arXiv subjects

Hao Tang

Publications and source records attributed to Hao Tang.

At least 109 records · Page 6Linked to original sources

arXiv2026

MoRL: Reinforced Reasoning for Unified Motion Understanding and Generation

Human motion understanding and generation are crucial for vision and robotics but remain limited in reasoning capability and test-time planning. We propose MoRL, a unified multimodal motion model trained with supervised fine-tuning and reinforcement learning with verifiable rewards. Our task-specific reward design combines semantic alignment and reasoning coherence for understanding with physical plausibility and text-motion consistency for generation, improving both logical reasoning and perceptual realism. To further enhance inference, we introduce Chain-of-Motion (CoM), a test-time reasoning method that enables step-by-step planning and reflection. We also construct two large-scale CoT datasets, MoUnd-CoT-140K and MoGen-CoT-140K, to align motion sequences with reasoning traces and action descriptions. Experiments on HumanML3D and KIT-ML show that MoRL achieves significant gains over state-of-the-art baselines. Code: https://github.com/AIGeeksGroup/MoRL. Website: https://aigeeksgroup.github.io/MoRL.

cs.CV↗

arXiv2026

Code2Worlds: Empowering Coding LLMs for 4D World Generation

Achieving spatial intelligence requires moving beyond visual plausibility to build world simulators grounded in physical laws. While coding LLMs have advanced static 3D scene generation, extending this paradigm to 4D dynamics remains a critical frontier. This task presents two fundamental challenges: multi-scale context entanglement, where monolithic generation fails to balance local object structures with global environmental layouts; and a semantic-physical execution gap, where open-loop code generation leads to physical hallucinations lacking dynamic fidelity. We introduce Code2Worlds, a framework that formulates 4D generation as language-to-simulation code generation. First, we propose a dual-stream architecture that disentangles retrieval-augmented object generation from hierarchical environmental orchestration. Second, to ensure dynamic fidelity, we establish a physics-aware closed-loop mechanism in which a PostProcess Agent scripts dynamics, coupled with a VLM-Motion Critic that performs self-reflection to iteratively refine simulation code. Evaluations on the Code4D benchmark show Code2Worlds outperforms baselines with a 41% SGS gain and 49% higher Richness, while uniquely generating physics-aware dynamics absent in prior static methods. Code: https://github.com/AIGeeksGroup/Code2Worlds. Website: https://aigeeksgroup.github.io/Code2Worlds.

cs.CV↗

arXiv2026

Light4D: Training-Free Extreme Viewpoint 4D Video Relighting

Recent advances in diffusion-based generative models have established a new paradigm for image and video relighting. However, extending these capabilities to 4D relighting remains challenging, due primarily to the scarcity of paired 4D relighting training data and the difficulty of maintaining temporal consistency across extreme viewpoints. In this work, we propose Light4D, a novel training-free framework designed to synthesize consistent 4D videos under target illumination, even under extreme viewpoint changes. First, we introduce Disentangled Flow Guidance, a time-aware strategy that effectively injects lighting control into the latent space while preserving geometric integrity. Second, to reinforce temporal consistency, we develop Temporal Consistent Attention within the IC-Light architecture and further incorporate deterministic regularization to eliminate appearance flickering. Extensive experiments demonstrate that our method achieves competitive performance in temporal consistency and lighting fidelity, robustly handling camera rotations from -90 to 90. Code: https://github.com/AIGeeksGroup/Light4D. Website: https://aigeeksgroup.github.io/Light4D.

cs.CV↗

arXiv2026

UniLiP: Adapting CLIP for Unified Multimodal Understanding, Generation and Editing

In this paper, we propose UniLIP, a unified framework that adapts CLIP for multimodal understanding, generation and editing. Although CLIP excels at understanding, it lacks reconstruction abilities required to be a unified visual encoder. However, previous CLIP-based unified methods fail to balance understanding and reconstruction, leading to semantic degradation or inconsistent reconstructions. In contrast, we introduce a novel two-stage training scheme with a self-distillation strategy that progressively endows CLIP with high-fidelity reconstruction abilities while preserving its original comprehension performance. For enhanced reasoning and consistency in generation and editing, we further develop a dual-condition architecture built upon the MetaQuery framework. Our architecture jointly utilizes multimodal hidden states for rich contextual details and learnable query embeddings to harness the powerful reasoning abilities of Multimodal Large Language Models (MLLMs). Leveraging advanced image representation and architectural design, UniLIP demonstrates superior instruction following and edit fidelity. With only 1B and 3B parameters, UniLIP can outperform larger unified models such as BAGEL (7B) and Uniworld-V1 (12B), achieving state-of-the-art performance of 0.90 on GenEval, 0.63 on WISE, and 3.94 on ImgEdit. These results demonstrate that UniLIP successfully expands the application of CLIP, establishing its continuous features to not only serve as the optimal choice for understanding tasks but also achieve highly competitive performance in generation and editing tasks. Code and models are available at https://github.com/nnnth/UniLIP.

cs.CV↗

arXiv2026

GeneralVLA: Generalizable Vision-Language-Action Models with Knowledge-Guided Trajectory Planning

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit limited zero-shot capability, which hampers their ability to generalize effectively to unseen scenarios. In this work, we propose GeneralVLA (Generalizable Vision-Language-Action Models with Knowledge-Guided Trajectory Planning), a hierarchical vision-language-action (VLA) model that can be more effective in utilizing the generalization of foundation models, enabling zero-shot manipulation and automatically generating data for robotics. In particular, we study a class of hierarchical VLA model where the high-level ASM (Affordance Segmentation Module) is finetuned to perceive image keypoint affordances of the scene; the mid-level 3DAgent carries out task understanding, skill knowledge, and trajectory planning to produce a 3D path indicating the desired robot end-effector trajectory. The intermediate 3D path prediction is then served as guidance to the low-level, 3D-aware control policy capable of precise manipulation. Compared to alternative approaches, our method requires no real-world robotic data collection or human demonstration, making it much more scalable to diverse tasks and viewpoints. Empirically, GeneralVLA successfully generates trajectories for 14 tasks, significantly outperforming state-of-the-art methods such as VoxPoser. The generated demonstrations can train more robust behavior cloning policies than training with human demonstrations or from data generated by VoxPoser, Scaling-up, and Code-As-Policies. We believe GeneralVLA can be the scalable method for both generating data for robotics and solving novel tasks in a zero-shot setting. Code: https://github.com/AIGeeksGroup/GeneralVLA. Website: https://aigeeksgroup.github.io/GeneralVLA.

cs.RO↗

arXiv2026

ReactionMamba: Generating Short & Long Human Reaction Sequences

We present ReactionMamba, a novel framework for generating long 3D human reaction motions. Reaction-Mamba integrates a motion VAE for efficient motion encoding with Mamba-based state-space models to decode temporally consistent reactions. This design enables ReactionMamba to generate both short sequences of simple motions and long sequences of complex motions, such as dance and martial arts. We evaluate ReactionMamba on three datasets--NTU120-AS, Lindy Hop, and InterX--and demonstrate competitive performance in terms of realism, diversity, and long-sequence generation compared to previous methods, including InterFormer, ReMoS, and Ready-to-React, while achieving substantial improvements in inference speed.

cs.CV↗

arXiv2026

Hallucination Begins Where Saliency Drops

Recent studies have examined attention dynamics in large vision-language models (LVLMs) to detect hallucinations. However, existing approaches remain limited in reliably distinguishing hallucinated from factually grounded outputs, as they rely solely on forward-pass attention patterns and neglect gradient-based signals that reveal how token influence propagates through the network. To bridge this gap, we introduce LVLMs-Saliency, a gradient-aware diagnostic framework that quantifies the visual grounding strength of each output token by fusing attention weights with their input gradients. Our analysis uncovers a decisive pattern: hallucinations frequently arise when preceding output tokens exhibit low saliency toward the prediction of the next token, signaling a breakdown in contextual memory retention. Leveraging this insight, we propose a dual-mechanism inference-time framework to mitigate hallucinations: (1) Saliency-Guided Rejection Sampling (SGRS), which dynamically filters candidate tokens during autoregressive decoding by rejecting those whose saliency falls below a context-adaptive threshold, thereby preventing coherence-breaking tokens from entering the output sequence; and (2) Local Coherence Reinforcement (LocoRE), a lightweight, plug-and-play module that strengthens attention from the current token to its most recent predecessors, actively counteracting the contextual forgetting behavior identified by LVLMs-Saliency. Extensive experiments across multiple LVLMs demonstrate that our method significantly reduces hallucination rates while preserving fluency and task performance, offering a robust and interpretable solution for enhancing model reliability. Code is available at: https://github.com/zhangbaijin/LVLMs-Saliency

cs.CV↗

arXiv2026

Neural Operators for Biomedical Spherical Heterogeneity

Spherical deep learning has been widely applied to a broad range of real-world problems. Existing approaches often face challenges in balancing strong spherical geometric inductive biases with the need to model real-world heterogeneity. To solve this while retaining spherical geometry, we first introduce a designable Green's function framework (DGF) to provide new spherical operator solution strategy: Design systematic Green's functions under rotational group. Based on DGF, to model biomedical heterogeneity, we propose Green's-Function Spherical Neural Operator (GSNO) fusing 3 operator solutions: (1) Equivariant Solution derived from Equivariant Green's Function for symmetry-consistent modeling; (2) Invariant Solution derived from Invariant Green's Function to eliminate nuisance heterogeneity, e.g., consistent background field; (3) Anisotropic Solution derived from Anisotropic Green's Function to model anisotropic systems, especially fibers with preferred direction. Therefore, the resulting model, GSNO can adapt to real-world heterogeneous systems with nuisance variability and anisotropy while retaining spectral efficiency. Evaluations on spherical MNIST, Shallow Water Equation, diffusion MRI fiber prediction, cortical parcellation and molecule structure modeling demonstrate the superiority of GSNO.

cs.LG↗

arXiv2026

3D CoCa v2: Contrastive Learners with Test-Time Search for Generalizable Spatial Intelligence

Spatial intelligence refers to the ability to perceive, reason about, and describe objects and their relationships within three-dimensional environments, forming a foundation for embodied perception and scene understanding. 3D captioning aims to describe 3D scenes in natural language; however, it remains challenging due to the sparsity and irregularity of point clouds and, more critically, the weak grounding and limited out-of-distribution (OOD) generalization of existing captioners across drastically different environments, including indoor and outdoor 3D scenes. To address this challenge, we propose 3D CoCa v2, a generalizable 3D captioning framework that unifies contrastive vision-language learning with 3D caption generation and further improves robustness via test-time search (TTS) without updating the captioner parameters. 3D CoCa v2 builds on a frozen CLIP-based semantic prior, a spatially-aware 3D scene encoder for geometry, and a multimodal decoder jointly optimized with contrastive and captioning objectives, avoiding external detectors or handcrafted proposals. At inference, TTS produces diverse caption candidates and performs reward-guided selection using a compact scene summary. Experiments show improvements over 3D CoCa of +1.50 CIDEr@0.5IoU on ScanRefer and +1.61 CIDEr@0.5IoU on Nr3D, and +3.8 CIDEr@0.25 in zero-shot OOD evaluation on TOD3Cap. Code will be released at https://github.com/AIGeeksGroup/3DCoCav2.

cs.CV↗

arXiv2026

AnyDepth: Depth Estimation Made Easy

Monocular depth estimation aims to recover the depth information of 3D scenes from 2D images. Recent work has made significant progress, but its reliance on large-scale datasets and complex decoders has limited its efficiency and generalization ability. In this paper, we propose a lightweight and data-centric framework for zero-shot monocular depth estimation. We first adopt DINOv3 as the visual encoder to obtain high-quality dense features. Secondly, to address the inherent drawbacks of the complex structure of the DPT, we design the Simple Depth Transformer (SDT), a compact transformer-based decoder. Compared to the DPT, it uses a single-path feature fusion and upsampling process to reduce the computational overhead of cross-scale feature fusion, achieving higher accuracy while reducing the number of parameters by approximately 85%-89%. Furthermore, we propose a quality-based filtering strategy to filter out harmful samples, thereby reducing dataset size while improving overall training quality. Extensive experiments on five benchmarks demonstrate that our framework surpasses the DPT in accuracy. This work highlights the importance of balancing model design and data quality for achieving efficient and generalizable zero-shot depth estimation. Code: https://github.com/AIGeeksGroup/AnyDepth. Website: https://aigeeksgroup.github.io/AnyDepth.

cs.CV↗

arXiv2026

SafeMo: Linguistically Grounded Unlearning for Trustworthy Text-to-Motion Generation

Text-to-motion (T2M) generation with diffusion backbones achieves strong realism and alignment. Safety concerns in T2M methods have been raised in recent years; existing methods replace discrete VQ-VAE codebook entries to steer the model away from unsafe behaviors. However, discrete codebook replacement-based methods have two critical flaws: firstly, replacing codebook entries which are reused by benign prompts leads to drifts on everyday tasks, degrading the model's benign performance; secondly, discrete token-based methods introduce quantization and smoothness loss, resulting in artifacts and jerky transitions. Moreover, existing text-to-motion datasets naturally contain unsafe intents and corresponding motions, making them unsuitable for safety-driven machine learning. To address these challenges, we propose SafeMo, a trustworthy motion generative framework integrating Minimal Motion Unlearning (MMU), a two-stage machine unlearning strategy, enabling safe human motion generation in continuous space, preserving continuous kinematics without codebook loss and delivering strong safety-utility trade-offs compared to current baselines. Additionally, we present the first safe text-to-motion dataset SafeMoVAE-29K integrating rewritten safe text prompts and continuous refined motion for trustworthy human motion unlearning. Built upon DiP, SafeMo efficiently generates safe human motions with natural transitions. Experiments demonstrate effective unlearning performance of SafeMo by showing strengthened forgetting on unsafe prompts, reaching 2.5x and 14.4x higher forget-set FID on HumanML3D and Motion-X respectively, compared to the previous SOTA human motion unlearning method LCR, with benign performance on safe prompts being better or comparable. Code: https://github.com/AIGeeksGroup/SafeMo. Website: https://aigeeksgroup.github.io/SafeMo.

cs.CV↗

arXiv2025

Learning Speech Representations with Variational Predictive Coding

Despite being the best known objective for learning speech representations, the HuBERT objective has not been further developed and improved. We argue that it is the lack of an underlying principle that stalls the development, and, in this paper, we show that predictive coding under a variational view is the principle behind the HuBERT objective. Due to its generality, our formulation provides opportunities to improve parameterization and optimization, and we show two simple modifications that bring immediate improvements to the HuBERT objective. In addition, the predictive coding formulation has tight connections to various other objectives, such as APC, CPC, wav2vec, and BEST-RQ. Empirically, the improvement in pre-training brings significant improvements to four downstream tasks: phone classification, f0 tracking, speaker recognition, and automatic speech recognition, highlighting the importance of the predictive coding interpretation.

eess.AS↗

arXiv2025

Thermal Equilibrium Vacancy Concentration in an Alloy with Chemical Short-Range Order

The equilibrium vacancy concentration in multi-principal element alloys remains a controversial and nontrivial subject, primarily because of chemical complexity and chemical short-range order (CSRO). Here we derive an exact expression that is amenable to atomistic calculations, using multiple perspectives. We applied this expression to equiatomic CrCoNi alloys in the face-centered cubic structure. The derived equilibrium vacancy concentration is used in our recent work, which predicts the chemical short-range order formation timescale consistent with experimental observation. The results demonstrate the practical utility of the approach for predicting equilibrium vacancy concentrations in compositionally complex alloys.

cond-mat.mtrl-sci↗

arXiv2025

Robust AC vector sensing at zero magnetic field with pentacene

Quantum sensors based on electronic spins have emerged as powerful probes of microwave-frequency fields. Among other solid-state platforms, spins in molecular crystals offer a range of advantages, from high spin density to functionalization via chemical tunability. Here, we demonstrate microwave vector magnetometry using the photoexcited spin triplet of deuterated pentacene molecules, operating at zero external magnetic field and room temperature. We achieve full three-dimensional microwave field reconstruction by detecting the Rabi frequencies of anisotropic spin-triplet transitions associated with two crystallographic orientations of pentacene in naphthalene crystals. We further introduce a phase alternated protocol that extends the rotating-frame coherence time by an order of magnitude and enables sensitivities of $1~μ\mathrm{T}/\sqrt{\mathrm{Hz}}$ with sub-micrometer spatial resolution. These results establish pentacene-based molecular spins as a practical and high-performance platform for microwave quantum sensing, and the control techniques are broadly applicable to other molecular and solid-state spin systems.

cond-mat.mes-hall↗

arXiv2025

Instantaneous velocity during quantum tunnelling

Quantum tunnelling, a hallmark phenomenon of quantum mechanics, allows particles to pass through the classically forbidden region. It underpins fundamental processes ranging from nuclear fusion and photosynthesis to the operation of superconducting qubits. Yet the underlying dynamics of particle motion during tunnelling remain subtle and are still the subject of active debate. Here, by analyzing the temporal evolution of the tunnelling process, we show that the particle velocity inside the barrier continuously relaxes from a large initial value toward a smaller one, and may even approach zero in the evanescent regime. Meanwhile, the probability density within the barrier gradually builds up before reaching its stationary profile, in contrast to existing inherently. In addition, starting from the steady-state equations, we derive an explicit relation between the particle velocity and the barrier width, and show that the velocity in evanescent states approaches zero when the barrier is sufficiently wide. These findings resolve the apparent paradox of a vanishing steady-state velocity coexisting with a finite particle density. We point out that defining an effective speed from the probability density, rather than from the probability current, can lead to spuriously nonzero "stationary speed," as appears to be the case in Ref. [Nature 643, 67 (2025)]. Our work establishes a clear dynamical picture for the formation of tunnelling flow and provides a theoretical foundation for testing time-resolved tunnelling phenomena.

quant-ph↗

arXiv2025

TwinAligner: Visual-Dynamic Alignment Empowers Physics-aware Real2Sim2Real for Robotic Manipulation

The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simulators offer cost-effective alternatives, but the gap between simulation and reality challenges effective policy transfer. This paper introduces TwinAligner, a novel Real2Sim2Real system that addresses both visual and dynamic gaps. The visual alignment module achieves pixel-level alignment through SDF reconstruction and editable 3DGS rendering, while the dynamic alignment module ensures dynamic consistency by identifying rigid physics from robot-object interaction. TwinAligner improves robot learning by providing scalable data collection and establishing a trustworthy iterative cycle, accelerating algorithm development. Quantitative evaluations highlight TwinAligner's strong capabilities in visual and dynamic real-to-sim alignment. This system enables policies trained in simulation to achieve strong zero-shot generalization to the real world. The high consistency between real-world and simulated policy performance underscores TwinAligner's potential to advance scalable robot learning. Code and data will be released on https://twin-aligner.github.io

cs.RO↗

arXiv2025

FOD-Diff: 3D Multi-Channel Patch Diffusion Model for Fiber Orientation Distribution

Diffusion MRI (dMRI) is a critical non-invasive technique to estimate fiber orientation distribution (FOD) for characterizing white matter integrity. Estimating FOD from single-shell low angular resolution dMRI (LAR-FOD) is limited by accuracy, whereas estimating FOD from multi-shell high angular resolution dMRI (HAR-FOD) requires a long scanning time, which limits its applicability. Diffusion models have shown promise in estimating HAR-FOD based on LAR-FOD. However, using diffusion models to efficiently generate HAR-FOD is challenging due to the large number of spherical harmonic (SH) coefficients in FOD. Here, we propose a 3D multi-channel patch diffusion model to predict HAR-FOD from LAR-FOD. We design the FOD-patch adapter by introducing the prior brain anatomy for more efficient patch-based learning. Furthermore, we introduce a voxel-level conditional coordinating module to enhance the global understanding of the model. We design the SH attention module to effectively learn the complex correlations of the SH coefficients. Our experimental results show that our method achieves the best performance in HAR-FOD prediction and outperforms other state-of-the-art methods.

cs.CV↗

arXiv2025

Geometric Laplace Neural Operator

Neural operators have emerged as powerful tools for learning mappings between function spaces, enabling efficient solutions to partial differential equations across varying inputs and domains. Despite the success, existing methods often struggle with non-periodic excitations, transient responses, and signals defined on irregular or non-Euclidean geometries. To address this, we propose a generalized operator learning framework based on a pole-residue decomposition enriched with exponential basis functions, enabling expressive modeling of aperiodic and decaying dynamics. Building on this formulation, we introduce the Geometric Laplace Neural Operator (GLNO), which embeds the Laplace spectral representation into the eigen-basis of the Laplace-Beltrami operator, extending operator learning to arbitrary Riemannian manifolds without requiring periodicity or uniform grids. We further design a grid-invariant network architecture (GLNONet) that realizes GLNO in practice. Extensive experiments on PDEs/ODEs and real-world datasets demonstrate our robust performance over other state-of-the-art models.

cs.LG↗