arXiv subjects

He Wang

Publications and source records attributed to He Wang.

At least 91 records · Page 5Linked to original sources

arXiv2026

A parallel and distributed fixed-point quantum search algorithm for solving SAT problems

Boolean satisfiability (SAT) problem is of fundamental importance in computer science and many application domains. For Grover's algorithm, solving the SAT problem requires $\mathcal{O}(\sqrt{2^n})$ queries--where n denotes the number of logic variables in the problem. However, Grover's algorithm suffers from the Souffle problem: specifically, when the number of solutions is unknown, terminating the algorithm too early or too late leads to a significant reduction in the probability of obtaining a solution. In this paper, we propose a parallel fixed-point (PFP) search algorithm to solve the SAT problem. By exploiting entanglement, each clause in the conjunctive normal form (CNF) formula can be processed independently, leading to a significant reduction in circuit depth. We also discuss how to perform the algorithm in distributed manner. These make the PFPS algorithm particularly suitable for the noisy intermediate-scale quantum (NISQ) era.

quant-ph↗

arXiv2026

FluxMC: Rapid and High-Fidelity Inference for Space-Based Gravitational-Wave Observations

Bayesian inference in the physical sciences faces a fundamental challenge: the imperative for high-fidelity physical modeling often clashes with the intrinsic limitations of stochastic sampling algorithms. Complex, high-dimensional parameter spaces expose the universal vulnerability of conventional methods, e.g., Markov Chain Monte Carlo (MCMC), which struggle with the prohibitive costs of likelihood evaluations and the risk of entrapment in local optima. To resolve this impasse, we introduce FluxMC (Flow-guided Unbiased eXploration Monte Carlo), a machine learning-enhanced framework designed to shift the inference paradigm from blind local search to globally guided transport. It integrates Flow Matching with Parallel Tempering MCMC, effectively combining the global foresight of generative AI with the rigorous asymptotic convergence and local robustness of temperature-based sampling. We showcase the efficacy of this framework through the lens of space-based gravitational-wave (GW) astronomy -- a field representing the frontier of challenging parameter inversion. In the analysis of massive black hole binaries using high-fidelity waveforms (IMRPhenomHM), FluxMC achieves robust convergence in under five hours, whereas traditional Parallel Tempering MCMC fails to converge even after hundreds of hours, yielding high Jensen-Shannon divergences (JSD) of $O(10^{-1})$. Our method reduces the distributional error by two to three orders of magnitude. Furthermore, for computationally efficient models (IMRPhenomD), it eliminates systematic biases caused by local-optima entrapment. Ultimately, FluxMC removes the necessity to compromise between model accuracy and analysis speed, establishing a new computational foundation where scientific discovery is limited only by observational data quality, not by algorithmic capacity.

astro-ph.IM↗

arXiv2026

Text-guided Fine-Grained Video Anomaly Understanding

Subtle abnormal events in videos often manifest as weak spatio-temporal cues that are easily overlooked by conventional anomaly detection systems. Existing video anomaly detection approaches typically provide coarse binary anomaly decisions without interpretable evidence, while large vision-language models (LVLMs) can produce textual judgments but lack precise localization of subtle visual signals. To address this gap, we propose Text-guided Fine-Grained Video Anomaly Understanding T-VAU, a framework that grounds subtle anomaly evidence into multimodal reasoning. Specifically, we introduce an Anomaly Heatmap Decoder (AHD) that performs visual-textual feature alignment to extract pixel-level spatio-temporal anomaly heatmaps from intermediate visual representations. We further design a Region-aware Anomaly Encoder (RAE) that converts these heatmaps into structured prompt embeddings, enabling the LVLM to perform anomaly detection, localization, and semantic explanation in a unified reasoning pipeline. To support fine-grained supervision, we construct a target-level fine-grained video-text anomaly dataset derived from ShanghaiTech and UBnormal with detailed annotations of object appearance, localization, and motion trajectories. Extensive experiments demonstrate that T-VAU significantly improves anomaly localization and textual reasoning performance on both benchmarks, achieving strong results in BLEU-4 metrics and Yes/No decision accuracy while providing interpretable pixel-level spatio-temporal evidence for anomaly understanding. The code will be available at https://github.com/momiji-bit/T-VAU.

cs.CV↗

arXiv2026

Convolution Based Self Attraction and Loading

Self Attraction and Loading (SAL), which includes the deformation of the solid Earth under the load of the ocean tide and the self-gravitation of the so-deformed Earth as well as of the ocean tides themselves, is an important term to include in numerical models of the ocean tides. Computing SAL is a challenging problem that is usually tackled using spherical harmonics. The spherical harmonic approach has several drawbacks which limit its accuracy. In this work, we propose an alternative technique based on a spherical convolution. We implement the convolution technique in the Modular Ocean Model, version 6, and demonstrate that it allows for more accurate tides when measured against tidal datasets based upon satellite altimetry. The convolution based SAL reduces the error by reducing spurious oscillations associated with the Gibbs phenomenon. These oscillations are large in coastal regions under the traditional spherical harmonic approach.

physics.ao-ph↗

arXiv2026

UASTrack: A Unified Adaptive Selection Framework with Modality-Customization in Single Object Tracking

Multi-modal tracking is essential in single-object tracking (SOT), as different sensor types contribute unique capabilities to overcome challenges caused by variations in object appearance. However, existing unified RGB-X trackers (X represents depth, event, or thermal modality) either rely on the task-specific training strategy for individual RGB-X image pairs or fail to address the critical importance of modality-adaptive perception in real-world applications. In this work, we propose UASTrack, a unified adaptive selection framework that facilitates both model and parameter unification, as well as adaptive modality discrimination across various multi-modal tracking tasks. To achieve modality-adaptive perception in joint RGB-X pairs, we design a Discriminative Auto-Selector (DAS) capable of identifying modality labels, thereby distinguishing the data distributions of auxiliary modalities. Furthermore, we propose a Task-Customized Optimization Adapter (TCOA) tailored to various modalities in the latent space. This strategy effectively filters noise redundancy and mitigates background interference based on the specific characteristics of each modality. Extensive comparisons conducted on five benchmarks including LasHeR, GTOT, RGBT234, VisEvent, and DepthTrack, covering RGB-T, RGB-E, and RGB-D tracking scenarios, demonstrate our innovative approach achieves comparative performance by introducing only additional training parameters of 1.87M and flops of 1.95G. The code will be available at https://github.com/wanghe/UASTrack.

cs.CV↗

arXiv2026

Learning Progressive Adaptation for Multi-Modal Tracking

Due to the limited availability of paired multi-modal data, multi-modal trackers are typically built by adopting pre-trained RGB models with parameter-efficient fine-tuning modules. However, these fine-tuning methods overlook advanced adaptations for applying RGB pre-trained models and fail to modulate a single specific modality, cross-modal interactions, and the prediction head. To address the issues, we propose to perform Progressive Adaptation for Multi-Modal Tracking (PATrack). This innovative approach incorporates modality-dependent, modality-entangled, and task-level adapters, effectively bridging the gap in adapting RGB pre-trained networks to multi-modal data through a progressive strategy. Specifically, modality-specific information is enhanced through the modality-dependent adapter, decomposing the high- and low-frequency components, which ensures a more robust feature representation within each modality. The inter-modal interactions are introduced in the modality-entangled adapter, which implements a cross-attention operation guided by inter-modal shared information, ensuring the reliability of features conveyed between modalities. Additionally, recognising that the strong inductive bias of the prediction head does not adapt to the fused information, a task-level adapter specific to the prediction head is introduced. In summary, our design integrates intra-modal, inter-modal, and task-level adapters into a unified framework. Extensive experiments on RGB+Thermal, RGB+Depth, and RGB+Event tracking tasks demonstrate that our method shows impressive performance against state-of-the-art methods. Code is available at https://github.com/ouha1998/Learning-Progressive-Adaptation-for-Multi-Modal-Tracking.

cs.CV↗

arXiv2026

FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis

Due to the deformability of garments, generating a large amount of high-quality data for robotic garment manipulation tasks is highly challenging. In this paper, we present a synthetic garment dataset that can be used for robotic garment folding. We begin by constructing geometric garment templates based on keypoints and applying generative models to generate realistic texture patterns. Leveraging these keypoint annotations, we generate folding demonstrations in simulation and train folding policies via closed-loop imitation learning. To improve robustness, we propose KG-DAgger, which uses a keypoint-based strategy to generate demonstration data for recovering from failures. KG-DAgger significantly improves the model performance, boosting the real-world success rate by 25\%. After training with 15K trajectories (about 2M image-action pairs), the model achieves a 75\% success rate in the real world. Experiments in both simulation and real-world settings validate the effectiveness of our proposed framework.

cs.RO↗

arXiv2026

TriFusion-LLM: Prior-Guided Multimodal Fusion with LLM Arbitration for Fine-grained Code Clone Detection

Code clone detection (CCD) supports software maintenance, refactoring, and security analysis. Although pre-trained models capture code semantics, most work reduces CCD to binary classification, overlooking the heterogeneity of clone types and the seven fine-grained categories in BigCloneBench. We present Full Model, a multimodal fusion framework that jointly integrates heuristic similarity priors from classical machine learning, structural signals from abstract syntax trees (ASTs), and deep semantic embeddings from CodeBERT into a single predictor. By fusing structural, statistical, and semantic representations, Full Model improves discrimination among fine-grained clone types while keeping inference cost practical. On the seven-class BigCloneBench benchmark, Full Model raises Macro-F1 from 0.695 to 0.875. Ablation studies show that using the primary model's probability distribution as a prior to guide selective arbitration by a large language model (LLM) substantially outperforms blind reclassification; arbitrating only ~0.2% of high-uncertainty samples yields an additional 0.3 absolute Macro-F1 gain. Overall, Full Model achieves an effective performance-cost trade-off for fine-grained CCD and offers a practical solution for large-scale industrial deployment.

cs.SE↗

arXiv2026

Empowering Chemical Structures with Biological Insights for Scalable Phenotypic Virtual Screening

Motivation: The scalable identification of bioactive compounds is essential for contemporary drug discovery. This process faces a key trade-off: structural screening offers scalability but lacks biological context, whereas high-content phenotypic profiling provides deep biological insights but is resource-intensive. The primary challenge is to extract robust biological signals from noisy data and encode them into representations that do not require biological data at inference. Results: This study presents DECODE (DEcomposing Cellular Observations of Drug Effects), a framework that bridges this gap by empowering chemical representations with intrinsic biological semantics to enable structure-based in silico biological profiling. DECODE leverages limited paired transcriptomic and morphological data as supervisory signals during training, enabling the extraction of a measurement-invariant biological fingerprint from chemical structures and explicit filtering of experimental noise. Our evaluations demonstrate that DECODE retrieves functionally similar drugs in zero-shot settings with over 20% relative improvement over chemical baselines in mechanism-of-action (MOA) prediction. Furthermore, the framework achieves a 6-fold increase in hit rates for novel anti-cancer agents during external validation. Availability and implementation: The codes and datasets of DECODE are available at https://github.com/lian-xiao/DECODE.

q-bio.QM↗

arXiv2026

NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation

Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even more pronounced in navigation tasks, where trajectories often extend across multiple rooms or entire floors. In this work, we present NavGSim, a Gaussian Splatting-based simulator designed to generate high-fidelity, large-scale navigation environments. Built upon a hierarchical 3D Gaussian Splatting framework, NavGSim enables photorealistic rendering in expansive scenes spanning hundreds of square meters. To simulate navigation collisions, we introduce a Gaussian Splatting-based slice technique that directly extracts navigable areas from reconstructed Gaussians. Additionally, for ease of use, we provide comprehensive NavGSim APIs supporting multi-GPU development, including tools for custom scene reconstruction, robot configuration, policy training, and evaluation. To evaluate NavGSim's effectiveness, we train a Vision-Language-Action (VLA) model using trajectories collected from NavGSim and assess its performance in both simulated and real-world environments. Our results demonstrate that NavGSim significantly enhances the VLA model's scene understanding, enabling the policy to handle diverse navigation queries effectively.

cs.RO↗

arXiv2026

Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data

Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. However, reproducing such behaviors on humanoid robots is difficult, partially due to the lack of perfect humanoid action data or human kinematic motion data in tennis scenarios as reference. In this work, we propose LATENT, a system that Learns Athletic humanoid TEnnis skills from imperfect human motioN daTa. The imperfect human motion data consist only of motion fragments that capture the primitive skills used when playing tennis rather than precise and complete human-tennis motion sequences from real-world tennis matches, thereby significantly reducing the difficulty of data collection. Our key insight is that, despite being imperfect, such quasi-realistic data still provide priors about human primitive skills in tennis scenarios. With further correction and composition, we learn a humanoid policy that can consistently strike incoming balls under a wide range of conditions and return them to target locations, while preserving natural motion styles. We also propose a series of designs for robust sim-to-real transfer and deploy our policy on the Unitree G1 humanoid robot. Our method achieves surprising results in the real world and can stably sustain multi-shot rallies with human players. Project page: https://zzk273.github.io/LATENT/

cs.RO↗

arXiv2026

Your Classifier Can Do More: Towards Balancing the Gaps in Classification, Robustness, and Generation

Joint Energy-based Models (JEMs) are well known for their ability to unify classification and generation within a single framework. Despite their promising generative and discriminative performance, their robustness remains far inferior to adversarial training (AT), which, conversely, achieves strong robustness but sacrifices clean accuracy and lacks generative ability. This inherent trilemma-balancing classification accuracy, robustness, and generative capability-raises a fundamental question: Can a single model achieve all three simultaneously? To answer this, we conduct a systematic energy landscape analysis of clean, adversarial, and generated samples across various JEM and AT variants. We observe that AT reduces the energy gap between clean and adversarial samples, while JEMs narrow the gap between clean and synthetic ones. This observation suggests a key insight: if the energy distributions of all three data types can be aligned, we might bridge their performance disparities. Building on this idea, we propose Energy-based Joint Distribution Adversarial Training (EB-JDAT), a unified generative-discriminative-robust framework that maximizes the joint probability of clean and adversarial distribution. EB-JDAT introduces a novel min-max energy optimization to explicitly aligning energies across clean, adversarial, and generated samples. Extensive experiments on CIFAR-10, CIFAR-100, and ImageNet subsets demonstrate that EB-JDAT achieves state-of-the-art robustness while maintaining near-original accuracy and competitive generation quality of JEMs, effectively achieving a new trade-off frontier between accuracy, robustness, and generation. The code is released at https://github.com/yujkc/EB-JDAT.

cs.LG↗

arXiv2026

AVGGT: Rethinking Global Attention for Accelerating VGGT

Models such as VGGT and $π^3$ have shown strong multi-view 3D performance, but their heavy reliance on global self-attention results in high computational cost. Existing sparse-attention variants offer partial speedups, yet lack a systematic analysis of how global attention contributes to multi-view reasoning. In this paper, we first conduct an in-depth investigation of the global attention modules in VGGT and $π^3$ to better understand their roles. Our analysis reveals a clear division of roles in the alternating global-frame architecture: early global layers do not form meaningful correspondences, middle layers perform cross-view alignment, and last layers provide only minor refinements. Guided by these findings, we propose a training-free two-step acceleration scheme: (1) converting early global layers into frame attention, and (2) subsampling global attention by subsampling K/V over patch tokens with diagonal preservation and a mean-fill component. We instantiate this strategy on VGGT and $π^3$ and evaluate across standard pose and point-map benchmarks. Our method achieves substantial inference acceleration across different context lengths, yielding about $2\times$ speedup at 100 frames, $4$--$5\times$ at 300 frames, and $8$--$10\times$ at 800 frames, while matching or slightly improving the accuracy of the original models and remaining robust in extremely dense multi-view settings where prior sparse-attention baselines fail.

cs.CV↗

arXiv2026

Intuition First or Reflection Before Judgment? The Impact of Evaluation Sequence on Consumer Ratings

As online reviews increasingly drive consumer decisions, the impact of review interface design on rating authenticity remains under-explored. This research investigates how evaluation sequence ("Rating-First" vs. "Review-First") influences consumer ratings through three experiments and a large-scale secondary data analysis. The results reveal a significant polarization effect: in high-quality service contexts, the "Rating-First" sequence (vs. "Review-First") increases overall ratings, whereas in low-quality contexts, it leads to significantly lower ratings. This mechanism is driven by a serial mediation path of affective heuristics and cognitive effort. Furthermore, product attributes moderate this effect, with hedonic products amplifying the rating extremity compared to utilitarian ones. Secondary data from Yelp and Letterboxd confirm these findings, showing that the "Rating-First" platform (Yelp) exhibits a polarized bimodal distribution, while the "Review-First" platform (Letterboxd) shows more concentrated ratings. In conclusion, this research reveals how evaluation sequence shapes consumer ratings through affective and cognitive paths from an information-processing perspective. These findings extend the theoretical understanding of the online review formation process and offer practical insights for platforms to optimize interface design and enhance rating authenticity and credibility.

cs.IR↗

arXiv2026

TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback

Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing forces across multiple contacts to counteract an object's weight, and (2) preventing rotational slip caused by gravitational torque when a grasp is distant from the object's center of mass. We address these challenges via tactile feedback and a Second-Order Cone Programming (SOCP)-based controller, without explicit torque modeling or slip detection. Our key insights are (1) rotational slip inevitably induces translational slip at some contact points for a multi-fingered grasp, and (2) the ratio of tangential to normal force at each contact is an effective early stability indicator. By actively constraining this ratio for each finger below the estimated friction coefficient, our controller maintains grasp stability against both translational and rotational slip. Real-world experiments on 12 diverse objects demonstrate the robustness and compliance of our approach.

cs.RO↗

arXiv2026

Towards Realistic Detection Pipelines of Taiji: New Challenges in Data Analysis and High-Fidelity Simulations of Space-Based Gravitational Wave Antenna

Taiji, a Chinese space-based gravitational wave (GW) detection project, aims to explore the millihertz GW universe with unprecedented sensitivity. By observing astrophysical and cosmological sources, including Galactic binaries, massive black hole binaries, extreme mass-ratio inspirals, and stochastic gravitational wave backgrounds, etc., Taiji is expected to deliver transformative insights into astrophysics, cosmology, and fundamental physics. However, Taiji's data analysis faces unique challenges compared to ground-based detectors like LIGO-Virgo-KAGRA, such as the overlap of numerous signals, extended data durations, more rigorous accuracy requirements for the waveform templates, incompletely characterized noise spectra, non-stationary noises, and various data anomalies. Taking Taiji as a representative example, this paper reviews the data characteristics and data analysis challenges of space-based GW detection, and introduces the second round of Taiji Data Challenge, a collection of simulation datasets designed as a shared platform for resolving these critical issues. This platform distinguishes itself from previous works by the systematic integration of orbital dynamics based on a full drag-free and attitude control simulation, extended noise sources, more complicated and overlapping GW signals, second-generation time-delay interferometry, and the coupling effect of time-varying arm-lengths, etc. Concurrently released is the open-source toolkit Triangle, which offers the capabilities for customized simulation of signals, noises, and other instrumental effects. By taking a step further towards realistic detection, Taiji Data Challenge II and Triangle altogether serve as a new testbed, supporting the development of Taiji's global analysis and end-to-end pipelines, and ultimately bridging the gaps between observation and scientific objectives.

gr-qc↗

arXiv2026

OmniSpatial: Towards Comprehensive Spatial Reasoning Benchmark for Vision Language Models

Spatial reasoning is a key aspect of cognitive psychology and remains a bottleneck for current vision-language models (VLMs). While extensive research has aimed to evaluate or improve VLMs' understanding of basic spatial relations, such as distinguishing left from right, near from far, and object counting, these tasks cover only the most elementary layer of spatial reasoning and are largely approaching saturation in the latest reasoning models. In this work, we introduce OmniSpatial, a comprehensive and challenging benchmark for spatial reasoning, grounded in cognitive psychology. OmniSpatial covers four major categories: dynamic reasoning, complex spatial logic, spatial interaction, and perspective-taking, with 50 fine-grained subcategories. Through careful manual annotation, we construct over 8.4K question-answer pairs. Extensive experiments show that both open- and closed-source VLMs exhibit significant limitations in comprehensive spatial reasoning. We also explore two strategies-PointGraph (explicit scene graph cues) and SpatialCoT (novel-view chain-of-thought)-to bolster spatial reasoning.

cs.CV↗

arXiv2026

Robust Differentiable Collision Detection for General Objects

Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but are inherently non-differentiable, preventing gradient flow and limiting gradient-based optimization in contact-rich tasks such as grasping and manipulation. Recent work introduced efficient first-order randomized smoothing to make witness points differentiable; however, their direction-based formulation is restricted to convex objects and lacks robustness for complex geometries. In this work, we propose a robust and efficient differentiable collision detection framework that supports both convex and concave objects across diverse scales and configurations. Our method introduces distance-based first-order randomized smoothing, adaptive sampling, and equivalent gradient transport for robust and informative gradient computation. Experiments on complex meshes from DexGraspNet and Objaverse show significant improvements over existing baselines. Finally, we demonstrate a direct application of our method for dexterous grasp synthesis to refine the grasp quality. The code is available at https://github.com/JYChen18/DiffCollision.

cs.RO↗