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Haoran Zhang

Publications and source records attributed to Haoran Zhang.

At least 19 recordsLinked to original sources

Sliced $L^p$ Distributional Balancing

A popular class of causal inference methods addresses confounding through weighting, which reweights treated and control groups to balance their covariate distributions without using outcome information, thereby preserving a design-based perspective. In this paper, we propose sliced $L^p$ distributional balancing (SLDB), a family indexed by $p\in[1,\infty)$ that measures imbalance by averaging squared $L^p$ distances between the cumulative distribution functions of one-dimensional linear projections. The Cram\'er--Wold device ensures that this criterion identifies equality of multivariate distributions, while projection reduces its computation to sorting-based one-dimensional operations. Because our method lies outside the maximum mean discrepancy (MMD) framework underlying many existing distributional balancing methods, their theoretical and computational tools do not directly apply. We therefore develop a computationally efficient projected subgradient descent algorithm for estimating balancing weights, offering improved computational complexity over MMD-based methods. Furthermore, we establish a novel theoretical framework for SLDB-based causal effect estimation and prove, under suitable conditions, $\sqrt{n}$-consistency and asymptotic normality, with the asymptotic variance attaining the semiparametric efficiency bound. Finally, we develop inferential procedures that do not require augmentation with an outcome model, thereby retaining the design-based principle. Simulation studies and a real-world application demonstrate that SLDB performs competitively with existing methods.

stat.ME

Future-Aware Flow Planning for Safe UAV Target Following

UAV target following in cluttered environments is inherently predictive: current-state followers can lag behind turns, choose blocked corridors, or trade tracking for unsafe near-horizon motion. We propose a future-aware flow planning framework for state-informed UAV target following. Predicted target futures guide clean UAV trajectory generation as horizon-aligned residual signals, while risk-scored executable-prefix repair is embedded inside the sampling loop. On fixed ID/OOD receding-horizon benchmarks, the planner improves the intended safety--tracking trade-off rather than dominating every metric: it matches zero measured ID collision rate with the highest ID safe-tracking time, and gives the lowest OOD macro collision rate and final tracking error among the displayed methods, while Future-MPC remains smoother and stronger on some thresholded OOD success metrics under its hand-designed objective. Ablations show that future adaptation improves candidate generation before safety repair, and simulator-facing stress tests probe interface, sensing, and controller-execution effects. These results support horizon-aligned future adaptation and embedded prefix repair as complementary ingredients for safe UAV target following under the tested simulation conditions.

cs.RO

SimpleOPD: Simple Tokenizer-Agnostic On-Policy Distillation for Long-Context Reasoning

On-policy distillation (OPD) offers a promising way to transfer reasoning capabilities from stronger teacher models, but applying it to long-context reasoning teachers and short-context students introduces practical challenges, including tokenizer mismatch, teacher-student distribution mismatch, response length explosion, and training instability. In this work, we study this setting by transferring proof-reasoning capabilities from the long-context reasoning model SU-01 to short-context student models. To handle tokenizer differences, we perform OPD in a shared text space and align only tokens that occupy identical text spans under the student and teacher tokenizers. To mitigate the problem of excessive generation length and frequent truncation, we introduce a student reference KL loss and mask the advantages of special termination tokens such as and <|im_end|>. This strategy constrains the student from drifting excessively from its initial policy, thereby mitigating the teacher-student distribution mismatch problem and fostering steady length growth. Experiments on both same-family and different-family student models, including Qwen3, Qwen3.5, Intern-S2, GLM-4.7, Gemma-4, show consistent gains in mathematical reasoning, especially natural-language math proving. Notably, Intern-S2-Preview improves by 21.2 points on ProofBench, reaching 55.2 and surpassing Gemini-2.5-Pro. It also improves on science benchmarks such as HLE and HiPhO, suggesting that OPD transfers reasoning capabilities that generalize beyond the mathematical training domain.

cs.CL

@skills: Attention is all you have

There are 56,804 public agent skills today, and teams write many more privately. The dominant delivery model is installation: once installed, a skill's description remains in the system prompt, competing for fewer than 100 reliable trigger slots. This leaves the long tail with no practical path to use and forces teams' own playbooks to compete for the same scarce space. We observe that installation bundles three separable functions: content, persistence, and automatic triggering. Only the last requires prompt residency. We therefore propose @skills, an open protocol that separates them. A path addresses any skill, subtree, or collection, and reading a skill is sufficient to use it, so nothing is installed or made resident. The operation vendors a copy at the same path into a project's Git-tracked tree for adaptation and ownership. The operation adds one .gitignore-style line, the only element that costs prompt residency. A directory is a menu, making bundles ordinary directories rather than all-or-nothing units. The protocol requires no manifest, lockfile, or registration, and SKILL.md remains unchanged. @skills is additive, ships as an installable package, and turns any agent that can read files and run commands into a client through a single instruction file. Its open specification is at https://github.com/SylphAI-Inc/atskills and it is implemented in the AdaL CLI at https://adalagent.ai . Because paths address skills well but cannot find them, the protocol is paired with a free hub at https://atskills.one for corpus-wide search and ranking, repository-free hosting, private and team collections, and one-screen authoring. The hub is optional: gh: and local paths resolve without it, and indexed GitHub skills retain their gh: identities. Install less, use more.

cs.AI

HELP: Human-Efficient Large-Scale Robot Post-Training with Rollout Segmentation

When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post-training are often required to progressively address policy weaknesses. In this report, we focus on maximizing human efficiency during this iterative process, measured by policy improvement and task throughput per unit of human labor and time. We propose HELP, a Human-Efficient Large-scale robot Post-training pipeline in which two specialized operators supervise twelve robots concurrently. A trained Teleoperator provides high-value remote interventions and recovery demonstrations, while a Floor Operator monitors the robot fleet, triggers takeovers, and performs physical resets. This role specialization improves human efficiency by reducing task switching, lowering operator training costs, and expanding robot interaction coverage. Beyond increasing rollout volume, concurrent supervision also broadens the range of policy behaviors observed by the human team, making recurring failure modes easier to identify and enabling more targeted takeovers, resets, and recovery demonstrations. To efficiently utilize the large and mixed-quality rollout data, HELP incorporates \vlac, an automatic rollout segmentation critic specifically designed for this setting. It separates autonomous trajectories into progress-making, idle, failure-inducing, and recovery segments. Useful rollout segments are retained and combined with Human-in-the-Loop data for the next post-training round. Across four real-world manipulation tasks, HELP achieves 80\%--95\% success rates and improves task throughput by 1.7$\times$--4.2$\times$ over the base model. Under matched HITL recovery budgets, VLAC-CUT further amplifies throughput gains by 1.20$\times$--3.43$\times$ and success-rate gains by 1.50$\times$--3.00$\times$ over HITL-only updates.

cs.RO

Revisiting the Relation Between Language Model Perplexity and ASR Word Error Rate for Modern End-to-End Speech Recognition

Language model (LM) perplexity (PPL) has historically been used as a proxy for automatic speech recognition (ASR) word error rate (WER), with prior work reporting an approximately linear relation in log-log space. Modern end-to-end ASR systems challenge this assumption because they already contain internal language modeling capacity, are often evaluated without external language models, and can now be combined with neural LMs and large language models (LLMs) through different recognition strategies. This paper revisits the relation between PPL and WER for modern ASR systems. We study whether external LMs still improve current end-to-end ASR systems, whether the PPL-WER relation remains linear in log-log space, how encoder context length affects this relation, and how LLM perplexities fit into the trend observed for standard neural LMs. We further investigate internal language modeling (ILM) in attention-based encoder-decoder systems and show that ILM subtraction changes the observed PPL-WER relation, indicating that the decoder's internal LM must be considered when interpreting the effect of external LM quality.

cs.CL

Seismic full waveform inversion via a physics-guided Fourier representation neural network

Accurate subsurface velocity models are essential for seismic imaging, yet conventional full waveform inversion (FWI) often suffers from cycle skipping, noise sensitivity, and reliance on good initial models. We develop a physics-guided Fourier representation neural network (PGFRNN) for unsupervised acoustic FWI and simultaneous-source FWI (SSFWI), which embeds Fourier-transformed seismic data into a latent space and iteratively updates the velocity model using a softplus-approximated log-cosh (SALC) loss and a physics-guided optimizer. Numerical tests on the Overthrust model demonstrate that PGFRNN outperforms conventional L2- and SALC-loss-based FWI methods, achieving higher inversion accuracy and robustness to noise and challenging initial models.

physics.geo-ph

Flexformer: Flexible Linear Transformer with Learnable Attention Kernel

Transformer models rely on attention mechanism to capture long-range dependencies but suffer from quadratic complexity, limiting their scalability to long sequences. Kernel-based linear attention reduces this complexity but typically relies on fixed or weakly learnable kernels, restricting expressiveness and performance. In this work, we propose Flexformer, a flexible linear Transformer that learns attention kernels in a fully data-driven manner. Flexformer builds on random Fourier feature-based linear attention and treats spectral frequencies as trainable parameters, enabling the model to learn a broad family of attention kernels. We develop both stationary and nonstationary variants, with the latter offering strictly greater expressiveness. Extensive experiments on language modeling and sequence classification demonstrate that Flexformer consistently outperforms baselines. Moreover, Flexformer can be effectively distilled from pretrained Transformers to recover softmax attention and exhibits strong kernel transferability across domains, achieving both high efficiency and competitive performance on long-sequence tasks.

cs.LG

Cross-Head Attention Uplift Network with Inverse Propensity Score under Unobserved Confounding

Uplift modeling, crucial for estimating individual treatment effects (ITE), faces dual challenges: flexibly leveraging inter-group similarity to enhance discriminative power and debiasing under unobserved confounding scenarios. In this paper, we propose the Cross-Head Attention Uplift Network (CHAUN) and Robust Adversarial Inverse Propensity Score (RA-IPS) method to address these limitations. CHAUN employs shared feature embeddings and cross-head attention mechanisms to dynamically integrate treatment-specific and control-specific representations, enhancing inter-group correlation modeling. Theoretically, we prove that access to the true propensity scores ensures ITE identifiability even with unobserved confounders. For practical scenarios lacking true propensity scores, RA-IPS adversarially optimizes propensity weights within constrained uncertainty sets to mitigate bias from unobserved variables. Experiments on public datasets (CRITEO-UPLIFT, LAZADA) and a production e-commerce dataset demonstrate CHAUN's superiority over state-of-the-art uplift models, achieving relative improvements of up to 25.6% in QINI scores. RA-IPS further enhances robustness, outperforming standard IPS by 5.4% under unobserved confounding. The results validate the effectiveness of our proposed methods in real-world causal inference tasks.

cs.LG

Foresight: Failure Detection for Long-Horizon Robotic Manipulation with Action-Conditioned World Model Latents

Long-horizon tasks are common in real-world robotic deployments, yet failure detection for such tasks remains underexplored. Detecting failures in long-horizon robotic tasks is particularly challenging because failure onset is often ambiguous and dense temporal annotations are typically unavailable. We present Foresight, a failure detection framework that monitors manipulation trajectories using latent representations from an action-conditioned world model. Foresight is trained using only final task-level success or failure labels. By leveraging predictive world-model embeddings, our method provides a unified framework for failure detection across different policies. We further use functional conformal prediction (FCP) to calibrate detection thresholds adaptively. We evaluate Foresight with state-of-the-art vision-language-action policies in simulation on LIBERO-Long, ManiSkill-Long, and BEHAVIOR-1K, compare it against state-of-the-artfailure detection methods, and validate it on real robots with three long-horizon tasks on a ReactorX-200 arm and one task on a Franka arm. Our results suggest that action-conditioned world-model embeddings provide a scalable representation for reliable failure monitoring in long-horizon manipulation.

cs.RO

Incorporating wave physical priors into diffusion models: A novel approach to seismic resolution enhancement

Seismic resolution enhancement remains a critical challenge in exploration geophysics, particularly when processing field data characterized by limited bandwidth, strong noise, and insufficient labeled training samples. Existing deep learning methods typically rely on supervised learning with synthetic training data, leading to distribution mismatch and poor generalization on real seismic acquisitions. To address these limitations, we develop a physics-guided self-supervised diffusion model (PG-SSDM) that learns directly from field observations without requiring paired high-resolution labels. The proposed framework combines three key innovations. First, a self-supervised training strategy constructs learning targets by progressively filtering the observed data itself, eliminating the need for high-resolution ground truth through iterative refinement across multiple stages. Second, seismic convolution model is embedded as a hard physical constraint in both the training loss function and the reverse sampling process, ensuring that generated high-resolution outputs respect fundamental seismic wave propagation physics. Third, the probabilistic nature of diffusion models enables uncertainty quantification, providing spatial confidence maps that identify regions where resolution enhancement may be less reliable. We validate PG-SSDM on synthetic data under various noise conditions and on a 3D post-stack field dataset. Experimental results demonstrate that the proposed method effectively recovers thin layers and subtle structures, suppresses noise, preserves structural continuity, thereby significantly improving the resolution and interpretability of seismic data.

physics.geo-ph

TimeVista: Exploring and Exploiting Vision-Language Models as Judges for Time Series Forecasting

High-quality time series forecasting is pivotal for real-world decision-making. However, traditional point-wise metrics often fail to reveal complex temporal patterns and align poorly with human intuitive preferences. While the ''LLM-as-a-Judge'' paradigm has revolutionized text evaluation by providing flexible, human-aligned judgment, its application to time series remains largely unexplored. In this paper, we leverage Vision-Language Models (VLMs) as judges for time series forecasting, harnessing their ability to comprehend time series plots grounded in textual information. Specifically, we propose a novel framework integrating micro- and macro-level judgments informed by contextual information to evaluate time series forecasting. To this end, we introduce TimeVista, a comprehensive VLM-as-a-Judge benchmark comprising 5563 time series samples paired with detailed evaluation rubrics. Extensive meta-evaluations demonstrate that VLMs are highly reliable judges, achieving significantly higher consistency with human preferences than conventional metrics. Building upon our benchmark, we comprehensively assess recent Time Series Foundation Models (TSFMs) under the VLM-as-a-Judge paradigm. Our results demonstrate that VLMs serve as robust and interpretable judges, providing a comprehensive, human-aligned standard for evaluating time series models.

cs.AI

A Multi-Modal Framework with Cross-Subject Pseudo-Labeling and Semantic Alignment for Micro-Gesture Recognition

Micro-gestures (MGs) are spontaneous and subtle body movements that frequently convey hidden human emotions. Recognizing MGs in untrimmed videos remains highly challenging due to their extremely low signal-to-noise ratio, severe long-tailed class distribution, and the inherent domain shift encountered in cross-subject evaluation scenarios. In this paper, we propose a comprehensive multi-modal framework for Track 1 of the 4th MiGA-IJCAI Challenge. To capture fine-grained representations, we design a saliency-guided multi-modal extraction pipeline integrating 68-keypoint skeleton joint coordinates, 3D heatmap volumes, and high-resolution RGB visual features. We introduce a gentle square-root smoothed weighting mechanism paired with an Orthogonal Semantic Embedding Loss to protect tail classes without compromising overall recognition capabilities. More importantly, to bridge the cross-subject generalization gap, we propose a Cross-Modal Pseudo-Labeling (CMPL) strategy for unsupervised domain adaptation, which significantly boosts single-modal robustness. A temperature-scaled soft-voting mechanism is finally utilized to alleviate overconfidence during late fusion. Extensive experiments demonstrate that our framework achieves a competitive F1-score of 68.13\%, securing the 4th place.

cs.CV

ComBench: A Benchmark for Rigorous Proof Reasoning and Constructive Realization in Olympiad-Level Combinatorics

Combinatorics is central to Olympiad-level mathematical problem solving, requiring deep discrete reasoning, creative constructions, and rigorous structural insight. Recent evidence suggests that even today's strongest frontier models remain uneven on Olympiad combinatorics, revealing a gap in creative mathematical reasoning. We introduce ComBench, an Olympiad-level combinatorics benchmark for evaluating and diagnosing the combinatorial reasoning capabilities of large language models. ComBench contains 100 human-annotated competition-level problems organized around two complementary settings: analysis-centric problems, which primarily require rigorous mathematical arguments, and construction-centric problems, which require explicit constructions in addition to correctness justifications. The evaluation protocol combines rubric-guided proof grading with deterministic construction verification, exposing cases where proof quality and construction validity diverge. Experiments on frontier open- and closed-source models show that ComBench is far from saturated: the strongest model reaches 65.4% overall Avg. and 75.3% overall Best@4. We further find that Rigorous Proof Reasoning and Constructive Realization are distinct capabilities: Kimi-K2.6 trails GPT-5.5 on analysis-centric proof grading but surpasses it on construction-centric Best@4, while Existence and Construction problems remain consistently hardest across representative frontier models.

cs.AI

FedSteer: Taming Extreme Gradient Staleness in Federated Learning with Corrective Projections and Caching

Federated learning (FL) is often subject to aggregation variance if clients do not consistently participate in training rounds. While reusing stale model updates from inactive clients is a common technique to reduce this variance, we find that with skewed client participation, the resulting update staleness can become severe enough to destabilize training. To remedy this, we propose FedSteer, a novel method that constructs a gradient subspace from a cache of recent client gradients to serve as a low-dimensional representation of the current optimization landscape. FedSteer projects an active client's true gradient onto this subspace to find a set of optimal coordinates. For an inactive client, FedSteer reuses these coordinates with the now-evolved subspace drifted by other active clients. This process effectively "steers" outdated gradients toward the current global objective. This is complemented by a selective caching strategy that identifies a representative client subset to form the subspace, reducing server memory. Experiments demonstrate that FedSteer significantly outperforms baselines, preventing performance collapse in challenging scenarios while delivering accuracy gains of over 7% in others.

cs.LG

DirectAudioEdit: Inversion-Free Text-Guided Audio Editing via Diffusion Prediction Contrast

Text-guided audio editing aims to modify the language-specified acoustic content while preserving edit-irrelevant source components. Existing training-free methods typically rely on inversion-based editing. While inversion-free editing is appealing as it decreases computational overhead and reconstruction errors, it remains largely unexplored for audio editing. The key challenge is to construct a source-to-target editing path through diffusion denoising dynamics. In this paper, we introduce DirectAudioEdit, the first attempt to develop a training-free and inversion-free method for audio editing. Experiments on music and event-level benchmarks across two backbones show that DirectAudioEdit reduces macro-averaged FAD and KL by 15.9% and 15.8% compared with DDPM inversion, while achieving up to 64.5% editing speedup.

cs.SD

PC Layer: Polynomial Weight Preconditioning for Improving LLM Pre-Training

We propose a preconditioning (PC) layer, a weight parameterization via polynomial preconditioner that ensures stable weight conditioning throughout LLM training. The PC module reshapes the singular-value spectrum of weight matrices via low-degree polynomial preconditioning. After training, the preconditioned weights can be merged back into the original architecture, incurring no inference overhead. We demonstrate the advantage of the proposed PC layer over standard transformers in Llama-1B pre-training, for both the AdamW and Muon optimizers. Theoretically, we justify this spectrum-control principle by proving that uniformly bounding each layer's singular values ensures geometric convergence of gradient descent to global minima, for certain deep linear networks. Our code is available at https://github.com/Empath-aln/PC-layer.

cs.LG

CityTrajBench: A Unified Benchmark for City-Scale Vehicle Trajectory Generation

Urban trajectory generation is a fundamental task for transportation simulation, urban planning, and mobility analytics. However, systematic comparison across trajectory generation methods remains difficult because existing studies often rely on different datasets, preprocessing pipelines, trajectory representations, and evaluation metrics. This fragmentation makes it unclear whether reported performance differences arise from the generation mechanism itself or from inconsistent experimental protocols. To address this issue, we present CityTrajBench, a unified benchmark framework and protocol for city-scale vehicle trajectory generation. CityTrajBench standardizes data ingestion, trajectory normalization, feature construction, model adaptation, map-aware post-processing, model selection, and multi-level evaluation under a common setting. It supports heterogeneous generators, including statistical baselines, VAE-based, GAN-based, diffusion-based, and flow-matching-based models, and evaluates them on three real-world urban trajectory datasets. The benchmark measures global spatial realism, trip-level distribution fidelity, trajectory-level geometric similarity, conditional mobility consistency, and efficiency. Experiments reveal clear trade-offs across model families: DiffTraj is strongest on trajectory-level geometric fidelity, DiffRNTraj is competitive on structure-sensitive global realism, and TrajFlow provides a strong balance across realism, quality, conditional consistency, and efficiency. Meanwhile, a simple Markov baseline remains competitive on coarse-grained trip and local-movement statistics. These findings show that urban trajectory generation quality is inherently multi-objective, that no single model dominates all criteria equally, and that CityTrajBench provides a reproducible benchmark protocol and testbed for future research on urban mobility generation.

cs.LG