arXiv subjects

Hang Zhang

Publications and source records attributed to Hang Zhang.

At least 73 records · Page 4Linked to original sources

arXiv2026

Persistent Autoregressive Mapping with Traffic Rules for Autonomous Driving

Safe autonomous driving requires both accurate HD map construction and persistent awareness of traffic rules, even when their associated signs are no longer visible. However, existing methods either focus solely on geometric elements or treat rules as temporary classifications, failing to capture their persistent effectiveness across extended driving sequences. In this paper, we present PAMR (Persistent Autoregressive Mapping with Traffic Rules), a novel framework that performs autoregressive co-construction of lane vectors and traffic rules from visual observations. Our approach introduces two key mechanisms: Map-Rule Co-Construction for processing driving scenes in temporal segments, and Map-Rule Cache for maintaining rule consistency across these segments. To properly evaluate continuous and consistent map generation, we develop MapDRv2, featuring improved lane geometry annotations. Extensive experiments demonstrate that PAMR achieves superior performance in joint vector-rule mapping tasks, while maintaining persistent rule effectiveness throughout extended driving sequences.

cs.RO↗

arXiv2026

Full-channel wavefront manipulation of surface waves with chirality-assisted geometric-phase metasurface

Owing to their localized field enhancement and subwavelength resolution, surface waves (SWs) offer broad application potential in communications, sensing, and photonics via on-chip wavefront manipulation. This makes multi-channel SW wavefront manipulation highly desirable. However, conventional metasurfaces for SW wavefront shaping, relying on geometric and propagation phase mechanisms, typically exhibit similar functionalities for co- or cross-polarized output channels under different circularly polarized (CP) incidences, thereby limiting the development of high-capacity on-chip integrated devices. Here, by introducing the chirality-assisted phase as an additional phase control mechanism, we effectively decouple both co- and cross-polarized output channels, enabling independent SW wavefront shaping in four distinct channels. We numerically and experimentally demonstrate two metasurfaces in the microwave range: a four-channel SW meta-deflector and a four-channel SW metadevice that simultaneously produces a focused SW beam, a SW Bessel beam, and two deflected SW beams in different directions. Therefore, chirality-assisted geometric-phase metasurfaces provide a versatile platform for multi-channel SW wavefront engineering, offering significant potential for high-capacity on-chip communication and integrated photonic systems.

physics.optics↗

arXiv2026

Alkaid: Resilience to Edit Errors in Provably Secure Steganography via Distance-Constrained Encoding

While provably secure steganography provides strong concealment by ensuring stego carriers are indistinguishable from natural samples, such systems remain vulnerable to real-world edit errors (e.g., insertions, deletions, substitutions) because their decoding depends on perfect synchronization and lacks error-correcting capability. To bridge this gap, we propose Alkaid, a provably secure steganographic scheme resilient to edit errors via distance-constrained encoding. The key innovation integrates the minimum distance decoding principle directly into the encoding process by enforcing a strict lower bound on the edit distance between codewords of different messages. Specifically, if two candidate codewords violate this bound, they are merged to represent the same message, thereby guaranteeing reliable recovery. While maintaining provable security, we theoretically prove that Alkaid offers deterministic robustness against bounded errors. To implement this scheme efficiently, we adopt block-wise and batch processing. Extensive experiments demonstrate that Alkaid achieves decoding success rates of 99\% to 100\% across diverse error channels, delivers a payload of 0.2 bits per token for high embedding capacity, and maintains an encoding speed of 6.72 bits per second, significantly surpassing state-of-the-art (SOTA) methods in robustness, capacity, and efficiency.

cs.CR↗

arXiv2026

On a fractional stochastic heat equation arising from the disordered pinning model

We study the mild Skorohod solution to the following fractional stochastic heat equation on $\mathbb{R}$: \begin{equation} \begin{cases} \partial_t u(t,x)=-(-Δ)^{ρ/2} u(t,x) +βu(t,x)δ_0(x)ξ(t),\\ u(0,\cdot)=u_0(x), \end{cases} \end{equation} where $-(-Δ)^{ρ/2}$ with $ρ\in(0,2]$ is the fractional Laplacian and $ξ$ is a Gaussian noise with covariance $\mathbb{E}[ξ(t) ξ(s)]=|t-s|^{2H-2}$ for $H\in(\frac12, 1]$. This equation with $ρ\in(1,2]$ arises naturally in the study of the disordered pinning model. We show that the equation admits a local $L^2$-solution when $ρ= 2$, whereas, for $ρ\in (0,2)$, any solution--if it exists uniquely--cannot be $L^p$-integrable for any $p > 1$. Moreover, inspired by the recent work of Quastel, Ramirez and Virág, we prove that the equation has a unique global $L^1$-solution whenever $\frac{1}ρ+1<2H$. We also establish the strict positivity of the solution. Our work partially fills the gap in the study of the Weinrib-Halperin prediction.

math.PR↗

arXiv2026

Egocentric Co-Pilot: Web-Native Smart-Glasses Agents for Assistive Egocentric AI

What if accessing the web did not require a screen, a stable desk, or even free hands? For people navigating crowded cities, living with low vision, or experiencing cognitive overload, smart glasses coupled with AI agents could turn the web into an always-on assistive layer over daily life. We present Egocentric Co-Pilot, a web-native neuro-symbolic framework that runs on smart glasses and uses a Large Language Model (LLM) to orchestrate a toolbox of perception, reasoning, and web tools. An egocentric reasoning core combines Temporal Chain-of-Thought with Hierarchical Context Compression to support long-horizon question answering and decision support over continuous first-person video, far beyond a single model's context window. Additionally, a lightweight multimodal intent layer maps noisy speech and gaze into structured commands. We further implement and evaluate a cloud-native WebRTC pipeline integrating streaming speech, video, and control messages into a unified channel for smart glasses and browsers. In parallel, we deploy an on-premise WebSocket baseline, exposing concrete trade-offs between local inference and cloud offloading in terms of latency, mobility, and resource use. Experiments on Egolife and HD-EPIC demonstrate competitive or state-of-the-art egocentric QA performance, and a human-in-the-loop study on smart glasses shows higher task completion and user satisfaction than leading commercial baselines. Taken together, these results indicate that web-connected egocentric co-pilots can be a practical path toward more accessible, context-aware assistance in everyday life. By grounding operation in web-native communication primitives and modular, auditable tool use, Egocentric Co-Pilot offers a concrete blueprint for assistive, always-on web agents that support education, accessibility, and social inclusion for people who may benefit most from contextual, egocentric AI.

cs.HC↗

arXiv2026

CLAP: Unsupervised 3D Representation Learning for Fusion 3D Perception via Curvature Sampling and Prototype Learning

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing works separately conduct pre-training for each modalities due to computational costs of processing large point clouds with images. As such, mutual benefit of high-level semantics (from image) and 3D structure (from point cloud) has not been exploited. To address this gap, we propose a joint unsupervised differentiable-rendering-based pre-training method for images and point clouds, termed CLAP, short for Curvature sampLing and leArnable Prototype. Specifically, our method overcomes the computational hurdle by Curvature Sampling to select the more informative points/pixels for pre-training. To uncover the performance benefits brought by their complementarity, we propose to use learnable prototypes to represent parts of the 3D scenes in a common feature space and an Expectation-Maximization training scheme to associate embeddings of each modality to prototypes. We further propose a swapping prediction loss that explores their interplay through prototypes along with a Gram Matrix Regularization term to maintain training stability. Experiments on NuScenes and Waymo datasets show that CLAP achieves up to 100% more performance gain as compared to previous SOTA pre-training methods.

cs.CV↗

arXiv2026

MindDriver: Introducing Progressive Multimodal Reasoning for Autonomous Driving

Vision-Language Models (VLM) exhibit strong reasoning capabilities, showing promise for end-to-end autonomous driving systems. Chain-of-Thought (CoT), as VLM's widely used reasoning strategy, is facing critical challenges. Existing textual CoT has a large gap between text semantic space and trajectory physical space. Although the recent approach utilizes future image to replace text as CoT process, it lacks clear planning-oriented objective guidance to generate images with accurate scene evolution. To address these, we innovatively propose MindDriver, a progressive multimodal reasoning framework that enables VLM to imitate human-like progressive thinking for autonomous driving. MindDriver presents semantic understanding, semantic-to-physical space imagination, and physical-space trajectory planning. To achieve aligned reasoning processes in MindDriver, we develop a feedback-guided automatic data annotation pipeline to generate aligned multimodal reasoning training data. Furthermore, we develop a progressive reinforcement fine-tuning method to optimize the alignment through progressive high- level reward-based learning. MindDriver demonstrates superior performance in both nuScences open-loop and Bench2Drive closed-loop evaluation. Codes are available at https://github.com/hotdogcheesewhite/MindDriver.

cs.CV↗

arXiv2026

Unsupervised MR-US Multimodal Image Registration with Multilevel Correlation Pyramidal Optimization

Surgical navigation based on multimodal image registration has played a significant role in providing intraoperative guidance to surgeons by showing the relative position of the target area to critical anatomical structures during surgery. However, due to the differences between multimodal images and intraoperative image deformation caused by tissue displacement and removal during the surgery, effective registration of preoperative and intraoperative multimodal images faces significant challenges. To address the multimodal image registration challenges in Learn2Reg 2025, an unsupervised multimodal medical image registration method based on Multilevel Correlation Pyramidal Optimization (MCPO) is designed to solve these problems. First, the features of each modality are extracted based on the modality independent neighborhood descriptor, and the multimodal images is mapped to the feature space. Second, a multilevel pyramidal fusion optimization mechanism is designed to achieve global optimization and local detail complementation of the displacement field through dense correlation analysis and weight-balanced coupled convex optimization for input features at different scales. Our method focuses on the ReMIND2Reg task in Learn2Reg 2025. Based on the results, our method achieved the first place in the validation phase and test phase of ReMIND2Reg. The MCPO is also validated on the Resect dataset, achieving an average TRE of 1.798 mm. This demonstrates the broad applicability of our method in preoperative-to-intraoperative image registration. The code is available at https://github.com/wjiazheng/MCPO.

cs.CV↗

arXiv2026

On a pinning model in correlated Gaussian random environments

We consider a pinning model in correlated Gaussian random environments. For the model that is disorder relevant, we study its intermediate disorder regime and show that the rescaled partition functions converge to a non-trivial continuum limit in the Skorohod setting and in the Stratonovich setting, respectively. Our results partially confirm the Weinrib--Halperin prediction for disorder relevance/irrelevance.

math.PR↗

arXiv2026

Entanglement and optimization within autoregressive neural quantum states

Neural quantum states (NQSs) are powerful variational ansätze capable of representing highly entangled quantum many-body wavefunctions. While the average entanglement properties of ensembles of restricted Boltzmann machines are well understood, the entanglement structure of autoregressive NQSs such as recurrent neural networks and transformers remains largely unexplored. We perform large-scale simulations of ensembles of random autoregressive wavefunctions for chains of up to $256$ spins and uncover signatures of transitions in their average entanglement scaling, entanglement spectra, and correlation functions. We show that the standard softmax normalization of the wavefunction suppresses entanglement and fluctuations, and introduce a square modulus normalization function that restores them. Finally, we connect the insights gained from our entanglement and activation function analysis to initialization strategies for finding the ground states of strongly correlated Hamiltonians via variational Monte Carlo.

quant-ph↗

arXiv2026

FMIR, a foundation model-based Image Registration Framework for Robust Image Registration

Deep learning has revolutionized medical image registration by achieving unprecedented speeds, yet its clinical application is hindered by a limited ability to generalize beyond the training domain, a critical weakness given the typically small scale of medical datasets. In this paper, we introduce FMIR, a foundation model-based registration framework that overcomes this limitation.Combining a foundation model-based feature encoder for extracting anatomical structures with a general registration head, and trained with a channel regularization strategy on just a single dataset, FMIR achieves state-of-the-art(SOTA) in-domain performance while maintaining robust registration on out-of-domain images.Our approach demonstrates a viable path toward building generalizable medical imaging foundation models with limited resources. The code is available at https://github.com/Monday0328/FMIR.git.

cs.CV↗

arXiv2026

Scaling Medical Reasoning Verification via Tool-Integrated Reinforcement Learning

Large language models have achieved strong performance on medical reasoning benchmarks, yet their deployment in clinical settings demands rigorous verification to ensure factual accuracy. While reward models offer a scalable approach for reasoning trace verification, existing methods face two limitations: they produce only scalar reward values without explicit justification, and they rely on single-pass retrieval that precludes adaptive knowledge access as verification unfolds. We introduce $\method$, an agentic framework that addresses these limitations by training medical reasoning verifiers to iteratively query external medical corpora during evaluation. Our approach combines tool-augmented verification with an iterative reinforcement learning paradigm that requires only trace-level supervision, alongside an adaptive curriculum mechanism that dynamically adjusts training data distribution. Across four medical reasoning benchmarks, $\method$ achieves substantial gains over existing methods, improving MedQA accuracy by 23.5% and MedXpertQA by 32.0% relative to the base generator in particular. Crucially, $\method$ demonstrates an $\mathbf{8\times}$ reduction in sampling budget requirement compared to prior reward model baselines. These findings establish that grounding verification in dynamically retrieved evidence offers a principled path toward more reliable medical reasoning systems.

cs.AI↗

arXiv2026

What Should I Cite? A RAG Benchmark for Academic Citation Prediction

With the rapid growth of Web-based academic publications, more and more papers are being published annually, making it increasingly difficult to find relevant prior work. Citation prediction aims to automatically suggest appropriate references, helping scholars navigate the expanding scientific literature. Here we present \textbf{CiteRAG}, the first comprehensive retrieval-augmented generation (RAG)-integrated benchmark for evaluating large language models on academic citation prediction, featuring a multi-level retrieval strategy, specialized retrievers, and generators. Our benchmark makes four core contributions: (1) We establish two instances of the citation prediction task with different granularity. Task 1 focuses on coarse-grained list-specific citation prediction, while Task 2 targets fine-grained position-specific citation prediction. To enhance these two tasks, we build a dataset containing 7,267 instances for Task 1 and 8,541 instances for Task 2, enabling comprehensive evaluation of both retrieval and generation. (2) We construct a three-level large-scale corpus with 554k papers spanning many major subfields, using an incremental pipeline. (3) We propose a multi-level hybrid RAG approach for citation prediction, fine-tuning embedding models with contrastive learning to capture complex citation relationships, paired with specialized generation models. (4) We conduct extensive experiments across state-of-the-art language models, including closed-source APIs, open-source models, and our fine-tuned generators, demonstrating the effectiveness of our framework. Our open-source toolkit enables reproducible evaluation and focuses on academic literature, providing the first comprehensive evaluation framework for citation prediction and serving as a methodological template for other scientific domains. Our source code and data are released at https://github.com/LQgdwind/CiteRAG.

cs.IR↗

arXiv2026

Mass Distribution versus Density Distribution in the Context of Clustering

This paper investigates two fundamental descriptors of data, i.e., density distribution versus mass distribution, in the context of clustering. Density distribution has been the de facto descriptor of data distribution since the introduction of statistics. We show that density distribution has its fundamental limitation -- high-density bias, irrespective of the algorithms used to perform clustering. Existing density-based clustering algorithms have employed different algorithmic means to counter the effect of the high-density bias with some success, but the fundamental limitation of using density distribution remains an obstacle to discovering clusters of arbitrary shapes, sizes and densities. Using the mass distribution as a better foundation, we propose a new algorithm which maximizes the total mass of all clusters, called mass-maximization clustering (MMC). The algorithm can be easily changed to maximize the total density of all clusters in order to examine the fundamental limitation of using density distribution versus mass distribution. The key advantage of the MMC over the density-maximization clustering is that the maximization is conducted without a bias towards dense clusters.

stat.ML↗

arXiv2026

Encoder-Only Image Registration

Learning-based techniques have significantly improved the accuracy and speed of deformable image registration. However, challenges such as reducing computational complexity and handling large deformations persist. To address these challenges, we analyze how convolutional neural networks (ConvNets) influence registration performance using the Horn-Schunck optical flow equation. Supported by prior studies and our empirical experiments, we observe that ConvNets play two key roles in registration: linearizing local intensities and harmonizing global contrast variations. Based on these insights, we propose the Encoder-Only Image Registration (EOIR) framework, designed to achieve a better accuracy-efficiency trade-off. EOIR separates feature learning from flow estimation, employing only a 3-layer ConvNet for feature extraction and a set of 3-layer flow estimators to construct a Laplacian feature pyramid, progressively composing diffeomorphic deformations under a large-deformation model. Results on five datasets across different modalities and anatomical regions demonstrate EOIR's effectiveness, achieving superior accuracy-efficiency and accuracy-smoothness trade-offs. With comparable accuracy, EOIR provides better efficiency and smoothness, and vice versa. The source code of EOIR is publicly available on https://github.com/XiangChen1994/EOIR.

cs.CV↗

arXiv2026

Learn2Reg 2024: New Benchmark Datasets Driving Progress on New Challenges

Medical image registration is critical for clinical applications, and fair benchmarking of different methods is essential for monitoring ongoing progress in the field. To date, the Learn2Reg 2020-2023 challenges have released several complementary datasets and established metrics for evaluations. Building on this foundation, the 2024 edition expands the challenge's scope to cover a wider range of registration scenarios, particularly in terms of modality diversity and task complexity, by introducing three new tasks, including large-scale multi-modal registration and unsupervised inter-subject brain registration, as well as the first microscopy-focused benchmark within Learn2Reg. The new datasets also inspired new method developments, including invertibility constraints, pyramid features, keypoints alignment and instance optimisation. Visit Learn2Reg at https://learn2reg.grand-challenge.org.

eess.IV↗

arXiv2025

Orchestrator Multi-Agent Clinical Decision Support System for Secondary Headache Diagnosis in Primary Care

Unlike most primary headaches, secondary headaches need specialized care and can have devastating consequences if not treated promptly. Clinical guidelines highlight several 'red flag' features, such as thunderclap onset, meningismus, papilledema, focal neurologic deficits, signs of temporal arteritis, systemic illness, and the 'worst headache of their life' presentation. Despite these guidelines, determining which patients require urgent evaluation remains challenging in primary care settings. Clinicians often work with limited time, incomplete information, and diverse symptom presentations, which can lead to under-recognition and inappropriate care. We present a large language model (LLM)-based multi-agent clinical decision support system built on an orchestrator-specialist architecture, designed to perform explicit and interpretable secondary headache diagnosis from free-text clinical vignettes. The multi-agent system decomposes diagnosis into seven domain-specialized agents, each producing a structured and evidence-grounded rationale, while a central orchestrator performs task decomposition and coordinates agent routing. We evaluated the multi-agent system using 90 expert-validated secondary headache cases and compared its performance with a single-LLM baseline across two prompting strategies: question-based prompting (QPrompt) and clinical practice guideline-based prompting (GPrompt). We tested five open-source LLMs (Qwen-30B, GPT-OSS-20B, Qwen-14B, Qwen-8B, and Llama-3.1-8B), and found that the orchestrated multi-agent system with GPrompt consistently achieved the highest F1 scores, with larger gains in smaller models. These findings demonstrate that structured multi-agent reasoning improves accuracy beyond prompt engineering alone and offers a transparent, clinically aligned approach for explainable decision support in secondary headache diagnosis.

cs.AI↗

arXiv2025

SCoNE: Spherical Consistent Neighborhoods Ensemble for Effective and Efficient Multi-View Anomaly Detection

The core problem in multi-view anomaly detection is to represent local neighborhoods of normal instances consistently across all views. Recent approaches consider a representation of local neighborhood in each view independently, and then capture the consistent neighbors across all views via a learning process. They suffer from two key issues. First, there is no guarantee that they can capture consistent neighbors well, especially when the same neighbors are in regions of varied densities in different views, resulting in inferior detection accuracy. Second, the learning process has a high computational cost of $\mathcal{O}(N^2)$, rendering them inapplicable for large datasets. To address these issues, we propose a novel method termed \textbf{S}pherical \textbf{C}onsistent \textbf{N}eighborhoods \textbf{E}nsemble (SCoNE). It has two unique features: (a) the consistent neighborhoods are represented with multi-view instances directly, requiring no intermediate representations as used in existing approaches; and (b) the neighborhoods have data-dependent properties, which lead to large neighborhoods in sparse regions and small neighborhoods in dense regions. The data-dependent properties enable local neighborhoods in different views to be represented well as consistent neighborhoods, without learning. This leads to $\mathcal{O}(N)$ time complexity. Empirical evaluations show that SCoNE has superior detection accuracy and runs orders-of-magnitude faster in large datasets than existing approaches.

cs.LG↗