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Hao Zhao

Publications and source records attributed to Hao Zhao.

At least 19 recordsLinked to original sources
arXiv2026

PlanContext: Benchmarking In-Context Driving Decision-Making

Real-world driving requires context-aware decision-making. Existing end-to-end driving benchmarks primarily assess trajectory quality through safety, compliance, comfort, and driving progress, leaving context-dependent decision-making insufficiently characterized. To fill this gap, we present PlanContext, a benchmark for evaluating in-context driving decision-making. PlanContext constructs paired evaluations by varying high-level driving intentions while keeping the observed scene fixed, enabling a natural and controllable assessment of context-dependent decision-making. We further define six representative driving contexts and jointly evaluate contextual decision correctness, road compliance, and dynamic safety with class-balanced metrics. Experiments on 9,561 scene-condition instances from NAVSIM and 23 public end-to-end driving models show that high conventional driving-quality scores do not consistently correspond to strong route-level in-context driving decision-making. Further analysis shows that model behavior varies with decision timing, road structure, and traffic interaction depending on the decision required by the current context. Our results highlight in-context driving decision-making as an important complementary dimension for evaluating end-to-end driving systems.

cs.RO↗
arXiv2026

DynaSolver: A Neural Operator for Autoregressive 4D Flow Prediction with Dynamic Boundaries

Neural operators provide efficient surrogates for computational fluid dynamics (CFD), but most are designed for static geometries and are not equipped to model unsteady flows induced by continuously moving boundaries. We study dynamic-boundary 4D CFD prediction for articulated moving geometries and introduce RoboCFD-4D, a temporally resolved robotic CFD benchmark spanning diverse morphologies and flow conditions. To address the computational and autoregressive challenges of this setting, we propose DynaSolver, a neural operator that explicitly conditions on boundary evolution and causal flow history. DynaSolver employs an efficient physical-token formulation that amortizes point-to-token projection across the operator stack, substantially reducing repeated point-space spatio-temporal computation while retaining accurate point-level reconstruction. We further introduce Replay-Augmented Parallel Training, which exposes the model to autoregressively generated histories while preserving parallel dense supervision, narrowing the gap between ground-truth-conditioned training and autoregressive rollout. Experiments on RoboCFD-4D show that DynaSolver achieves the best full-rollout accuracy among a broad range of learned CFD surrogates, with its advantage increasing as rollout proceeds, indicating substantially reduced autoregressive error accumulation. Project page: https://made-gpt.github.io/DynaSolver-ProjectPage.

cs.LG↗
arXiv2026

Consolidating Reasoning with Test-Time Training

Effective multi-agent collaboration requires finalizing solutions from reasoning that is distributed across the individual attempts of many agents. However, useful intermediate reasoning can remain unexploited when collaboration is limited to voting on conclusions reached among individual agents, or aggregating long, noisy collections of reasoning trajectories in context. In this work, we propose TTT-Consolidate, a framework that uses multi-agent reasoning trajectories as adaptation data to improve a model's subsequent reasoning. TTT-Consolidate jointly consolidates trajectories into parametric representations through test-time training, then generates a new solution by conditioning on the consolidated information. We meta-learn how to consolidate using bi-level optimization at training time, where an inner loop encodes reasoning trajectories into a lightweight LoRA adapter, and an outer loop learns meta-parameters for the inner loop such that the consolidation is helpful for the model to synthesize a final solution. As no large-scale corpus of diverse reasoning trajectories exists for training aggregation methods, we construct the OpenParallelThinking corpus composed of 12,810 math problems paired with a mixture of trajectories from six LLMs. Evaluated on challenging math and STEM benchmarks, TTT-Consolidate outperforms the best aggregation baselines by up to 20 percentage points, even under matched compute and runtime settings, with the gap widening at larger model scales. TTT-Consolidate also recovers from unsuccessful individual trajectories more robustly, an ability that improves as the number of available (even incorrect) trajectories increases. Finally, we demonstrate that TTT-Consolidate benefits from both SFT and RL-based outer loop objectives. We will release TTT-Consolidate and OpenParallelThinking for use in future work on reasoning aggregation.

cs.CL↗
arXiv2026

RFW-A: Agentic Procedural Generation of 400K Articulated Assets over 500 Categories

High-quality articulated assets are essential for embodied perception, simulation, and manipulation, yet constructing them at scale remains difficult. Manual annotation and procedural modeling require substantial human effort. Recent agentic systems automate asset construction through program synthesis, but repeat costly reasoning and refinement for every new asset. Our key observation is that assets within a category can share construction logic despite variations in structure and appearance. Agentic synthesis and procedural generation are therefore complementary: agents can construct reusable programs, while procedural execution reuses the resulting logic across many samples. We therefore present RFW-A, which combines the two in a new articulated-asset generation paradigm. Starting from existing articulated programs, RFW-A organizes reusable components and their dependencies into category-level generators. Agents test and refine these generators across sampled configurations and motion states. Once constructed and validated, the generators produce diverse assets through procedural execution with no further model calls or token charges. The estimated API cost of generator authoring averages $10.62, amortizing to $0.05 per asset over 200 assets, versus $1.24 for the sampled per-asset agentic synthesis baseline. Using RFW-A, we built RFW-A-400K, containing over 400K sim-ready articulated assets across more than 500 categories. Experiments show high structural and kinematic validity and stable execution across physics simulators. Beyond asset validity, training with RFW-A-400K improves part-level articulation estimation on seen and unseen categories, while policies trained in simulation with retrieved and program-edited assets transfer zero-shot to real articulated objects.

cs.CV↗
arXiv2026

MTEdit: Packed Trajectories Beat Rollouts for Multi-Turn Image Editing

Multi-turn image editing aims to modify an image according to a sequence of instructions, making it better aligned with human-AI collaborative creation than single-turn editing. However, constructing high-quality multi-turn training data remains challenging, as conventional sequential rollout accumulates errors and introduces visual-quality drift across editing turns. To address this challenge, we introduce MTEdit, a multi-turn image editing dataset built through a pipeline centered on packed trajectory canvas (PTC) generation. By jointly generating multiple editing states within a unified visual context, this pipeline reduces visual-quality drift across turns. Covering both step-wise and context-aware editing scenarios, MTEdit comprises 500K multi-turn image editing trajectories, with up to 8 turns and an average of 5.38 turns per trajectory, making it one of the most extensive datasets for multi-turn image editing. We further introduce MTEdit-Bench, a benchmark designed to evaluate both scenarios by assessing models' ability to follow editing instructions, maintain content consistency, resist visual-quality drift, and effectively use historical context across turns. Using MTEdit, we fine-tune Qwen-Image-Edit-Causal to obtain Qwen-Image-MTEdit. On MTEdit-Bench, we evaluate a broad range of closed-source and open-source image editing models, including Qwen-Image-MTEdit. Experimental results show that Qwen-Image-MTEdit achieves the best performance among the evaluated open-source models, demonstrating the effectiveness of MTEdit in improving models' multi-turn image editing capabilities.

cs.CV↗
arXiv2026

MimicAll: Structured Embodiment Conditioning for Cross-Humanoid Whole-Body Motion Tracking

Humanoid motion trackers reproduce diverse behaviors, but sharing a policy across bodies requires accounting for differences in structure, morphology and dynamics. We present MimicAll, a reinforcement-learning framework for shared whole-body motion tracking across heterogeneous humanoids. A structured embodiment descriptor is encoded into global and joint-aligned conditions, which are combined with observation history and body-matched motion references to predict joint-target offsets. Physics-consistent embodiment randomization, body-calibrated retargeting and heterogeneous simulation support training across 4,096 variants from 16 humanoid families. We introduce a benchmark of 464 bodies across five distribution strata to evaluate motion generalization, within-family embodiment shifts and unseen-family transfer. Controlled ablations show that embodiment information improves motion completion with simple concatenation, while self-attention yields the lowest global position errors. With equal training transitions, shared training achieves 99.4% 30-second success on randomized G1 bodies in 100STYLE, versus 42.9% for a single-body specialist. With Flat-MLP encoding and concatenation, continued training on a motion subset excluding obstacle categories achieves 98.3% and 93.5% 30-second success on 100STYLE for sampled training bodies and out-of-distribution variants within seen families, respectively. On an eight-motion LAFAN1 subset excluding ground and get-up sequences across 464 bodies, mismatched body conditions reduce self-attention's 30-second success from 61.7% to 47.0%, demonstrating a closed-loop benefit from embodiment information.

cs.RO↗
arXiv2026

MT Forcing: Towards Stable and Consistent Multi-Turn Image Editing with Autoregressive Diffusion

Multi-turn image editing aims to modify an image according to a sequence of instructions, enabling more effective interactive visual content creation for users. However, existing methods often exhibit noticeable drift after only a few editing turns, manifesting in two aspects: 1) unstable visual quality, with accumulating artifacts and degraded details; and 2) inconsistent image content, with unintended changes to preserved regions and prior edits. To address these challenges, we propose MT Forcing, a novel training paradigm for multi-turn image editing with unified multimodal models (UMMs) based on autoregressive diffusion. Specifically, we propose Single-Turn Distribution Matching Distillation (Single-Turn DMD), which supervises student self-rollouts with a teacher that applies cumulative edits to the source image in a single turn, providing visual-quality guidance without recursive error accumulation. Additionally, we introduce Teacher-Forcing Guidance, which supervises history-dependent transitions on reference trajectories during warmup and as a regularizer during distillation, encouraging cross-turn content consistency beyond what per-turn distribution matching alone can ensure. Extensive experiments demonstrate that our approach significantly improves the multi-turn image editing capabilities of UMMs, yielding more stable visual quality and stronger cross-turn consistency.

cs.CV↗
arXiv2026

FinHopper: A Progressive Multi-Hop Benchmark for Complex Financial Agents with Step-wise Evaluation

Financial agents are expected to answer factual investment queries through open search, but financial multi-hop retrieval differs from general multi-hop QA in a crucial way: each intermediate answer is an exact typed constraint, such as an entity, date, event, or numerical indicator, that determines the next query. This strict answer-conditioned dependency makes small intermediate errors cascade into plausible but wrong search trajectories. We introduce FinHopper, a benchmark for complex financial agents with controlled reasoning depth from 1 to 6 hops, covering stocks, funds, and macroeconomic facts, with gold intermediate answers for process-level evaluation. To construct FinHopper at scale, we design a state-transition-based synthesis framework that composes verified atomic financial QA patterns into dependency-preserving chains, followed by targeted in-synthesis verification, model-ensemble checking, and public-search validation by financial experts. Experiments with 20 LLM-agent configurations show that public search tools are necessary but insufficient: performance drops sharply as hop depth increases, the best model remains far below human experts, and process-aware scoring reveals partial reasoning progress hidden by final-answer-only evaluation. The benchmark is available at https://github.com/justajustin/FinHopper/.

cs.LG↗
arXiv2026

Drive2Gauss: FeedForward 4D Gaussian Reconstruction from Multimodal Generative Driving Videos

Generating reusable driving environments requires both controllable future observations and an explicit representation that supports rendering from different viewpoints, yet existing methods still recover explicit scenes from generated RGB videos through optimization for each sequence. To overcome these limitations, we present Drive2Gauss, a feedforward framework that converts jointly generated RGB, metric depth, and dynamic flow into dynamic 4D Gaussian scenes. A Multimodal Video Generator predicts the three modalities from reference multiview images and future control signals. Furthermore, we introduce a Gaussian Query Decoder that uses depth to initialize sparse 3D queries and flow to associate the queries across time, and integrates appearance information through spatiotemporal feature aggregation and iterative query refinement. The reconstruction stage operates in a single feedforward pass without optimization for each scene. Extensive results on nuScenes demonstrate that our approach attains an FID of 6.38 and an FVD of 12.43 for future RGB generation, a PSNR of 29.91 dB when reconstructing its generated observations, and supports both direct rendering under lateral camera shifts and downstream video fixing. Code and more visualizations are available at https://zttt04. github.io/Drive2Gauss_page/.

cs.CV↗
arXiv2026

RAD: A Realistic Multi-View Benchmark for Pose-Agnostic Anomaly Detection

Anomaly detection is essential for robotic perception and industrial inspection, yet most benchmarks are collected under controlled conditions with fixed viewpoints and stable illumination. These settings do not reflect robotic deployment, where camera pose, lighting, and surface reflectance vary continuously. We present RAD (Realistic Anomaly Detection), a robot-captured multi-view benchmark for pose-agnostic anomaly detection. RAD contains 4,047 RGB images from 13 everyday object categories, captured from 68 viewpoints per object with a Franka robotic arm and an RGB-D camera under uncontrolled lighting. The dataset covers four realistic defect types: scratched, missing, stained, and squeezed, with pixel-level annotations for localization. We benchmark representative 2D feature-based methods, 3D reconstruction pipelines, and vision-language models under a realistic setting in which test poses are unknown. Results show a clear gap between performance on conventional benchmarks and performance on RAD. Strong 2D feature-embedding methods remain the most reliable at image-level detection, whereas 3D approaches are more competitive for pixel-level localization but remain vulnerable to reflective materials, geometric symmetry, and sparse viewpoint coverage. Vision-language models perform poorly in both classification and localization. RAD provides a challenging testbed for robust robotic inspection and highlights open problems in jointly modeling appearance, geometry, and viewpoint uncertainty. Our website and code are available at https://chang-xinhai.github.io/rad-website/.

cs.CV↗
arXiv2026

Grounded Credit Assignment in Reinforcement Learning for Multi-Turn Search Agents

Outcome-reward reinforcement learning such as GRPO gives every token of a search-agent rollout the same advantage, although the rollout exercises two capabilities: finding evidence and using it. We show that accuracy improves without grounding: Search-R1 raises accuracy on all seven QA benchmarks, yet on Bamboogle the evidence-supported share of correct answers falls from 84.0% to 42.9%. We attribute this to GRPO's credit assignment: rollouts that retrieve answer-bearing evidence are favoured in aggregate only in proportion to their accuracy gain over the rest, a grounding gap that answering from memory or misusing evidence shrinks or reverses. To address this, we propose Grounded Credit Assignment (GCA), which uses verifiable sub-outcomes (evidence retrieval and answer correctness) to correct search and answer credit separately: a wrong answer is blamed more than the search that found the evidence, and a correct answer that bypasses retrievable evidence is credited less. Never negative on evidence-finding search, the correction does not shrink with the grounding gap; capped at 10% of each token's advantage, it never overrides the outcome signal. Without extra models, rollouts, or training stages, GCA improves average EM over Search-R1 by 5.7 (Qwen2.5-3B) and 6.3 points (Qwen3-30B-A3B) and raises this share from 76.9% to 93.4%.

cs.LG↗
arXiv2026

P-BFM: Perceptive Behavioral Foundation Models for Humanoid Control via Unsupervised Reinforcement Learning

Behavioral foundation models (BFMs) provide humanoids with reusable repertoires of whole-body behaviors; in real-world humanoid control, the same behavioral intent may require fundamentally different motions under different terrain constraints. Covering such variation with terrain-matched demonstrations requires enumerating a combinatorial space of behaviors and terrain geometries. We introduce P-BFM, a perceptive behavioral foundation model that factorizes humanoid control into terrain-invariant intent and terrain-conditioned realization. A forward-backward representation maps motion references, target states, and reward functions into a shared intent space without terrain information, while a perceptive policy learns how to realize each intent under the surrounding terrain geometry. We further identify a complementary limitation of purely latent control: behavioral latents can preserve local motion patterns while losing precise global progress. We therefore introduce Explicit Root Instructions (ERI), which separates global transport (e.g., heading and planar velocity) from behavioral intent, while leaving local whole-body adaptation to the perceptive policy. This decomposition leads to a characteristic capability absent from conventional BFMs: one fixed intent induces different, terrain-appropriate behaviors, including changes in step height, stride, posture, foothold placement, and contacts, without terrain-specific demonstrations. Across challenging terrains, P-BFM improves motion fidelity, root-control precision, and perturbation recovery over strong baselines. A single frozen policy further supports motion tracking, goal reaching, reward inference, teleoperation, and terrain-aware recovery, and transfers zero-shot to a Unitree G1 using onboard depth sensing.

cs.RO↗
arXiv2026

MathVis: Can AI Reason through Drawing? A Benchmark for Mathematical Figure Generation

This paper introduces MathVis, a benchmark designed to evaluate LLMs' ability to visualize frontier mathematical problems and perform diagram-assisted reasoning. The benchmark consists of 512 tasks, each comprising a mathematical statement, a reference diagram, executable TikZ or SVG code, a Gold Intermediate Representation (IR), atomic rubrics, and error codes. Through rigorous evaluation, GPT-6-Astra, Claude Fable 5, and Gemini 3.1 Pro Preview achieve pass@1 scores of 31.25%, 26.56%, and 22.85%, respectively. We found that although the tasks require visualization, LLMs produce outputs dominated by formal languages, symbols, and graphics programs, rather than explicit diagram-mediated reasoning. Furthermore, while the solutions generated by LLMs may contain all the necessary elements, they are often visually confusing to humans. Ultimately, this benchmark aims to visualize mathematical problems and promote research on enabling LLMs to simplify their reasoning via visual diagrams.

cs.AI↗
arXiv2026

SimVTA: Simulation-Grounded Video-Trajectory Alignment for Driving World Action Models

Driving world action models (WAMs) learn from paired trajectories and future observations. Post-training with reinforcement learning allows the policy to explore alternative trajectories and improve planning using driving rewards. However, driving logs contain future videos only for the recorded trajectories, leaving these alternatives without corresponding visual supervision. Thus, we introduce SimVTA, a simulation-grounded post-training framework that combines trajectory optimization with video supervision. First, we sample candidate trajectories for each observation and use a real-world simulator (e.g., World Engine) to render future videos for high-reward candidates in real-world scenes reconstructed with 3D Gaussian Splatting (3DGS). This provides trajectory-matched supervision independent of the model's own predictions. Under a limited rendering budget, we prioritize video supervision for higher-error futures among these rendered candidates. Finally, we optimize trajectory planning with Group Relative Policy Optimization (GRPO) and use a flow-matching loss on the matched videos to update shared representations. At inference time, the model predicts trajectories directly, without simulator calls. On NAVSIM v1, applying SimVTA to a WAM initialization improves PDMS from 86.2 to 91.3 (+5.1). It achieves 88.2 EPDMS on NAVSIM v2 and an average HD-Score of 38.8 in closed-loop evaluation on HUGSIM. Ablations show that updating shared representations with video supervision improves planning, while prioritizing higher-error futures among high-reward trajectories further improves performance.

cs.CV↗
arXiv2026

From Hitter to Player: Separating Motor Execution and Strategy in Competitive Humanoid Table Tennis

Competitive humanoid table tennis requires two distinct abilities: executing a desired return and deciding where to return the ball. We separate these two problems, with the ball landing target serving as an interface between motor control and strategy. (1) We first train a whole-body motor policy conditioned on the desired landing target, which maps the target to an executable humanoid stroke through a model-based strike planner and a learned controller. (2) We then improve the motor policy through self-play in closed-loop rallies, where the robot learns to handle incoming balls generated by another player rather than only prescribed incoming balls. At this stage, the landing targets are still sampled without considering the opponent, so the policy improves its execution without learning game strategy. (3) Finally, we freeze the entire motor stack and train a stroke-level strategic policy to choose landing targets through competitive self-play. Motor self-play improves both landing accuracy and legal-return rate during rallies. More importantly, with the entire motor stack fixed, changing only the target-selection policy leads to large differences in game outcomes: the learned strategy wins 89%, 82%, and 73% of points against center, random, and away-from-opponent baselines, respectively. The learned strategy also changes where it sends the ball according to the opponent's position and the previous target, showing that self-play learns more than simply aiming at fixed "good" locations. On hardware, the same frozen execution stack and strategic interface support complete 11-point games against a recreational human opponent, including multi-stroke rallies with both forehand and backhand returns.

cs.RO↗
arXiv2026

PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control

Diffusion models provide a flexible framework for motion generation, but turning this flexibility into closed-loop humanoid control remains challenging. Hierarchical generator-tracker systems steer motion through reference trajectories, yet these references may exceed the capabilities of the downstream tracker, leaving physical feasibility and disturbance recovery largely to a separate control module. Action-only diffusion avoids this separation by directly generating executable actions, but provides no explicit future-state trajectory that can be steered toward test-time motion objectives. Joint state-action diffusion offers a natural alternative, but existing controllers often rely on privileged full-body states, while learned behavior selection and test-time motion steering remain only partially integrated. We present PredActor, a predictive action diffusion policy that unifies both steering modes in one directly executed policy using proprioception alone. Given proprioceptive history and optional task context, PredActor jointly predicts actions and an internal future-state trajectory that enables guidance: classifier-free guidance strengthens text-conditioned motion, while classifier guidance steers future states toward test-time objectives. Only actions are executed, requiring neither a motion-reference tracker nor privileged full-body states. In simulation, PredActor reaches 44 of 45 destination targets and achieves a text retrieval score of 0.539 versus 0.424 for conditional action diffusion, with similar disturbance survival. Rolling denoising and computation-preserving runtime optimizations reduce the complete callback to 16.790 ms median and 19.383 ms p95 on a Jetson Orin NX, within the 20 ms control period. Deployed on a Unitree G1, PredActor demonstrates text-conditioned motion, disturbance response, joystick control, and semantic interpolation in simulation and hardware.

cs.RO↗
arXiv2026

I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning

Behavioral foundation models (BFMs) have recently shown that a single humanoid policy can support diverse whole-body control, but extending such generality to physical interaction remains challenging. We introduce I-BFM, to our knowledge the first BFM for humanoid-object interaction. Rather than relying on task-specific policies or reference tracking, I-BFM learns a shared representation of the coupled dynamics among the humanoid, objects, and their contacts using forward-backward representations and unsupervised reinforcement learning. Given a downstream task reward, the same policy can be directly conditioned on a latent command to execute closed-loop interaction without task-specific policy optimization. To improve interaction control over different time scales, we further train the policy with both short-horizon interaction targets and longer-horizon goal targets. A single I-BFM policy performs carrying, pushing, and kicking, while also supporting goal reaching, motion tracking, stylistic control, and long-horizon task chaining. More importantly, it remains effective after large deviations from nominal execution: on Carry, I-BFM achieves 94.3% nominal success and retains 89.3% success after robot falls, compared with 1.3% for a planning-based baseline. Real-world experiments on a Unitree G1 further demonstrate diverse loco-manipulation behaviors, rapid recovery from interaction failures and external disturbances, and task chaining without task-specific retraining.

cs.RO↗
arXiv2026

From bits to atoms: A survey of cross-layer safety in Embodied AI

Embodied Artificial Intelligence (AI) introduces cyber-physical risks because digital failures and attacks can cause physical harm. This survey organizes embodied AI safety through a four-layer reference architecture -- comprising the physical interaction, system and middleware, algorithm and decision, and cloud-edge and data layers -- and uses it to connect vulnerabilities, propagation paths, and safeguards across the system stack. It traces the evolution of safety paradigms and examines how faults and attacks cross architectural boundaries to produce physical consequences. Furthermore, the survey systematizes composite attack chains, outlines multi-layered defense strategies, and reviews representative embodied safety benchmarks. Ultimately, we advocate for unifying software alignment with rigorous hardware constraints to build trustworthy systems capable of operating safely within human-centric environments.

cs.RO↗