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Heng Zhang

Publications and source records attributed to Heng Zhang.

At least 55 records · Page 3Linked to original sources

Generative Augmented Inference of LLM-generated Data for Market Research: Theory and Empirical Evidence

Marketing research often relies on parameters estimated from costly human-generated data, such as conjoint survey responses, purchase decisions, and field experiment outcomes. Recent advances in large language models (LLMs) and other AI systems offer inexpensive auxiliary data, but introduce a new challenge: AI outputs are not direct observations of the target outcomes, but could involve high-dimensional representations with complex and unknown relationships to human labels. Conventional methods leverage AI predictions as direct proxies for true labels, which can be inefficient or unreliable when this relationship is weak or misspecified. We propose Generative Augmented Inference (GAI), a general framework that incorporates AI-generated outputs as informative features for estimating models of human-labeled outcomes. GAI uses an orthogonal moment construction that enables consistent estimation and valid inference with a flexible, nonparametric relationship between LLM-generated outputs and human labels. We establish asymptotic normality and a key dominance result: under random labeling, GAI is optimal within a unified class of debiased estimators-including human-data-only estimators and state-of-the-art debiasing methods-and delivers strict improvements under a mild informativeness condition. Even when the labeled sample is not representative of the target population, an extended variant of GAI still dominates the weighted human-data-only estimator. Empirically, GAI outperforms benchmarks across diverse marketing research settings. In a conjoint analysis, it halves estimation error and reduces human labeling requirements by over 75%. In a pricing study, it consistently outperforms alternative estimators when all methods receive identical auxiliary inputs. In a health insurance study, it saves over 90% of labels while preserving decision accuracy.

cs.LG↗

BoxTwin: Learning Elastoplastic Articulated Object Dynamics from Videos

Digital twins enable robots to anticipate and adapt to physical interactions, but existing models struggle with elastoplastic articulated objects (EAOs) that exhibit nonlinear elasticity, plastic yielding, and damage accumulation. We present BoxTwin, an interactive digital twin framework that learns the full dynamics of EAOs from videos. Our pipeline reconstructs the scene, identifies a physics aware constitutive model for each EAO. Experiments on manual folding and dual arm manipulation of EAOs show that BoxTwin accurately tracks joint trajectories and reproduces post contact plastic behavior over long horizons. By integrating video driven reconstruction with elastoplastic damage modeling, BoxTwin advances digital twins toward predictive, adaptive control of deformable articulated objects in unstructured environments.

cs.RO↗

NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

Differentiable simulators have advanced policy learning and model-based control across robotic tasks. Yet actuator dynamics remain underexplored and can be a major source of sim-to-real error, particularly on low-cost platforms, where the linear current-to-joint-torque approximation $τ= K_t I$ becomes unreliable because of friction, hysteresis, backlash, and thermal effects. Accurate actuator models can also support force perception and integrated force/position control. We present NeuralActuator, which jointly predicts (i) a torque surrogate for trajectory propagation on low-cost servo platforms, (ii) external forces with a contact-probability gate for sensorless force perception, and (iii) a motor-condition score for a supervised joint, distinguishing normal from mechanically restricted operation. A twin-arm teleoperation system records robot states and actuator telemetry alongside external-force labels, yielding the Neural Actuation Dataset (NAD). The torque-surrogate head is trained through differentiable simulation from pose trajectories without ground-truth joint-torque measurements. A Transformer captures temporal dependencies while enabling real-time inference. We validate NeuralActuator on a 5-DoF OpenManipulator-X, a 6-DoF SO-101 from LeRobot, and a 7-DoF Franka Emika Panda, spanning three actuator families and costs from approximately \$500 to more than \$30{,}000. The low-cost platforms support physically plausible dynamics and force evaluation, while the offline Franka experiment provides a payload-force-estimation benchmark. We also demonstrate motor-condition estimation and improved behavior-cloning performance using NeuralActuator as a pretrained module. We release the dataset, code, and hardware configurations on the project page: https://frank-zy-dou.github.io/projects/NeuralActuator/index.html.

cs.RO↗

Nonlinear-Gain Distributed Zeroth-Order Optimization for Networked Black-Box Control

This letter studies distributed stochastic optimization over a peer-to-peer network when agents can query only zeroth-order function values. We propose ZOOM-PB, a coordinate-sampling method that blends each local ZO estimate with a fractional-power response while maintaining only a primal state. The raw estimate is retained as a linear anchor, and the nonlinear mixing weight is coupled to the optimization stepsize. This design is motivated by a basic obstruction: transforming heterogeneous or noisy local estimates before averaging can reverse the network direction. We bound that nonlinear residual directly from the raw oracle assumptions instead of imposing an aggregate-alignment condition. With a smooth stochastic-function oracle and a connected graph, ZOOM-PB attains the nonconvex stationarity order $\mathcal{O}(\sqrt{p/(nT)})$ and a Polyak--Łojasiewicz statistical term of order $\mathcal{O}(p/(nT))$, after an explicit initialization transient. Numerical examples compare ZOOM-PB with seven distributed ZO baselines under matched query and message budgets.

eess.SY↗

Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies

Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the environment. Tactile sensing offers direct contact observability, but scalable tactile-aware learning framework for quadrupedal loco-manipulation is still underexplored. In this paper, we present a tactile-aware loco-manipulation policy learning pipeline with a hierarchical structure. Our approach has two key components. First, we leverage real-world human demonstrations to train a tactile-conditioned visuotactile high-level policy. This policy predicts not only end-effector trajectories for manipulation, but also the evolving tactile interaction cues that characterize how contact should develop over time. Second, we perform large-scale reinforcement learning in simulation to learn a tactile-aware whole-body control policy that tracks diverse commanded trajectories and tactile interaction cues, and transfers zero-shot to the real world. Together, these components enable coordinated locomotion and manipulation under contact-rich scenarios. We evaluate the system on real-world contact-rich tasks, including in-hand reorientation with insertion, valve tightening, and delicate object manipulation. Compared to vision-only and visuotactile baselines, our method improves performance by 28.54% on average across these tasks.

cs.RO↗

Uniform Comparison of Hyperbolic Ball Volumes on the Universal Cover

Let $\|M\|_Δ$ denote the simplicial volume of $M$, $V_r(X,h)=\sup_{x\in X}\operatorname{Vol}_h\big(B_h(x,r)\big)$, and $\mathbb{H}^n$ denotes hyperbolic $n$-space. We prove that, if a closed oriented $n$-manifold $M$ admits a hyperbolic metric, then there is a dimensional constant $δ_n>0$ such that every Riemannian metric $g$ on $M$ with \[ \frac{\operatorname{Vol}_g(M)}{\|M\|_Δ}<δ_n \] satisfies \[ V_r(\widetilde M,\widetilde g)\ge V_r(\mathbb{H}^n) \quad\text{for every }r\ge 1. \]

math.DG↗

OrchANN: Hierarchical Orchestration for Skewed Out-of-Core Vector Search

At billion scale, approximate nearest neighbor search (ANNS) often becomes an out-of-core problem: the full vector collection and index structures exceed memory capacity, making query performance dominated by SSD accesses and DRAM-SSD data movement. Existing systems struggle to strike a balance between accuracy and efficiency: physical-overlap methods replicate vectors or index entries across partitions, enlarging the SSD-resident index and incurring extra I/O; quantization-based methods reduce memory usage, but their approximate distances are less reliable and often require costly raw-vector reranking from SSD to preserve recall. We present OrchANN (Orchestrated ANN Search), an out-of-core ANNS engine that orchestrates query routing, partition access, and query execution under tight memory constraints. OrchANN stores each cluster as a disjoint SSD partition with scale-aware indexes, while a memory-resident graph abstraction provides logical overlap before SSD access. During serving, OrchANN uses query hotness and cluster priorities from the graph abstraction to prune low-value clusters and improve access locality. Across five datasets under strict memory constraints, OrchANN delivers up to 17.2x higher QPS and 25.0x lower latency than state-of-the-art baselines, while preserving accuracy.

cs.DB↗

AnchorVLA: Bridging Discrete Decisions and Continuous Trajectories for Vision-Language-Action Planning

Autonomous driving planning requires translating navigation intent, traffic rules, dynamic interactions, and language instructions into executable continuous trajectories. Vision-Language-Action models have been introduced into driving planning to improve long-tail generalization, commonsense reasoning, high-level semantic understanding, and explainability. However, existing VLA planners mainly follow planning-head-based trajectory prediction or full-trajectory autoregressive generation. The former only weakly constrains continuous trajectory generation with VLA reasoning, while the latter relies on long sequences of low-information-density coordinate tokens, making semantic-action alignment difficult and leading to discretization errors and inefficient inference. To address these limitations, we propose AnchorVLA, a hierarchical decision-anchored VLA planning framework that uses trajectory-pattern anchors as an explicit interface between high-level VLA reasoning and continuous trajectory execution. Specifically, Decision-as-Anchor Representation represents behavior-level driving decisions with anchor tokens, each encoding an entire local motion pattern rather than a single coordinate point. Decision-Anchored Residual Flow then generates fine-grained continuous trajectories in the selected anchor-defined residual space, capturing multi-modal execution refinements after high-level decision making. By reasoning over compact and semantically meaningful anchors instead of autoregressively generating waypoint sequences, AnchorVLA preserves LLM-based decision making while improving inference efficiency, semantic-action alignment, and continuous generation flexibility. Experiments on the Bench2Drive closed-loop benchmark show that AnchorVLA achieves a state-of-the-art Success Rate of 77.28 and a competitive Driving Score of 89.92.

cs.RO↗

Exploring the relationship between team institutional composition and novelty in academic papers based on fine-grained knowledge entities

The composition of author teams is an important factor influencing the novelty of academic papers. However, existing studies have paid limited attention to the role of institutional composition, and most novelty measures remain at a general level, making it difficult to explain the specific sources and types of novelty in papers. Taking the field of natural language processing as an example, this study investigates the relationship between team institutional composition and the fine-grained novelty of academic papers. Author teams are classified into three types: academic institutions, industrial institutions, and mixed academic and industrial institutions. Four types of fine-grained knowledge entities are extracted from full-text papers, including methods, datasets, tools, and metrics. The novelty of papers is then measured based on entity combinations, and pairwise combinations of different entity types are further analyzed to examine their contributions to novel papers. The results show that, in the field of natural language processing, collaboration between industrial and academic institutions is more likely to produce novel papers than purely industrial collaboration. From the perspective of fine-grained knowledge entities, mixed academic and industrial teams pay more attention to the novelty of method-metric combinations, whereas industrial teams pay more attention to the novelty of method-tool combinations. This study reveals the relationship between institutional team composition and paper novelty through fine-grained novelty measurement, providing useful evidence for improving paper quality and promoting industry-academia-research collaboration.

cs.CL↗

Revealing the Technology Development of Natural Language Processing: A Scientific Entity-Centric Perspective

Most studies on technology development have been conducted from a thematic perspective, but the topics are coarse-grained and insufficient to accurately represent technology. The development of automatic entity recognition techniques makes it possible to extract technology-related entities on a large scale. Thus, we perform a more accurate analysis of technology development from an entity-centric perspective. To begin with, we extract technology-related entities such as methods, datasets, metrics, and tools in articles on Natural Language Processing (NLP), and we apply a semi-automatic approach to normalize the entities. Subsequently, we calculate the z-scores of entities based on their co-occurrence networks to measure their impact. We then analyze the development trends of new technologies in the NLP domain since the beginning of the 21st century. The findings of this paper include three aspects: Firstly, the continued increase in the average number of entities per paper implies a growing burden on researchers to acquire relevant technical background knowledge. However, the emergence of pre-trained language models has injected new vitality into the technological innovation of the NLP domain. Secondly, Methods dominate among the 179 high-impact entities. An analysis of the z-score trend about the top 10 entities reveals that pre-trained language models, exemplified by BERT and Transformer, have become mainstream in recent years. Unlike the trend of the other eight method entities, the impact of Wikipedia dataset and BLEU metric has continued to rise in the long term. Thirdly, in recent years, there has been a remarkable surge in popularity for new high-impact technologies than ever before, and their acceptance by researchers has accelerated at an unprecedented speed. Our study provides a new perspective on analyzing technology development in a specific domain.

cs.CL↗

Scalar-Flatness for Critical Metrics of the $L^2$-Scalar Curvature Functional in Dimensions $5\le n\le 9$

Let $(M^n,g)$ be a complete Riemannian manifold of dimension $n\geq 5$ endowed with a critical metric of the quadratic scalar-curvature functional $$ \mathcal S^2(g)=\int_M R_g^2\,dV_g . $$ For $n\geq 10$, Catino, Mastrolia and Monticelli [J. Math. Pures Appl. 211 (2026), 103883] established that all complete noncompact critical metrics with finite energy are scalar-flat, and they conjectured that this scalar-flatness result holds for all dimensions $n\geq 5$. In this paper, we settle the conjecture by verifying its validity for the remaining dimension range $5\leq n\leq 9$.

math.DG↗

Reciprocal sums of Neumann eigenvalues in non-Euclidean space forms

Let $M^n_κ$ be the simply connected space form of dimension $n\ge2$ and constant sectional curvature $κ\in\{-1,1\}$. For every bounded connected smooth domain $Ω\subset M^n_κ$, assume in the case $κ=1$ that $Ω$ is contained in an open hemisphere, and let $B_Ω$ be a geodesic ball with $|B_Ω|=|Ω|$. We prove $$ \sum_{j=1}^n \frac1{μ_j(Ω)}\ge \frac{n}{μ_1(B_Ω)}, $$ where $μ_j(Ω)$ are the positive Neumann eigenvalues of $Ω$. Equality holds if and only if $Ω$ is a geodesic ball. This proves a conjecture proposed by Xia and Wang [Math. Ann. 385, 2023, 863-879].

math.DG↗

HarmVideoBench: Benchmarking Harmful Video Understanding in Large Multimodal Models

Large vision-language models (LVLMs) have recently shown immense potential in automated content moderation, sparking growing interest in developing harmful-video benchmarks. However, we identify two primary limitations in existing works: 1) The multi-layered characteristics of harmful videos are overlooked. Existing benchmarks predominantly formulate evaluation as a binary classification task, failing to capture implicit or deep contextual harms. 2) Explanatory rationales are completely absent. Current frameworks measure exclusively whether a model flags a video correctly rather than explaining why, turning evaluation into a black box where models can succeed through superficial shortcuts. To address these problems, we present HarmVideoBench, a multi-layered diagnostic benchmark comprising 1,379 videos paired with 4,137 multiple-choice questions. HarmVideoBench benchmarks three hierarchical dimensions: Observable Evidence, Clip-Internal Meaning, and Beyond-Clip Reasoning, aiming to evaluate models' deep understanding beyond surface cues with carefully balanced and curated samples. We evaluate 19 leading models on HarmVideoBench to assess their multidimensional understanding of harmful videos. Moreover, we introduce BCR, a benchmark-aligned method that predicts reasoning boundaries and dynamically retrieves context only when needed. Experimental results show that BCR substantially improves the base model's performance in harmful video understanding, raising the macro average from 61.7 percent to a state-of-the-art 84.4 percent.

cs.CV↗

Do more heads imply better performance? An empirical study of team thought leaders' impact on scientific team performance

Thought leadership plays a crucial role in boosting team performance; thus, teams with more thought leaders may perform better. However, the impact of the number of thought leaders on team performance in a scientific context remains understudied. In this study, we consider the authors of a publication as a scientific team and define authors responsible for conceptual tasks, such as conceived and designed the experiments in the PLOS contribution statement classification system, as thought leaders. Leveraging more than 140,000 papers from PLOS journals, we examine the relationship between the number of thought leaders and two aspects of team performance, namely team impact and team disruptiveness, from both correlational and causal perspectives. The results show that (1) an inverted U-shaped relationship exists between the number of thought leaders and team impact, and (2) teams with more thought leaders tend to produce less disruptive ideas. We also explore how international collaboration, team size, and gender diversity interact with the number of thought leaders in shaping team performance, and find that (3) international collaboration improves team impact but lowers the disruptiveness of team outputs. This study advances scholarly understanding of thought leadership in scientific teams and provides valuable insights for policymakers and team managers.

cs.CY↗

VPA-Guard: Defending and Benchmarking Image-to-Video Generation Against Visual Prompt Attacks

Recent advancements in Image-to-Video (I2V) generation have transformed input images from simple appearance references into interactive control interfaces where visual cues such as arrows, sketches, and emojis orchestrate complex video dynamics with unprecedented controllability. However, these seemingly innocuous static cues can be interpreted by models as executable temporal instructions, unfolding into harmful actions in the generated videos. Despite the severity of this threat, existing safety benchmarks remain predominantly focused on text-based and content-only image-based jailbreaks, leaving implicit visual prompt attacks insufficiently explored. To bridge this gap, we present VVA-Bench, the first systematic benchmark for evaluating video generation safety under categorized vision-centric prompt attacks. Extensive experiments on VVA-Bench demonstrate that state-of-the-art models are highly susceptible to such attacks, with Attack Success Rates (ASR) reaching 100.0\% on Wan 2.7 and 74.8\% on Veo 3.1. To mitigate these risks, we propose VPA-Guard, a retrieval-augmented and self-evolving defense framework. By leveraging few-shot reasoning to identify latent malicious intents, our method reduces the attack ASR by 44.2\% and the harmfulness score by 73.4\% on average, while maintaining the model's utility for legitimate user edits. Our work provides both a rigorous benchmark and an effective defense strategy to advance safe and socially responsible multimodal generation.

cs.CV↗

Arbitrarily Many Non-degenerate Local Maxima of First Nonzero Eigenfunctions on Positively Curved Two-spheres

We prove that, for every integer $m\ge 2$, there is a smooth closed Riemannian surface $(M,g)$ diffeomorphic to $\mathbb S^2$, with positive Gaussian curvature, such that $λ_1(M)$ is simple and, after choosing the sign, its normalized first nonzero Laplace eigenfunction has at least $m$ distinct non-degenerate local maxima. This gives a negative answer to the Open Question of Grossi and Provenzano (Math. Ann. 389(4): 3447--3470, 2024).

math.DG↗

Measuring Research Difficulty of Academic Papers: A Case Study in Natural Language Processing

With the rapid growth of the number of academic papers, systematically evaluating the difficulty of research and its relationship to academic impact offers important significance for research topic selection and resource allocation. However, current studies lack quantitative assessments of research difficulty and its correlation with academic impact. This paper proposes a comprehensive evaluation system for research difficulty, incorporating factors such as academic collaboration, content, and references. Taking the field of Natural Language Processing (NLP) as a case study, we extract both internal and external features from academic papers, compute multiple research difficulty indicators. We assign their weights using the entropy weight method and perform a weighted sum to obtain the research difficulty score of academic papers. This paper uses the citation frequency of academic papers to measure academic impact. To validate our approach, NLP experts assessed the difficulty of a sample of papers, and correlation analyses confirmed the reliability of our measurement. Empirical results reveal that in NLP, factors such as the number of pages, reference count, and participation of high-level institutions are significantly associated with academic impact. Moreover, we identify an inverted U-shaped relationship between research difficulty and academic impact. It suggests that moderately difficult research tends to achieve greater academic impact.

cs.DL↗

Automatic Generation of Highlights for Academic Paper Via Prompt-based Learning

Highlights provide a concise summary of the main contributions of an academic paper and help readers quickly understand its focus. However, many journals do not provide highlights, which limits their use in literature retrieval, text mining, and bibliometric analysis. Existing studies have explored supervised learning methods for automatic highlight extraction, but these methods usually require large amounts of labeled training data. This study investigates prompt-based learning for automatic highlight generation. We design task-specific prompt templates and combine them with paper abstracts as model inputs. Several language models are evaluated, including locally deployed pre-trained models such as GPT-2 and T5, as well as ChatGPT accessed through an API. Experiments on three datasets show that ChatGPT with prompt templates achieves performance comparable to previous supervised methods without using task-specific training samples. When a small number of examples are added to the prompts, the model significantly outperforms state-of-the-art methods on two datasets. We further analyze how prompt design affects generation quality and find that, although ChatGPT has strong language modeling ability, its performance on this task is highly sensitive to the information provided in the prompt. Case studies also show that the generated highlights are generally coherent, informative, and close to author-written highlights. This study is among the first to apply prompt-based learning to academic highlight generation. The proposed method does not rely on domain-specific training corpora and can generate highlights for papers that lack such information, thereby supporting downstream text mining and bibliometric research.

cs.CL↗