arXiv subjects

Haoming Liu

Publications and source records attributed to Haoming Liu.

12 recordsLinked to original sources

arXiv2026

PLCBench: Can Autonomous LLM Agents Turn PLC Access into Sustained Physical Impact?

Industrial control systems (ICSs) rely on programmable logic controllers (PLCs) to connect networked computation with physical control. Tool-using large language model (LLM) agents represent an emerging attack threat: can an autonomous agent convert a network-reachable PLC into sustained adverse physical impact? However, existing evaluations focus on digital tasks or individual stages of PLC testing. In ICSs, evaluations that stop at software exploitation, an accepted write, or tool access may therefore mischaracterize physical risk. We present PLCBENCH, to our knowledge, the first real-PLC hardware-in-the-loop (HIL) framework for characterizing this cyber-to-physical capability and its boundaries. It combines vendor-native interaction, commercial PLC execution, closed-loop reduced-order process simulation, and independent outcome verification. A deterministic evaluator applies fixed rules to runner, communication, PLC-object, and process records to assign six hidden diagnostic flags, distinguishing usable PLC interaction, process-linked manipulation, and sustained physical impact. We instantiate PLCBENCH on four commercial PLCs crossed with four closed-loop workloads. Across five LLM families and 240 real-PLC episodes, 75 episodes (31.3%) sustain their respective physical objectives. Stagewise results show that 98 episodes stop before a valid native read, whereas 62 reach a process-linked write but do not sustain the final objective. Notably, richer process observation is associated with an increase in conditional objective attainment after a process-linked write from 44.2% to 64.0%. These measurements localize failure in configured PLC-process deployments and identify intervention points for future defense evaluation. To support reproducibility, we release the safely disclosable PLCBENCH code and a software-only reproduction pipeline through the accompanying artifact.

cs.CR↗

arXiv2026

Histogram-constrained Image Generation

Diffusion models have emerged as a dominant paradigm in generative modeling, enabling high-fidelity sampling from complex data distributions. Despite impressive capabilities, controlling diffusion models to produce outputs aligned with user intent remains an open challenge, especially when balancing global coherence with local precision. Existing control mechanisms vary in the granularity of their conditioning signals. For example, textual prompts guide generation globally through high-level semantics, while ControlNet-like approaches secure precise local structure via dense conditions. In this work, we introduce Histogram-constrained Image Generation (HIG), a novel control mechanism that falls into the middle ground of control granularity. Our framework enforces user-specified distributional constraints (e.g., color histograms or latent token distributions) during the generation process with exact precision. We model such control as an optimal transport (OT) problem and apply explicit guidance transformations during sampling, thereby driving the diffusion trajectory to align with the desired histogram. We demonstrate the versatility of HIG across diverse applications, including constrained generation via color/latent histograms and high-capacity information embedding through histogram-level encoding. Our findings underscore the promise of distributional control, a flexible and interpretable control scheme that is fully compatible with existing control mechanisms, diversifying the hybrid strategies for controllable image generation. Our project page is available at: https://maps-research.github.io/hig/.

cs.CV↗

arXiv2026

DeTrack: A Benchmark and Altitude-Aware Dual World Model for Drone-embodied Tracking

Aerial object tracking has broad applications in public safety, emergency rescue, wildlife monitoring, and related fields. However, existing aerial tracking benchmarks are mainly based on passive 2D video sequences captured from fixed camera locations or predefined flight paths, where drones are treated as passive cameras rather than embodied agents that actively perceive, interact, and control their motion in dynamic 3D scenes. In this paper, we define a new drone-embodied tracking task, termed DeTrack, which requires a drone to track a target in interactive 3D environments using online egocentric observations and active flight control in a closed loop. We build a large-scale benchmark containing 11,368 target trajectories across diverse scenes, rendering conditions, semantic regions, and moving distractors, together with evaluation metrics for target visibility, tracking accuracy, and trajectory success. We further propose AaDWorlds, an altitude-aware dual world model framework for drone-embodied tracking. AaDWorlds consists of an altitude-aware perception module and dual world models that imagine future states under both high- and low-altitude regimes. By combining pseudo altitude-aware observations and imagined future states, AaDWorlds alleviates the intrinsic altitude-mediated contradiction between target visibility and flight safety. Experiments on the DeTrack benchmark demonstrate that AaDWorlds improves closed-loop tracking performance across all evaluation metrics.

cs.CV↗

arXiv2025

From Navigation to Refinement: Revealing the Two-Stage Nature of Flow-based Diffusion Models through Oracle Velocity

Flow-based diffusion models have emerged as a leading paradigm for training generative models across images and videos. However, their memorization-generalization behavior remains poorly understood. In this work, we revisit the flow matching (FM) objective and study its marginal velocity field, which admits a closed-form expression, allowing exact computation of the oracle FM target. Analyzing this oracle velocity field reveals that flow-based diffusion models inherently formulate a two-stage training target: an early stage guided by a mixture of data modes, and a later stage dominated by the nearest data sample. The two-stage objective leads to distinct learning behaviors: the early navigation stage generalizes across data modes to form global layouts, whereas the later refinement stage increasingly memorizes fine-grained details. Leveraging these insights, we explain the effectiveness of practical techniques such as timestep-shifted schedules, classifier-free guidance intervals, and latent space design choices. Our study deepens the understanding of diffusion model training dynamics and offers principles for guiding future architectural and algorithmic improvements. Our project page is available at: https://maps-research.github.io/from-navigation-to-refinement/.

cs.LG↗

arXiv2025

Prompt-R1: Collaborative Automatic Prompting Framework via End-to-end Reinforcement Learning

Recently, advanced large language models (LLMs) have emerged at an increasingly rapid pace. However, when faced with complex problems, most users are often unable to provide accurate and effective prompts to interact with LLMs, thus limiting the performance of LLMs. To address this challenge, we propose Prompt-R1, an end-to-end reinforcement learning framework that uses a small-scale LLM to collaborate with large-scale LLMs, replacing user interaction to solve problems better. This collaboration is cast as a multi-turn prompt interaction, where the small-scale LLM thinks and generates prompts, and the large-scale LLM performs complex reasoning. A dual-constrained reward is designed to optimize for correctness, generation quality, and reasoning accuracy. Prompt-R1 provides a plug-and-play framework that supports both inference and training with various large-scale LLMs. Experiments on multiple public datasets show that Prompt-R1 significantly outperforms baseline models across tasks. Our code is publicly available at https://github.com/QwenQKing/Prompt-R1.

cs.CL↗

arXiv2025

Decentralized Stochastic Optimization over Unreliable Networks via Two-timescales Updates

This paper introduces a robust two-timescale compressed primal-dual (TiCoPD) algorithm tailored for decentralized optimization under bandwidth-limited and unreliable channels. By integrating the majorization-minimization approach with the primal-dual optimization framework, the TiCoPD algorithm strategically compresses the difference term shared among agents to enhance communication efficiency and robustness against noisy channels without compromising convergence stability. The method incorporates a mirror sequence for agent consensus on nonlinearly compressed terms updated on a fast timescale, together with a slow timescale primal-dual recursion for optimizing the objective function. Our analysis demonstrates that the proposed algorithm converges to a stationary solution when the objective function is smooth but possibly non-convex. Numerical experiments corroborate the conclusions of this paper.

math.OC↗

arXiv2025

A Two-timescale Primal-dual Algorithm for Decentralized Optimization with Compression

This paper proposes a two-timescale compressed primal-dual (TiCoPD) algorithm for decentralized optimization with improved communication efficiency over prior works on primal-dual decentralized optimization. The algorithm is built upon the primal-dual optimization framework and utilizes a majorization-minimization procedure. The latter naturally suggests the agents to share a compressed difference term during the iteration. Furthermore, the TiCoPD algorithm incorporates a fast timescale mirror sequence for agent consensus on nonlinearly compressed terms, together with a slow timescale primal-dual recursion for optimizing the objective function. We show that the TiCoPD algorithm converges with a constant step size. It also finds an O(1 /T ) stationary solution after T iterations. Numerical experiments on decentralized training of a neural network validate the efficacy of TiCoPD algorithm.

math.OC↗

arXiv2024

A Stochastic Approximation Approach for Efficient Decentralized Optimization on Random Networks

A challenging problem in decentralized optimization is to develop algorithms with fast convergence on random and time varying topologies under unreliable and bandwidth-constrained communication network. This paper studies a stochastic approximation approach with a Fully Stochastic Primal Dual Algorithm (FSPDA) framework. Our framework relies on a novel observation that randomness in time varying topology can be incorporated in a stochastic augmented Lagrangian formulation, whose expected value admits saddle points that coincide with stationary solutions of the decentralized optimization problem. With the FSPDA framework, we develop two new algorithms supporting efficient sparsified communication on random time varying topologies -- FSPDA-SA allows agents to execute multiple local gradient steps depending on the time varying topology to accelerate convergence, and FSPDA-STORM further incorporates a variance reduction step to improve sample complexity. For problems with smooth (possibly non-convex) objective function, within $T$ iterations, we show that FSPDA-SA (resp. FSPDA-STORM) finds an $\mathcal{O}( 1/\sqrt{T} )$-stationary (resp. $\mathcal{O}( 1/T^{2/3} )$) solution. Numerical experiments show the benefits of the FSPDA algorithms.

math.OC↗

arXiv2024

Boosting Few-Shot Segmentation via Instance-Aware Data Augmentation and Local Consensus Guided Cross Attention

Few-shot segmentation aims to train a segmentation model that can fast adapt to a novel task for which only a few annotated images are provided. Most recent models have adopted a prototype-based paradigm for few-shot inference. These approaches may have limited generalization capacity beyond the standard 1- or 5-shot settings. In this paper, we closely examine and reevaluate the fine-tuning based learning scheme that fine-tunes the classification layer of a deep segmentation network pre-trained on diverse base classes. To improve the generalizability of the classification layer optimized with sparsely annotated samples, we introduce an instance-aware data augmentation (IDA) strategy that augments the support images based on the relative sizes of the target objects. The proposed IDA effectively increases the support set's diversity and promotes the distribution consistency between support and query images. On the other hand, the large visual difference between query and support images may hinder knowledge transfer and cripple the segmentation performance. To cope with this challenge, we introduce the local consensus guided cross attention (LCCA) to align the query feature with support features based on their dense correlation, further improving the model's generalizability to the query image. The significant performance improvements on the standard few-shot segmentation benchmarks PASCAL-$5^i$ and COCO-$20^i$ verify the efficacy of our proposed method.

cs.CV↗

arXiv2023

Diffusion Cocktail: Mixing Domain-Specific Diffusion Models for Diversified Image Generations

Diffusion models, capable of high-quality image generation, receive unparalleled popularity for their ease of extension. Active users have created a massive collection of domain-specific diffusion models by fine-tuning base models on self-collected datasets. Recent work has focused on improving a single diffusion model by uncovering semantic and visual information encoded in various architecture components. However, those methods overlook the vastly available set of fine-tuned diffusion models and, therefore, miss the opportunity to utilize their combined capacity for novel generation. In this work, we propose Diffusion Cocktail (Ditail), a training-free method that transfers style and content information between multiple diffusion models. This allows us to perform diversified generations using a set of diffusion models, resulting in novel images unobtainable by a single model. Ditail also offers fine-grained control of the generation process, which enables flexible manipulations of styles and contents. With these properties, Ditail excels in numerous applications, including style transfer guided by diffusion models, novel-style image generation, and image manipulation via prompts or collage inputs.

cs.CV↗

arXiv2023

GEMRec: Towards Generative Model Recommendation

Recommender Systems are built to retrieve relevant items to satisfy users' information needs. The candidate corpus usually consists of a finite set of items that are ready to be served, such as videos, products, or articles. With recent advances in Generative AI such as GPT and Diffusion models, a new form of recommendation task is yet to be explored where items are to be created by generative models with personalized prompts. Taking image generation as an example, with a single prompt from the user and access to a generative model, it is possible to generate hundreds of new images in a few minutes. How shall we attain personalization in the presence of "infinite" items? In this preliminary study, we propose a two-stage framework, namely Prompt-Model Retrieval and Generated Item Ranking, to approach this new task formulation. We release GEMRec-18K, a prompt-model interaction dataset with 18K images generated by 200 publicly-available generative models paired with a diverse set of 90 textual prompts. Our findings demonstrate the promise of generative model recommendation as a novel personalization problem and the limitations of existing evaluation metrics. We highlight future directions for the RecSys community to advance towards generative recommender systems. Our code and dataset are available at https://github.com/MAPS-research/GEMRec.

cs.IR↗

arXiv2017

Epitaxial thin films of pyrochlore iridate Bi_{2+x}Ir_{2-y}O_{7-delta}: structure, defects and transport properties

While pyrochlore iridate thin films are theoretically predicted to possess a variety of emergent topological properties, experimental verification of these predictions can be obstructed by the challenge in thin film growth. Here we report on the pulsed laser deposition and characterization of thin films of a representative pyrochlore compound Bi2Ir2O7. The films were epitaxially grown on yttria-stabilized zirconia substrates and have lattice constants that are a few percent larger than that of the bulk single crystals. The film composition shows a strong dependence on the oxygen partial pressure. Density-functional-theory calculations indicate the existence of Bi_Ir antisite defects, qualitatively consistent with the high Bi: Ir ratio found in the films. Both Ir and Bi have oxidation states that are lower than their nominal values, suggesting the existence of oxygen deficiency. The iridate thin films show a variety of intriguing transport characteristics, including multiple charge carriers, logarithmic dependence of resistance on temperature, antilocalization corrections to conductance due to spin-orbit interactions, and linear positive magnetoresistance.

cond-mat.mtrl-sci↗