arXiv subjects

Hao Liu

Publications and source records attributed to Hao Liu.

At least 163 records · Page 9Linked to original sources

arXiv2026

PriorIDENT: Prior-Informed PDE Identification from Noisy Data

Identifying governing partial differential equations (PDEs) from noisy spatiotemporal data remains challenging due to differentiation-induced noise amplification and ambiguity from overcomplete libraries. We propose a prior-informed weak-form sparse-regression framework that resolves both issues by refining the dictionary before regression and shifting derivatives onto smooth test functions. Our design encodes three compact physics priors-Hamiltonian (skew-gradient and energy-conserving), conservation-law (flux-form with shared cross-directional coefficients), and energy-minimization (variational, dissipative)-so that all candidate features are physically admissible by construction. These prior-consistent libraries are coupled with a subspace-pursuit pipeline enhanced by trimming and residual-reduction model selection to yield parsimonious, interpretable models. Across canonical systems-including Hamiltonian oscillators and the three-body problem, viscous Burgers and two-dimensional shallow-water equations, and diffusion and Allen--Cahn dynamics-our method achieves higher true-positive rates, stable coefficient recovery, and structure-preserving dynamics under substantial noise, consistently outperforming no-prior baselines in both strong- and weak-form settings. The results demonstrate that compact structural priors, when combined with weak formulations, provide a robust and unified route to physically faithful PDE identification from noisy data.

math.NA↗

arXiv2026

AVION: Aerial Vision-Language Instruction from Offline Teacher to Prompt-Tuned Network

Adapting vision-language models to remote sensing imagery remains challenging due to two key factors: limited semantic coverage in textual representations and insufficient adaptability of visual features. These issues are particularly significant in aerial scenes, which involve various visual appearances and fine-grained object distinctions. We propose AVION, a knowledge distillation framework tailored for remote sensing adaptation of vision-language models. The teacher module constructs semantically rich textual prototypes by collecting descriptions from a large language model and verifying validity using remote sensing image features. The student module integrates lightweight and learnable prompts into both vision and language encoders, guided by the teacher to align embeddings and their cross-modal relationships. Once trained, the student operates independently during inference. Experiments on six optical remote sensing benchmarks show that AVION improves few-shot classification and base-class accuracy without degrading generalization to novel categories. It also enhances mean recall for cross-modal retrieval, with minimal additional trainable parameters.

cs.CV↗

arXiv2026

WG-IDENT: Weak Group Identification of PDEs with Varying Coefficients

The identification of Partial Differential Equations (PDEs) has emerged as a prominent data-driven approach for mathematical modeling and has attracted considerable attention in recent years. The stability and precision in identifying PDE from heavily noisy spatiotemporal data present significant difficulties. This problem becomes even more complex when the coefficients of the PDEs are subject to spatial variation. In this paper, we propose a \textbf{W}eak formulation of \textbf{G}roup-sparsity-based framework for \textbf{IDENT}ifying PDEs with varying coefficients, called \textbf{WG-IDENT}, to tackle this challenge. Our approach utilizes the weak formulation of PDEs to reduce the impact of noise. We represent test functions and unknown PDE coefficients using B-splines, where the knot vectors of test functions are optimally selected based on spectral analysis of the noisy data. To facilitate feature selection, we propose to integrate group sparse regression with a newly designed group feature trimming technique, called GF-Trim, to eliminate unimportant features. Extensive and comparative ablation studies are conducted to validate our proposed method. The proposed method not only demonstrates greater robustness to high noise levels compared to state-of-the-art algorithms but also achieves superior performance while exhibiting reduced sensitivity to hyperparameter selection.

math.NA↗

arXiv2026

Interlayer Error Calibration for Stacked Intelligent Metasurfaces:Modeling, Algorithms, and Future Perspectives

Stacked intelligent metasurfaces (SIMs) have recently emerged as a key enabler for realizing electromagnetic wave-domain signal processing in next-generation wireless networks. However, practical SIM implementations often suffer from noticeable mismatches between theoretical models and measured responses due to fabrication and assembly imperfections. This article systematically investigates the problem of interlayer error calibration in SIMs. We first classify representative modeling and hardware-induced imperfections. Then, we outline the major challenges in SIM calibration and further develop a general framework that integrates a calibration protocol with the relevant solution strategies. Moreover, we investigate the effectiveness of the multi-stage calibration approach in mitigating geometric deviations and improving the alignment between the calibrated and practical propagation coefficients. Finally, we elaborate on key research opportunities and practical challenges toward realizing physically consistent and hardware-compliant SIM implementations for future research.

eess.SP↗

arXiv2026

InstMeter: An Instruction-Level Method to Predict Energy and Latency of DL Model Inference on MCUs

Deep learning (DL) models can now run on microcontrollers (MCUs). Through neural architecture search (NAS), we can search DL models that meet the constraints of MCUs. Among various constraints, energy and latency costs of the model inference are critical metrics. To predict them, existing research relies on coarse proxies such as multiply-accumulations (MACs) and model's input parameters, often resulting in inaccurate predictions or requiring extensive data collection. In this paper, we propose InstMeter, a predictor leveraging MCUs' clock cycles to accurately estimate the energy and latency of DL models. Clock cycles are fundamental metrics reflecting MCU operations, directly determining energy and latency costs. Furthermore, a unique property of our predictor is its strong linearity, allowing it to be simple and accurate. We thoroughly evaluate InstMeter under different scenarios, MCUs, and software settings. Compared with state-of-the-art studies, InstMeter can reduce the energy and latency prediction errors by $3\times$ and $6.5\times$, respectively, while requiring $100\times$ and $10\times$ less training data. In the NAS scenario, InstMeter can fully exploit the energy budget, identifying optimal DL models with higher inference accuracy. We also evaluate InstMeter's generalization performance through various experiments on three ARM MCUs (Cortex-M4, M7, M33) and one RISC-V-based MCU (ESP32-C3), different compilation options (-Os, -O2), GCC versions (v7.3, v10.3), application scenarios (keyword spotting, image recognition), dynamic voltage and frequency scaling, temperatures (21°C, 43°C), and software settings (TFLMv2.4, TFLMvCI). We will open our source codes and the MCU-specific benchmark datasets.

cs.LG↗

arXiv2026

Uni-X: Mitigating Modality Conflict with a Two-End-Separated Architecture for Unified Multimodal Models

Unified Multimodal Models (UMMs) built on shared autoregressive (AR) transformers are attractive for their architectural simplicity. However, we identify a critical limitation: when trained on multimodal inputs, modality-shared transformers suffer from severe gradient conflicts between vision and text, particularly in shallow and deep layers. We trace this issue to the fundamentally different low-level statistical properties of images and text, while noting that conflicts diminish in middle layers where representations become more abstract and semantically aligned. To overcome this challenge, we propose Uni-X, a two-end-separated, middle-shared architecture. Uni-X dedicates its initial and final layers to modality-specific processing, while maintaining shared parameters in the middle layers for high-level semantic fusion. This X-shaped design not only eliminates gradient conflicts at both ends but also further alleviates residual conflicts in the shared layers. Extensive experiments validate the effectiveness of Uni-X. Under identical training conditions, Uni-X achieves superior training efficiency compared to strong baselines. When scaled to 3B parameters with larger training data, Uni-X matches or surpasses 7B AR-based UMMs, achieving a GenEval score of 82 for image generation alongside strong performance in text and vision understanding tasks. These results establish Uni-X as a parameter-efficient and scalable foundation for future unified multimodal modeling. Our code is available at https://github.com/CURRENTF/Uni-X

cs.CV↗

arXiv2026

OceanBase Bacchus: a High-Performance and Scalable Cloud-Native Shared Storage Architecture for Multi-Cloud

Although an increasing number of databases now embrace shared-storage architectures, current storage-disaggregated systems have yet to strike an optimal balance between cost and performance. In high-concurrency read/write scenarios, B+-tree-based shared storage struggles to efficiently absorb frequent in-place updates. Existing LSM-tree-backed disaggregated storage designs are hindered by the intricate implementation of cross-node shared-log mechanisms, where no satisfactory solution yet exists. This paper presents OceanBase Bacchus, an LSM-tree architecture tailored for object storage provided by cloud vendors. The system sustains high-performance reads and writes while rendering compute nodes stateless through shared service-oriented PALF (Paxos-backed Append-only Log File system) logging and asynchronous background services. We employ a Shared Block Cache Service to flexibly utilize cache resources. Our design places log synchronization into a shared service, providing a novel solution for log sharing in storage-compute-separated databases. The architecture decouples functionality across modules, enabling elastic scaling where compute, cache, and storage resources can be resized rapidly and independently. Through experimental evaluation using multiple benchmark tests, including SysBench and TPC-H, we confirm that OceanBase Bacchus achieves performance comparable to or superior to that of HBase in OLTP scenarios and significantly outperforms StarRocks in OLAP workloads. Leveraging Bacchus's support for multi-cloud deployment and consistent performance, we not only retain high availability and competitive performance but also achieve substantial reductions in storage costs by 59% in OLTP scenarios and 89% in OLAP scenarios.

cs.DB↗

arXiv2026

WFST Astrometric Calibration -- I. Modeling Global Geometric Distortion with Zernike Polynomials

Accurate modeling of geometric distortion is essential for precise astrometric calibration in wide-field imaging surveys. We present a self-calibration method based on Zernike polynomials, applied to imaging data from the Wide Field Survey Telescope (WFST). Our approach constructs a global geometric distortion (GD) model from the position offsets of stars in the WFST r-band relative to Gaia DR3, achieving a median systematic uncertainty of below 10 mas for individual exposures. The correspondence between Zernike polynomials and optical aberrations reveals that the global GD of WFST is dominated by coma, inherent to the optical design, while rapid variations are likely attributed to the atmospheric dispersion corrector. Applying this method to 82 exposures from a single night (20250218), we find that the relative positions of the WFST CCDs remain stable, with standard deviations of less than 0.1 pixel in translation and 1.8 arcsec in rotation. The corrected WFST astrometric system is thereby tied to the Gaia DR3 coordinate frame, with further refinements to be presented in future work.

astro-ph.IM↗

arXiv2026

TestExplora: Benchmarking LLMs for Proactive Bug Discovery via Repository-Level Test Generation

Given that Large Language Models (LLMs) are increasingly applied to automate software development, comprehensive software assurance spans three distinct goals: regression prevention, reactive reproduction, and proactive discovery. Current evaluations systematically overlook the third goal. Specifically, they either treat existing code as ground truth (a compliance trap) for regression prevention, or depend on post-failure artifacts (e.g., issue reports) for bug reproduction-so they rarely surface defects before failures. To bridge this gap, we present TestExplora, a benchmark designed to evaluate LLMs as proactive testers within full-scale, realistic repository environments. TestExplora contains 2,389 tasks from 482 repositories and hides all defect-related signals. Models must proactively find bugs by comparing implementations against documentation-derived intent, using documentation as the oracle. Furthermore, to keep evaluation sustainable and reduce leakage, we propose continuous, time-aware data collection. Our evaluation reveals a significant capability gap: state-of-the-art models achieve a maximum Fail-to-Pass (F2P) rate of only 16.06%. Further analysis indicates that navigating complex cross-module interactions and leveraging agentic exploration are critical to advancing LLMs toward autonomous software quality assurance. Consistent with this, SWEAgent instantiated with GPT-5-mini achieves an F2P of 17.27% and an F2P@5 of 29.7%, highlighting the effectiveness and promise of agentic exploration in proactive bug discovery tasks.

cs.SE↗

arXiv2026

4D Monocular Surgical Reconstruction under Arbitrary Camera Motions

Reconstructing deformable surgical scenes from endoscopic videos is challenging and clinically important. Recent state-of-the-art methods based on implicit neural representations or 3D Gaussian splatting have made notable progress. However, most are designed for deformable scenes with fixed endoscope viewpoints and rely on stereo depth priors or accurate structure-from-motion for initialization and optimization, limiting their ability to handle monocular sequences with large camera motion in real clinical settings. To address this, we propose Local-EndoGS, a high-quality 4D reconstruction framework for monocular endoscopic sequences with arbitrary camera motion. Local-EndoGS introduces a progressive, window-based global representation that allocates local deformable scene models to each observed window, enabling scalability to long sequences with substantial motion. To overcome unreliable initialization without stereo depth or accurate structure-from-motion, we design a coarse-to-fine strategy integrating multi-view geometry, cross-window information, and monocular depth priors, providing a robust foundation for optimization. We further incorporate long-range 2D pixel trajectory constraints and physical motion priors to improve deformation plausibility. Experiments on three public endoscopic datasets with deformable scenes and varying camera motions show that Local-EndoGS consistently outperforms state-of-the-art methods in appearance quality and geometry. Ablation studies validate the effectiveness of our key designs. Code will be released upon acceptance at: https://github.com/IRMVLab/Local-EndoGS.

cs.CV↗

arXiv2026

Illuminating the Mass Gap Through Deep Optical Constraint on a Neutron Star Merger Candidate S250206dm

The gravitational wave (GW) event S250206dm, as the first well-localized neutron star merger candidate potentially located in the mass gap, presented a unique opportunity to probe the electromagnetic signatures from such a system. Here we report a deep, multiband search with the new 2.5-meter Wide Field Survey Telescope (WFST), covering about 64% of the localization region up to a 5-sigma limiting magnitude of 23 mag. In total, 12 potential candidates have been identified while none of them are likely related to S250206dm. This non-detection provides the most stringent constraint to date on any associated kilonova. Crucially, an AT 2017gfo-like event at 269 Mpc can be excluded by WFST observations alone. Based on ejecta mass limits, a neutron star-black hole with a large mass ratio (Q >= 3.2) is disfavored. This optical-derived constraint on the mass ratio reaches, for the first time, a precision comparable to that inferred from the GW signal. This work presents the best observation of this type of events until now, and demonstrates the power of rapid, deep follow-up observations to constrain the properties of compact binary progenitors, offering key insights into the constituents of the mass gap.

astro-ph.HE↗

arXiv2026

Zero-Shot UAV Navigation in Forests via Relightable 3D Gaussian Splatting

UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from real-world data, existing methods inherently couple static lighting with geometry, severely limiting policy generalization to dynamic real-world illumination. In this paper, we propose a novel end-to-end reinforcement learning framework designed for effective zero-shot transfer to unstructured outdoors. Within a high-fidelity simulation grounded in real-world data, our policy is trained to map raw monocular RGB observations directly to continuous control commands. To overcome photometric limitations, we introduce Relightable 3D Gaussian Splatting, which decomposes scene components to enable explicit, physically grounded editing of environmental lighting within the neural representation. By augmenting training with diverse synthesized lighting conditions ranging from strong directional sunlight to diffuse overcast skies, we compel the policy to learn robust, illumination-invariant visual features. Extensive real-world experiments demonstrate that a lightweight quadrotor achieves robust, collision-free navigation in complex forest environments at speeds up to 10 m/s, exhibiting significant resilience to drastic lighting variations without fine-tuning.

cs.CV↗

arXiv2026

AgriWorld:A World Tools Protocol Framework for Verifiable Agricultural Reasoning with Code-Executing LLM Agents

Foundation models for agriculture are increasingly trained on massive spatiotemporal data (e.g., multi-spectral remote sensing, soil grids, and field-level management logs) and achieve strong performance on forecasting and monitoring. However, these models lack language-based reasoning and interactive capabilities, limiting their usefulness in real-world agronomic workflows. Meanwhile, large language models (LLMs) excel at interpreting and generating text, but cannot directly reason over high-dimensional, heterogeneous agricultural datasets. We bridge this gap with an agentic framework for agricultural science. It provides a Python execution environment, AgriWorld, exposing unified tools for geospatial queries over field parcels, remote-sensing time-series analytics, crop growth simulation, and task-specific predictors (e.g., yield, stress, and disease risk). On top of this environment, we design a multi-turn LLM agent, Agro-Reflective, that iteratively writes code, observes execution results, and refines its analysis via an execute-observe-refine loop. We introduce AgroBench, with scalable data generation for diverse agricultural QA spanning lookups, forecasting, anomaly detection, and counterfactual "what-if" analysis. Experiments outperform text-only and direct tool-use baselines, validating execution-driven reflection for reliable agricultural reasoning.

cs.AI↗

arXiv2026

DM0: An Embodied-Native Vision-Language-Action Model towards Physical AI

Moving beyond the traditional paradigm of adapting internet-pretrained models to physical tasks, we present DM0, an Embodied-Native Vision-Language-Action (VLA) framework designed for Physical AI. Unlike approaches that treat physical grounding as a fine-tuning afterthought, DM0 unifies embodied manipulation and navigation by learning from heterogeneous data sources from the onset. Our methodology follows a comprehensive three-stage pipeline: Pretraining, Mid-Training, and Post-Training. First, we conduct large-scale unified pretraining on the Vision-Language Model (VLM) using diverse corpora--seamlessly integrating web text, autonomous driving scenarios, and embodied interaction logs-to jointly acquire semantic knowledge and physical priors. Subsequently, we build a flow-matching action expert atop the VLM. To reconcile high-level reasoning with low-level control, DM0 employs a hybrid training strategy: for embodied data, gradients from the action expert are not backpropagated to the VLM to preserve generalized representations, while the VLM remains trainable on non-embodied data. Furthermore, we introduce an Embodied Spatial Scaffolding strategy to construct spatial Chain-of-Thought (CoT) reasoning, effectively constraining the action solution space. Experiments on the RoboChallenge benchmark demonstrate that DM0 achieves state-of-the-art performance in both Specialist and Generalist settings on Table30.

cs.RO↗

arXiv2026

RADAR: Benchmarking Vision-Language-Action Generalization via Real-World Dynamics, Spatial-Physical Intelligence, and Autonomous Evaluation

VLA models have achieved remarkable progress in embodied intelligence; however, their evaluation remains largely confined to simulations or highly constrained real-world settings. This mismatch creates a substantial reality gap, where strong benchmark performance often masks poor generalization in diverse physical environments. We identify three systemic shortcomings in current benchmarking practices that hinder fair and reliable model comparison. (1) Existing benchmarks fail to model real-world dynamics, overlooking critical factors such as dynamic object configurations, robot initial states, lighting changes, and sensor noise. (2) Current protocols neglect spatial--physical intelligence, reducing evaluation to rote manipulation tasks that do not probe geometric reasoning. (3) The field lacks scalable fully autonomous evaluation, instead relying on simplistic 2D metrics that miss 3D spatial structure or on human-in-the-loop systems that are costly, biased, and unscalable. To address these limitations, we introduce RADAR (Real-world Autonomous Dynamics And Reasoning), a benchmark designed to systematically evaluate VLA generalization under realistic conditions. RADAR integrates three core components: (1) a principled suite of physical dynamics; (2) dedicated tasks that explicitly test spatial reasoning and physical understanding; and (3) a fully autonomous evaluation pipeline based on 3D metrics, eliminating the need for human supervision. We apply RADAR to audit multiple state-of-the-art VLA models and uncover severe fragility beneath their apparent competence. Performance drops precipitously under modest physical dynamics, with the expectation of 3D IoU declining from 0.261 to 0.068 under sensor noise. Moreover, models exhibit limited spatial reasoning capability. These findings position RADAR as a necessary bench toward reliable and generalizable real-world evaluation of VLA models.

cs.RO↗

arXiv2026

Ask the Expert: Collaborative Inference for Vision Transformers with Near-Edge Accelerators

Deploying Vision Transformers on edge devices is challenging due to their high computational complexity, while full offloading to cloud resources presents significant latency overheads. We propose a novel collaborative inference framework, which orchestrates a lightweight generalist ViT on an edge device and multiple medium-sized expert ViTs on a near-edge accelerator. A novel routing mechanism uses the edge model's Top-$\mathit{k}$ predictions to dynamically select the most relevant expert for samples with low confidence. We further design a progressive specialist training strategy to enhance expert accuracy on dataset subsets. Extensive experiments on the CIFAR-100 dataset using a real-world edge and near-edge testbed demonstrate the superiority of our framework. Specifically, the proposed training strategy improves expert specialization accuracy by 4.12% on target subsets and enhances overall accuracy by 2.76% over static experts. Moreover, our method reduces latency by up to 45% compared to edge execution, and energy consumption by up to 46% compared to just near-edge offload.

cs.CV↗

arXiv2026

Active Galactic Nuclei and STaR fOrmation in Nearby Galaxies AGNSTRONG. III. A Study on Ionized and Warm Molecular Gas Outflows of 6 Type-2 AGNs

Active galactic nucleus (AGN)-driven gas outflows are one of the best tracers of AGN feedback in action, as these powerful outflows expel/heat or compress the surrounding interstellar medium (ISM), thus quenching or enhancing star-forming activity in their hosts. Studying the kinematics of outflows in different gas phases is crucial for comprehending how AGNs impact the ISM within their host galaxies. However, the differences in the physical natures of ionized and warm molecular gas outflows remain largely unexplored. To obtain a complete picture of AGN outflows and their feedback effects, we present a study of both ionized and warm molecular gas outflows in six type-2 AGNs ($z<0.1$) that exhibit strong ionized outflows in previous optical observations. Utilizing the Triple Spectrograph and Double Spectrograph instruments on the Palomar 200-inch Hale Telescope, we conduct spatially resolved measurements in the slit direction of strong emission lines from both ionized and warm molecular gas, such as $\rm [O\ III]$, $\rm Paα$, $\rm H_{2}$ 1-0 S(1), etc., allowing for a direct comparison of their outflow properties. One out of six AGNs shows significant ionized and warm molecular outflows in near-infrared bands, exhibiting the most powerful kinematics and highest luminosity. A positive correlation between the kinematics and AGN luminosity is shown, suggesting that more luminous AGNs, which reflect higher levels of AGN activity, tend to have a greater impact on the gases, probably driving the outflows.

astro-ph.GA↗

arXiv2026

From Consistency to Complementarity: Aligned and Disentangled Multi-modal Learning for Time Series Understanding and Reasoning

Advances in multi-modal large language models (MLLMs) have inspired time series understanding and reasoning tasks, that enable natural language querying over time series, producing textual analyses of complex temporal dynamics. Recent attempts hybridize numerical time series with their visualized plots, facilitating precise value reasoning and visual structure comprehension for comprehensive time series understanding of MLLMs. However, effective numerical-visual modality integration remains challenging due to fine-grained temporal misalignment across modalities and severe entanglement between shared and modality-specific semantics, which hinder localized interpretation and complementary reasoning. To address these issues, we propose MADI, a multi-modal LLM enhanced with fine-grained alignment and disentangled interaction, featuring (1) Patch-level Alignment, which enforces physically grounded fine-grained correspondence across heterogeneous modalities, (2) Discrete Disentangled Interaction, which separates modality-common semantics into compact discrete latents and adaptively synergizes the purified modality-unique information, and (3) Critical-token Highlighting, which emphasizes informative, query-relevant signals for robust reasoning. Experiments on synthetic and real-world benchmarks show that MADI consistently outperforms general-purpose LLMs and time-series-specialized MLLMs.

cs.LG↗