ) token grid. We propose Luna-TTS Family, diffusion-language-model-based TTS systems pretrained on 1 million hours of speech across Chinese, English, Japanese, and Korean. The family is built by progressive adaptation of a pretrained AR text LLM, from causal to bidirectional and finally to block-causal attention, and comprises two variants sharing a single tokenizer, data pipeline, and 0.6B backbone lineage. Luna-TTS is fully non-autoregressive: it generates the entire RVQ token grid in a fixed number of parallel refinement steps, with zero-shot voice cloning and speech editing arising natively as infilling. Luna-TTS Realtime, derived by continual training, is autoregressive over blocks of 32 codec frames (1.28s) while denoising each block in parallel; it supports KV-cached blockwise generation and incremental audio delivery, achieving an end-to-end RTF of 0.0240 and 41.6 ms local first-block latency under the warmed serving protocol. An annealed fine-tuning stage adds explicit control over emotion and non-verbal vocalizations (NVVs), and a reinforcement-learning stage applies GRPO with policy ratios computed over the realized denoising trajectory. On Seed-TTS-Eval, Luna-TTS achieves the best results on all four metrics among compared open-source and commercial systems (0.73 CER / 79.7 SIM on test-zh, 1.49 WER / 76.8 SIM on test-en); on the harder in-the-wild CV3-Eval, it posts the lowest Mandarin and English error rates in our comparison. Against leading commercial systems, it achieves the best results on most objective, model-based, and human-rated metrics for NVV and emotion control.

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arXiv2026

Pondering the Way: Spatial-perceiving World Action Model for Embodied Navigation

Existing world model-based planners for visual navigation typically follow a verification-centric paradigm, decoupling goal intent from trajectory synthesis. This approach suffers from candidate dependence, heavy computational overhead, and inconsistencies between sampled actions and predicted visuals. To address these issues, we propose SWAM (Spatial-perceiving World Action Model), a task-centric joint observation-action generation framework. Given start and goal RGB observations, SWAM performs single-pass inference to simultaneously generate intermediate RGB-D sequences and corresponding action trajectories, promoting goal-consistent trajectory generation and improved spatial feasibility. While SWAM leverages depth pseudo-labels during training to internalize spatial priors, it requires only monocular RGB input at inference time. We further introduce a visual-guided action refinement module and a trajectory-scale regularization loss to enforce fine-grained alignment between motion and visual cues while stabilizing predictions across varying distances. Extensive experiments show that SWAM significantly outperforms state-of-the-art two-stage planners in success rate, trajectory accuracy, and inference efficiency, while demonstrating robust zero-shot generalization to unseen environments.

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arXiv2026

ReWorld: Representation Learning for World Action Models

World Action Models (WAMs) unify future environment prediction with action generation for autonomous driving, yet existing approaches optimize only the final outputs, leaving intermediate representations as incidental byproducts. We present ReWorld, the first representation learning framework specifically designed for autonomous-driving WAMs. ReWorld explicitly optimizes the latent world-to-action pathway through three complementary mechanisms. First, it imposes future-predictive supervision on intermediate Video DiT states to encode temporal scene dynamics, enabling self-guided sampling and a roughly twofold convergence speedup. Second, it aligns Action DiT states with their attended video readouts so that the retrieved world information is retained in the representations used for planning. Third, it shapes the action space using geometrically close yet low-scoring hard negatives to separate the expert trajectory from nearby unsafe alternatives. ReWorld constructs supervision entirely from the WAM's own generation targets and attended features, requiring no external encoders or teacher models and introducing only 0.3% additional per-step training cost. Experiments show that ReWorld reduces FVD from 81.3 to 61.9 on nuScenes, improves closed-loop PDMS from 89.1 to 90.4 on NAVSIM without reinforcement learning or test-time scoring, and increases frozen linear-probe accuracy from 68.3% to 80.2% on UCF-101 action recognition. These results indicate that explicitly optimized representations are central to translating world knowledge into planning capability in WAMs.

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arXiv2026

CausalDrive: Real-time Causal World Models for Autonomous Driving

World models have emerged as a promising paradigm for scaling autonomous driving (AD) data, yet existing video generative models fall short as interactive simulators. Layout-conditioned renderers rely on "oracle" future trajectories of all background agents, rendering them strictly non-reactive. Conversely, pure action-conditioned predictors lack semantic control over complex interactions and suffer from prohibitive diffusion latencies, hindering closed-loop policy learning. To bridge this gap, we present CausalDrive, a controllable, real-time foundation driving world renderer. CausalDrive operates solely on the initial front-view frame, the ego-vehicle's trajectory, and a macroscopic text prompt. By excluding future NPC layouts, we compel the model to intrinsically predict causal interactions, enabling text-driven control over Driving Sociology, allowing users to dynamically orchestrate diverse counterfactual reactions to identical ego-actions. To overcome the efficiency bottleneck and address the covariate shift in autoregressive generation, we propose a novel Context-Forced DMD architecture. This combines continuous flow-matching with a self-correcting distillation objective, achieving interactive speeds of 12 FPS. This breakthrough transforms the passive video generator into a playable neural simulator. We demonstrate its versatility across three downstream applications: (1) generative closed-loop evaluation with significantly mitigated collision artifacts, (2) large-scale Reinforcement Learning (RL) post-training driven by a Video2Reward module, and (3) real-time human-in-the-loop simulation. Extensive experiments validate that policies trained within CausalDrive's reactive scenarios exhibit superior interaction capabilities in the real world.

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arXiv2026

DriveReward: A Comprehensive Dataset and Generative Vision-Language Reward Model for Autonomous Driving

Reward models play a pivotal role in reinforcement learning (RL) and multi-modal trajectory selection for autonomous driving. However, acquiring such rewards typically relies on hand-crafted rule-based objectives or perception ground truth, which hinders generalization for data-scaling. While Vision-Language Models (VLMs) have demonstrated feasibility as reward models in other domains, their effectiveness in driving tasks remains underexplored. In this work, we bridge this gap by (1) introducing DriveReward, a reasoning trajectory evaluation dataset rigorously labeled via temporally-grounded visual guidance, and augmented with counterfactual driving behaviors., (2) alongside a specialized Vision-Language Reward Model. To address the scarcity of failure cases in conventional datasets, we propose a counterfactual data annotation scheme to construct cases encompassing diverse driving styles and erroneous behaviors. Evaluations on our proposed benchmark reveal that even leading open-source and proprietary VLMs fail to excel across all tasks, highlighting significant room for improvement in existing models. Building on these findings, we subsequently tailor a specialized 1B reward model that outperforms larger VLMs on task-specific reward alignment. Finally, we validate our reward model's effectiveness by integrating it into RL finetuning and multi-modal trajectory scoring across multiple baselines, achieving performance comparable to rule-based reward calculations in both open-loop and closed-loop evaluation.

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arXiv2026

Synergistic Blood Pressure Estimation via Contactless mmWave Radar and Imaging Photoplethysmography: A Feasibility Study

Continuous, non-contact blood pressure (NCBP) monitoring holds significant promise for pervasive cardiovascular care, yet single-modality approaches -- such as imaging photoplethysmography (iPPG) -- remain constrained by environmental artifacts, skin-tone sensitivity, and the absence of proximal cardiac mechanical information. This study investigates the feasibility of a dual-modality sensing paradigm that synergistically integrates facial iPPG with posterior-facing frequency-modulated continuous wave (FMCW) millimeter-wave radar to capture complementary hemodynamic cues: distal optical volumetric fluctuations and proximal cardiac micro-motions (radar motion signals, RMS). To bridge the morphological disparity between these heterogeneous streams, we develop an end-to-end deep learning architecture, BiLSTM-MS-DiCNN, which leverages multi-scale dilated convolutions for spatial feature extraction and bidirectional long short-term memory for temporal dependency modeling. In a controlled feasibility study involving 15 healthy participants across distinct hemodynamic states (resting, deep breathing, and post-exercise), the proposed framework achieved a Mean Absolute Difference (MAD) of 4.71 mmHg for systolic BP (SBP) and 4.60 mmHg for diastolic BP (DBP) under resting conditions, with consistent performance during physiological perturbations. These preliminary findings demonstrate the viability of mmWave-iPPG fusion as a promising pathway toward robust, unobtrusive NCBP monitoring.

eess.SP↗

arXiv2026

PhysDox: Benchmarking LLMs on Physical Feasibility Auditing of Physiological Sensing Protocols

Large language models (LLMs) increasingly assist in experimental design, yet fluent protocols often remain physically infeasible. We introduce PhysDox, a physical feasibility auditing benchmark for biomedical protocols comprising a 683-sample expert-curated Gold set and a 5,000-sample Silver set across six sensing domains. We formulate the task as a two-stage evaluation: severity detection classifying protocols as valid, minor, or fatal, followed by the constraint-level diagnosis of fatal violations. Evaluating 6 LLMs across 4 inference strategies yields a peak Stage-1 macro-F1 of only 53.0. Moreover, strong oracle diagnosis collapses during end-to-end evaluation due to correlated cascade errors. Error analysis reveals scaffold bias, where models conflate procedural completeness with physical validity. Consequently, implicit constraints exhibit a 2 times higher miss rate than explicit hardware violations, supported by strong statistical correlation at $\rho{=}0.81$ and $p{<}0.01$. Trace analysis of false negatives exposes a 54%--46% split between attention and judgment failures, ultimately demonstrating that protocol auditing demands calibrated feasibility reasoning rather than factual recall or longer rationales.

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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.

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arXiv2026

Xiaomi Auto World Model: A Joint World Model Integrating Reconstruction and Generation for Autonomous Driving

This report presents a unified technical system addressing the two core capabilities of world models for autonomous driving: world representation and world generation. For world representation, we propose WorldRec, a feed-forward reconstruction architecture driven by sparse scene queries. WorldRec initializes structured queries in 3D space, leveraging them to aggregate cross-view, cross-temporal features, thereby naturally enforcing spatial consistency across frames and yielding compact yet high-fidelity 3D Gaussian scene representations. For world generation, we propose WorldGen, a two-stage training framework of bidirectional pretraining followed by causal fine-tuning through three progressive stages (Teacher Forcing, ODE distillation, and DMD), enabling high-quality online causal video generation in as few as 4 denoising steps. Building on both modules, we further introduce the JWM, which deeply integrates WorldRec and WorldGen to achieve synergistic gains in generation stability, cross-frame consistency, and visual fidelity, providing a solid foundation for closed-loop simulation, data synthesis, and end-to-end training in autonomous driving.

cs.CV↗

arXiv2026

PointForward: Feedforward Driving Reconstruction through Point-Aligned Representations

High-fidelity reconstruction of driving scenes is crucial for autonomous driving. While recent feedforward 3D Gaussian Splatting (3DGS) methods enable fast reconstruction, their per-pixel Gaussian prediction paradigm often suffers from multi-view inconsistency and layering artifacts. Moreover, existing methods often model dynamic instances via dense flow prediction, which lacks explicit cross-view correspondence and instance-level consistency. In this paper, we propose PointForward, a feedforward driving reconstruction framework through point-aligned representations. Unlike pixel-aligned methods, we initialize sparse 3D queries in world space and aggregate multi-view image information via spatial-temporal fusion onto these queries, enforcing explicit cross-view consistency in a single feedforward pass. To handle scene dynamics, we introduce scene graphs that explicitly organize moving instances during reconstruction. By leveraging 3D bounding boxes, our method enables instance-level motion propagation and temporally consistent dynamic representations. Extensive experiments demonstrate that PointForward achieves state-of-the-art performance on large-scale driving benchmarks. The code will be available upon the publication of the paper.

cs.CV↗

arXiv2026

Decoding Scientific Experimental Images: The SPUR Benchmark for Perception, Understanding, and Reasoning

We introduce SPUR, a comprehensive benchmark for scientific experimental image perception, understanding, and reasoning, comprising 4,264 question-answering (QA) pairs derived from 1,084 expert-curated images. SPUR features three key innovations: (1) Panel-Level Fine-Grained Perception: evaluating the visual perception of multimodal large language models (MLLMs) across three dimensions (numerical, morphological, and information localization) on six fine-grained panel types; (2) Cross-Panel Relation Understanding: utilizing complex images with an average of 14.3 panels per sample to evaluate MLLMs' ability to decipher intricate cross-panel relations; (3) Expert-Level Reasoning: assessment of qualitative and quantitative reasoning across five experimental paradigms to determine if models can infer conclusions from evidence as human experts do. Comprehensive evaluation of 20 MLLMs and four multimodal Chain-of-Thought (MCoT) methods reveals that current models fall significantly short of the expert-level requirements for scientific image interpretation, underscoring a critical bottleneck in AI for Science (AI4S) research.

cs.CV↗

arXiv2026

AEGIS: A Holistic Benchmark for Evaluating Forensic Analysis of AI-Generated Academic Images

We introduce AEGIS, A holistic benchmark for Evaluating forensic analysis of AI-Generated academic ImageS. Compared to existing benchmarks, AEGIS features three key advances: (1) Domain-Specific Complexity: covering seven academic categories with 39 fine-grained subtypes, exposing intrinsic forensic difficulty, where even GPT-5.1 reaches 48.80% overall performance and expert models achieve only limited localization accuracy (IoU 30.09%); (2) Diverse Forgery Simulations: modeling four prevalent academic forgery strategies across 25 generative models, with 11 yielding average forensic accuracy below 50%, showing that forensics lag behind generative advances; and (3) Multi-Dimensional Forensic Evaluation: jointly assessing detection, reasoning, and localization, revealing complementary strengths between model families, with multimodal large language models (MLLMs) at 84.74% accuracy in textual artifact recognition and expert detectors peaking at 79.54% accuracy in binary authenticity detection. By evaluating 25 leading MLLMs, nine expert models, and one unified multimodal understanding and generation model, AEGIS serves as a diagnostic testbed exposing fundamental limitations in academic image forensics.

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arXiv2026

Diffusion Model as a Generalist Segmentation Learner

Diffusion models are primarily trained for image synthesis, yet their denoising trajectories encode rich, spatially aligned visual priors. In this paper, we demonstrate that these priors can be utilized for text-conditioned semantic and open-vocabulary segmentation, and this approach can be generalized to various downstream tasks to make a general-purpose diffusion segmentation framework. Concretely, we introduce DiGSeg (Diffusion Models as a Generalist Segmentation Learner), which repurposes a pretrained diffusion model into a unified segmentation framework. Our approach encodes the input image and ground-truth mask into the latent space and concatenates them as conditioning signals for the diffusion U-Net. A parallel CLIP-aligned text pathway injects language features across multiple scales, enabling the model to align textual queries with evolving visual representations. This design transforms an off-the-shelf diffusion backbone into a universal interface that produces structured segmentation masks conditioned on both appearance and arbitrary text prompts. Extensive experiments demonstrate state-of-the-art performance on standard semantic segmentation benchmarks, as well as strong open-vocabulary generalization and cross-domain transfer to medical, remote sensing, and agricultural scenarios-without domain-specific architectural customization. These results indicate that modern diffusion backbones can serve as generalist segmentation learners rather than pure generators, narrowing the gap between visual generation and visual understanding.

cs.CV↗

arXiv2026

AutoAWG: Adverse Weather Generation with Adaptive Multi-Controls for Automotive Videos

Perception robustness under adverse weather remains a critical challenge for autonomous driving, with the core bottleneck being the scarcity of real-world video data in adverse weather. Existing weather generation approaches struggle to balance visual quality and annotation reusability. We present AutoAWG, a controllable Adverse Weather video Generation framework for Autonomous driving. Our method employs a semantics-guided adaptive fusion of multiple controls to balance strong weather stylization with high-fidelity preservation of safety-critical targets; leverages a vanishing point-anchored temporal synthesis strategy to construct training sequences from static images, thereby reducing reliance on synthetic data; and adopts masked training to enhance long-horizon generation stability. On the nuScenes validation set, AutoAWG significantly outperforms prior state-of-the-art methods: without first-frame conditioning, FID and FVD are relatively reduced by 50.0% and 16.1%; with first-frame conditioning, they are further reduced by 8.7% and 7.2%, respectively. Extensive qualitative and quantitative results demonstrate advantages in style fidelity, temporal consistency, and semantic--structural integrity, underscoring the practical value of AutoAWG for improving downstream perception in autonomous driving. Our code is available at: https://github.com/higherhu/AutoAWG

cs.CV↗

arXiv2026

Xiaomi OneVL: One-Step Latent Reasoning and Planning with Vision-Language Explanation

Chain-of-Thought (CoT) reasoning has become a powerful driver of trajectory prediction in VLA-based autonomous driving, yet its autoregressive nature imposes a latency cost that is prohibitive for real-time deployment. Latent CoT methods attempt to close this gap by compressing reasoning into continuous hidden states, but consistently fall short of their explicit counterparts. We suggest that this is due to purely linguistic latent representations compressing a symbolic abstraction of the world, rather than the causal dynamics that actually govern driving. Thus, we present OneVL (One-step latent reasoning and planning with Vision-Language explanations), a unified VLA and World Model framework that routes reasoning through compact latent tokens supervised by dual auxiliary decoders. Alongside a language decoder that reconstructs text CoT, we introduce a visual world model decoder that predicts future-frame tokens, forcing the latent space to internalize the causal dynamics of road geometry, agent motion, and environmental change. A three-stage training pipeline progressively aligns these latents with trajectory, language, and visual objectives, ensuring stable joint optimization. In inference, the auxiliary decoders are discarded, and all latent tokens are prefilled in a single parallel pass, matching the speed of answer-only prediction. Across four benchmarks, OneVL becomes the first latent CoT method to surpass explicit CoT, delivering superior accuracy at answer-only latency. These results show that with world model supervision, latent CoT produces more generalizable representations than verbose token-by-token reasoning. Code has been open-sourced to the community. Project Page: https://xiaomi-embodied-intelligence.github.io/OneVL

cs.CV↗

arXiv2026

Making Image Editing Easier via Adaptive Task Reformulation with Agentic Executions

Instruction guided image editing has advanced substantially with recent generative models, yet it still fails to produce reliable results across many seemingly simple cases. We observe that a large portion of these failures stem not from insufficient model capacity, but from poorly formulated editing tasks, such as those involving small targets, implicit spatial relations, or under-specified instructions. In this work, we frame image editing failures as a task formulation problem and propose an adaptive task reformulation framework that improves editing performance without modifying the underlying model. Our key idea is to transform the original image-instruction pair into a sequence of operations that are dynamically determined and executed by a MLLM agent through analysis, routing, reformulation, and feedback-driven refinement. Experiments on multiple benchmarks, including ImgEdit, PICA, and RePlan, across diverse editing backbones such as Qwen Image Edit and Nano Banana, show consistent improvements, with especially large gains on challenging cases. These results suggest that task reformulation is a critical but underexplored factor, and that substantial gains can be achieved by better matching editing tasks to the effective operating regime of existing models.

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